Automatic inserting device for red willow rod grid sand barrier

Abstract

The application discloses a kind of red willow pole grid sand barrier automatic insertion device, including walking mechanism, longitudinal sand barrier insertion mechanism and transverse sand barrier insertion mechanism;The walking mechanism includes chassis, walking drive mechanism and shell;The longitudinal sand barrier insertion mechanism includes torsional spring feeding assembly and crank slider insertion assembly.The beneficial effects of the technical scheme proposed in the present application are: central torsional spring expansion, drive each red willow pole to move, insertion drive piece drives slider to move downward, while grabbing pressure head grabs red willow pole, moves slider by insertion drive piece, until red willow pole is inserted in place, realize the insertion of longitudinal sand barrier;After the device travels to a certain distance, stop advancing, place red willow pole in storage box, first push material piece pushes part of red willow pole in storage box to conveyor belt, complete the insertion of transverse sand barrier, so as to realize the automatic insertion of red willow pole grid sand barrier, greatly improve the insertion efficiency of red willow pole grid sand barrier.

Description

Technical Field

[0001] This invention relates to the field of sand barrier insertion technology, and in particular to an automatic insertion device for red willow pole mesh sand barriers. Background Technology

[0002] Wind and sand control typically employs three methods: mechanical sand control (sand barriers), vegetation sand control, and chemical sand control. Among these, sand barriers are the most convenient to construct and the fastest-acting method for sand fixation. Currently, sand barriers are mainly divided into flat sand barriers and vertical sand barriers. Flat sand barriers are sand-fixing barriers that utilize materials such as firewood, straw, pebbles, clay, or high-molecular polymers like asphalt emulsion and polyacrylamide to cover or spray onto the sand surface. This isolates the wind from contact with the loose sand layer, preventing the sand flow from increasing its sand content as it passes over the sand surface, thus fixing the shifting sand in situ. Vertical sand barriers are mostly sand-accumulating barriers. Their sand-control principle is mainly manifested in the fact that wherever the sand flow encounters an obstacle, the wind speed is affected and reduced, and some of the sand carried is deposited around the obstacle, thereby reducing the amount of sand transported by the wind and sand flow, and thus preventing wind and sand hazards. Compared to flat sand barriers, vertical sand barriers are more effective in preventing wind and sand erosion.

[0003] Sand barriers can be categorized by material into different types, such as straw sand barriers, gravel sand barriers, clay sand barriers, and nylon mesh sand barriers. However, each type has its drawbacks: straw sand barriers are prone to decay, gravel sand barriers are difficult to source, clay sand barriers are not conducive to plant growth, and nylon mesh sand barriers cause environmental pollution. Red willow is a common desert plant. Its stalks are solid, hard, and resistant to weathering and corrosion, generally lasting 10-12 years. Therefore, upright red willow sand barriers are an effective means of windbreak and sand control for highly mobile sand dunes. Traditionally, red willow sand barriers are installed manually, which is labor-intensive and inefficient. It is estimated that under ideal conditions, one hundred workers can only lay 200 square meters of red willow sand barriers in a full day. Designing a machine that can automatically lay red willow sand barriers is a key issue in improving the efficiency of windbreak and sand control for highly mobile sand dunes.

[0004] Existing sand barrier laying machinery mainly consists of automatic straw checkerboard sand barrier laying machines (such as the Chinese invention patent application number CN202211585815.1), which have been applied both domestically and internationally. However, no relevant physical machinery, papers, or patents regarding automatic insertion machinery for red willow stalk sand barriers have been found. The working principle of the automatic straw checkerboard sand barrier laying machine is: using a roller to press the middle of the straw and withered grass into the sand to a certain depth, causing the two ends of the straw and withered grass to curl up and close together to form a sand barrier of a certain height. Red willow stalks are relatively hard and brittle. If the roller is used to forcibly press the red willow stalks, it may break the red willow stalks, damaging the overall sand barrier, or even causing broken red willow stalks to jam the machine or damage the machine itself. Therefore, existing automatic straw checkerboard sand barrier laying machines are not suitable for inserting red willow stalk sand barriers.

[0005] There are two main methods for laying red willow sand barriers: one is unidirectional strip laying, and the other is a crisscrossing grid laying. Strip laying is easier to achieve using mechanical devices, but its windbreak and sand-fixing effect is poor; grid laying has a better windbreak and sand-fixing effect, but the sand barriers are more difficult to lay. Given the high hardness of red willow stalks, ensuring that the already inserted sand barriers are not crushed or blocked by the automatic insertion machinery while forming the grid sand barriers is the main challenge to be solved in the design of the automatic insertion device for red willow grid sand barriers. Summary of the Invention

[0006] In view of this, it is necessary to provide an automatic insertion device for red willow stalk grid sand barriers to realize the automatic insertion of red willow stalk grid sand barriers.

[0007] To achieve the above objectives, the present invention provides an automatic sand barrier insertion device with red willow pole mesh, including a walking mechanism, a longitudinal sand barrier insertion mechanism, and a transverse sand barrier insertion mechanism;

[0008] The walking mechanism includes a chassis, a walking drive mechanism, and a housing. The walking drive mechanism is used to drive the chassis to move, and the housing is fixed to the chassis.

[0009] The longitudinal sand barrier insertion mechanism includes a torsion spring feeding assembly and a crank-slider insertion assembly. The torsion spring feeding assembly includes a central torsion spring, a winding motor, and a receiving plate. The outermost ring of the central torsion spring is fixed to the chassis. The winding motor is connected to the innermost ring of the central torsion spring and is used to drive the innermost ring of the central torsion spring to rotate. The receiving plate is installed below the outlet of the outermost ring of the central torsion spring. The crank-slider insertion assembly includes a guide rail, a slider, an insertion drive component, and a gripping head. The guide rail is vertically fixed to the chassis. The slider is slidably disposed within the guide rail. The insertion drive component is connected to the slider and is used to drive the slider to move. The gripping head is used to clamp one end of the red willow pole.

[0010] The transverse sand barrier insertion mechanism includes a storage bin, a conveyor belt, a first pusher, a rotating plate, a spreading plate, a second rotation drive, a second pusher, and a third pusher. The storage bin is used to store red willow stalks. The conveyor belt is inclined, with its upper end connected to the outlet of the storage bin and its lower end connected to the rotating plate. The first pusher pushes the red willow stalks from the storage bin to the upper end of the conveyor belt. The rotating plate is rotatably mounted at the rear end of the chassis, and the spreading plate is slidably mounted on the rotating plate. The second rotation drive is connected to the rotating plate and drives it to rotate. The fixed end of the second pusher is connected to the rotating plate, and the movable end is connected to the spreading plate. The third pusher is positioned above the rotating plate.

[0011] In some embodiments, the winding motor is connected to the innermost coil of the central torsion spring via a connecting rod.

[0012] In some embodiments, the receiving plate is rotatably disposed below the outermost ring outlet of the central torsion spring, and the torsion spring feeding assembly further includes a support spring, one end of which is fixedly connected to the receiving plate, and the other end of which is fixedly connected to the outermost ring of the central torsion spring.

[0013] In some embodiments, the insertion drive includes a drive shaft, a crank, a connecting shaft, and a first rotation drive. The drive shaft is rotatably mounted on the housing. One end of the crank is hinged to the drive shaft, and the other end of the crank is hinged to one end of the connecting shaft. The other end of the connecting shaft is hinged to the slider. The first rotation drive is used to drive the drive shaft to rotate.

[0014] In some embodiments, the first rotation drive includes a first rotation drive motor, a first gear, and a second gear. The first gear is fixedly sleeved on the output shaft of the first rotation drive motor, and the second gear is fixedly sleeved on the drive shaft and meshes with the first gear.

[0015] In some embodiments, the length of the crank and the connecting shaft is 25 cm.

[0016] In some embodiments, the outlet of the storage bin is located on its lower end surface, and the first pusher includes a push plate and an electric push rod. The push plate is slidably disposed in the storage bin, and the electric push rod is connected to the push plate and is used to drive the push plate to move.

[0017] In some embodiments, the second pusher includes a bracket and a plurality of electric telescopic rods. The bracket is fixed to the rotating plate, one end of each electric telescopic rod is fixed to the bracket, and the other end of each electric telescopic rod is fixedly connected to the spreading plate.

[0018] In some embodiments, the third pusher includes a fixed frame, a push cylinder, and a pressure frame. The fixed frame is fixed to the outer wall of the storage box, the cylinder body of the push cylinder is fixed to the fixed frame, the output shaft of the push cylinder is fixedly connected to the pressure frame, and the pressure frame is used to abut against the top of the red willow pole on the spreading plate below it.

[0019] In some embodiments, the second rotation drive member is a second rotation drive motor.

[0020] Compared with the prior art, the beneficial effects of the technical solution proposed in this invention are as follows: In use, the drive mechanism drives the chassis to move longitudinally. During the movement, the innermost coil of the central torsion spring is rotated by the winding motor, causing the central torsion spring to tighten, thereby clamping the red willow stalks between the coils of the central torsion spring. Then, the innermost coil of the central torsion spring is rotated in the opposite direction by the winding motor, causing the central torsion spring to expand. During the expansion process, the central torsion spring drives each red willow stalk to move, causing the outermost red willow stalk to fall onto the receiving plate. Then, the insertion drive component drives the slider to move downward, while the gripping head expands. After contacting the red willow stalk, the gripping head retracts inward, thereby gripping the red willow stalk. Then, the insertion drive component drives the slider to move until the red willow stalk is inserted into place. Then, the gripping head is unscrewed, and the slider returns to its original position. The entire insertion process is cyclical, effectively achieving the insertion of longitudinal sand barriers. After the device travels a certain distance, it stops and places the red willow stalks in the storage box. When feeding is needed, the first pusher pushes some of the red willow stalks from the storage box onto the conveyor belt. The conveyor belt evens out the density of the red willow stalks and transports them to the spreading plate. After the red willow stalks are densely spread on the spreading plate, the second rotating drive drives the rotating plate to rotate outward by 90°, thereby rotating the spreading plate and the red willow stalks on it from a horizontal state to a vertical state. Once in position, the red willow stalks will not fall because the rotating plate blocks the bottom of the red willow stalks. Then, the second pusher pushes the spreading plate to move towards the rear of the chassis until the outer side of the red willow stalks contacts the inner wall of the outer shell, thus squeezing and fixing the red willow stalks. Then, the third pusher at the top presses the red willow stalks vertically into the sand, completing the insertion of the transverse sand barrier. The device then continues to move, repeating this cycle to automatically insert the red willow stalk mesh sand barrier, greatly improving the insertion efficiency and reducing human resource costs. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the sand barrier setting route of an embodiment of the automatic insertion device for red willow pole grid sand barriers provided by the present invention;

[0022] Figure 2 This is a three-dimensional structural schematic diagram of an embodiment of the automatic insertion device for red willow pole mesh sand barriers provided by the present invention;

[0023] Figure 3 yes Figure 2 A three-dimensional structural diagram omitting the outer shell;

[0024] Figure 4 yes Figure 3 A three-dimensional structural diagram of the longitudinal sand barrier insertion mechanism;

[0025] Figure 5 yes Figure 4 A schematic diagram of the longitudinal sand barrier insertion mechanism in the middle;

[0026] Figure 6 yes Figure 4 A three-dimensional structural diagram of the longitudinal sand barrier insertion mechanism from another perspective;

[0027] Figure 7 yes Figure 3 A three-dimensional structural diagram of the transverse sand barrier insertion mechanism;

[0028] Figure 8 yes Figure 7 A three-dimensional structural diagram of the transverse sand barrier insertion mechanism from another perspective;

[0029] Figure 9 yes Figure 8 A three-dimensional structural diagram of the transverse sand barrier insertion mechanism from another perspective;

[0030] Figure 10 This is a three-dimensional structural diagram of the first pusher component installed inside the storage bin;

[0031] In the figure: 1 - traveling mechanism, 11 - chassis, 12 - traveling drive mechanism, 13 - outer shell, 2 - longitudinal sand barrier inserting mechanism, 21 - torsion spring feeding component, 211 - central torsion spring, 212 - winding motor, 213 - material receiving plate, 214 - connecting rod, 22 - crank-slider inserting component, 221 - guide rail, 222 - slider, 223 - inserting drive member, 2231 - driving shaft, 2232 - crank, 2233 - connecting shaft, 2234 - first rotation drive member, 22341 - first rotation drive motor, 22342 - first gear, 22343 - second gear, 224 - gripping and pressing head, 3 - transverse sand barrier inserting mechanism, 31 - storage bin, 32 - conveyor belt, 33 - first pusher, 331 - pushing plate, 332 - electric push rod, 34 - rotating plate, 35 - spreading plate, 36 - second rotation drive member, 37 - second pusher, 371 - bracket, 372 - electric telescopic rod, 38 - third pusher, 381 - fixing bracket, 382 - pushing cylinder, 383 - pressing bracket, 4 - tamarisk rod. Detailed implementation manners

[0032] The following specifically describes the preferred embodiments of the present invention in conjunction with the accompanying drawings. The accompanying drawings form a part of this application and are used together with the embodiments of the present invention to explain the principles of the present invention, rather than to limit the scope of the present invention.

[0033] Please refer to Figure 1 , the tamarisk rod grid sand barrier automatic inserting device provided by the present invention adopts a periodic inserting method similar to a "丄" character for laying the tamarisk rod sand barrier, first longitudinally and then transversely. The device travels longitudinally as a whole, continuously pressing the tamarisk rods into the sand during the traveling process to achieve Figure 1 (a) the laying of the longitudinal sand barrier at ①. Since the chassis of the device is relatively high, the laid longitudinal sand barrier will not hinder the forward movement of the device; after the device travels a certain distance, it stops moving forward, and a row of tamarisk rods is inserted into the sand together at the tail of the device to achieve Figure 1 (a) the transverse laying at ②. The above process is continuously repeated to form a superposition of single-column sand barriers in the shape of a "丄" character, as shown in Figure 1 (b). After traveling to the predetermined range, the device turns back and continues to lay single-column sand barriers in the shape of a "丄" character beside the laid sand barrier. The transverse parts of the two columns of sand barriers overlap to form a closed square, forming Figure 1 (c) the square sand barrier. Subsequently, this process is continuously repeated, and the sand barrier can form Figure 1 (d) the grid shape as shown, realizing the laying of the grid-shaped tamarisk rod sand barrier and greatly simplifying the laying procedure.

[0034] In order to implement the above inserting process, please refer to Figures 2-10 , the present invention provides a tamarisk rod grid sand barrier automatic inserting device, including a traveling mechanism 1, a longitudinal sand barrier inserting mechanism 2 and a transverse sand barrier inserting mechanism 3.

[0035] Please refer to Figure 1 and Figure 2 The walking mechanism 1 includes a chassis 11, a walking drive mechanism 12, and a housing 13. The walking drive mechanism 12 is used to drive the chassis 11 to move, and the housing 13 is fixed to the chassis 11.

[0036] In this embodiment, considering the various complex terrains and uncertainties in the desert, the walking drive mechanism 12 is designed as a double wishbone independent suspension, which can effectively reduce vibration and control the balance of the device. When traveling in the desert, one may encounter hidden potholes. The double wishbone independent suspension effectively ensures that forward momentum is still provided even when one wheel is suspended in the air, preventing the entire device from breaking down. This allows it to cope with various emergencies and ensures the safety of the device.

[0037] Please refer to Figures 2-5 The longitudinal sand barrier insertion mechanism 2 includes a torsion spring feeding assembly 21 and a crank slider insertion assembly 22. The torsion spring feeding assembly 21 is used to transport the red willow pole 4 to the insertion position, and the crank slider insertion assembly 22 is used to periodically insert the red willow pole 4 into the sand.

[0038] Please refer to Figures 2-5 The torsion spring feeding assembly 21 includes a central torsion spring 211, a winding motor 212, and a receiving plate 213. The outermost ring of the central torsion spring 211 is fixed to the chassis 11. The winding motor 212 is connected to the innermost ring of the central torsion spring 211 and is used to drive the innermost ring of the central torsion spring 211 to rotate. The receiving plate 213 is installed below the outlet of the outermost ring of the central torsion spring 211. In use, the red willow stalks 4 are bundled together with binding rope and placed on the central torsion spring 211. When the binding rope is loosened, the red willow stalks 4 fall between the coils of the central torsion spring 211. Then, the innermost coil of the central torsion spring 211 is rotated by the winding motor 212, causing the central torsion spring 211 to tighten. This clamps the red willow stalks 4 between the coils of the central torsion spring 211. Then, the innermost coil of the central torsion spring 211 is rotated in the opposite direction by the winding motor 212, causing the central torsion spring 211 to expand. During the expansion process, the central torsion spring 211 moves each red willow stalk 4, causing the outermost red willow stalk 4 to fall onto the receiving plate 213.

[0039] To specifically achieve the connection between the winding motor 212 and the innermost ring of the central torsion spring 211, please refer to... Figures 2-5 In a preferred embodiment, the winding motor 212 is connected to the innermost ring of the central torsion spring 211 via a connecting rod 214.

[0040] Please refer to Figures 2-6The crank slider insertion assembly 22 includes a guide rail 221, a slider 222, an insertion drive 223, and a gripping head 224. The guide rail 221 is vertically fixed on the chassis 11. The slider 222 is slidably disposed in the guide rail 221. The insertion drive 223 is connected to the slider 222 and is used to drive the slider 222 to move. The gripping head 224 is used to clamp one end of the red willow stalk 4.

[0041] When the red willow stalk 4, conveyed by the torsion spring feeding assembly 21, enters the receiving plate 213, the insertion drive 223 drives the slider 222 to move downwards, while the gripping head 224 expands. After contacting the red willow stalk 4, the gripping head 224 retracts inwards, thereby gripping the red willow stalk 4. Then, the insertion drive 223 drives the slider 222 to move until the red willow stalk 4 is inserted into place. Then, the gripping head 224 unscrews, and the slider 222 returns to its original position. The entire insertion process is cyclical, which can effectively realize the insertion of longitudinal sand barriers.

[0042] To prevent the receiving plate 213 from obstructing the insertion of the red willow pole 4, please refer to... Figures 2-6 In a preferred embodiment, the receiving plate 213 is rotatably disposed below the outermost ring outlet of the central torsion spring 211. The torsion spring feeding assembly 21 further includes a support spring (not shown). One end of the support spring is fixedly connected to the receiving plate 213, and the other end of the support spring is fixedly connected to the outermost ring of the central torsion spring 211. When the support spring is in its natural state, the receiving plate 213 is in a horizontal state, thereby catching the red willow stalks 4 discharged from the central torsion spring 211. When the gripping head 224 grips the red willow stalks 4 and the insertion drive 223 drives the gripping head 224 to move downward, the support spring contracts, thereby causing the receiving plate 213 to rotate to a vertical state so that the red willow stalks 4 can pass through.

[0043] To understand the specific functions of the insertion driver 223, please refer to [reference needed]. Figures 2-6In a preferred embodiment, the insertion drive 223 includes a drive shaft 2231, a crank 2232, a connecting shaft 2233, and a first rotation drive 2234. The drive shaft 2231 is rotatably mounted on the housing 13. One end of the crank 2232 is hinged to the drive shaft 2231, and the other end of the crank 2232 is hinged to one end of the connecting shaft 2233. The other end of the connecting shaft 2233 is hinged to the slider 222. The first rotation drive 2234 is used to drive the drive shaft 2231 to rotate. In use, the first rotation drive 2234 drives the drive shaft 2231 to rotate, thereby driving one end of the crank 2232 to rotate. The crank 2232 drives the slider 222 to move via the connecting shaft 2233, thereby driving the slider 222. In this embodiment, the length of the crank 2232 and the connecting shaft 2233 is set to 25cm to match the length of the red willow branch 4, which can effectively insert the red willow branch 4 into the appropriate position.

[0044] To understand the specific functions of the first rotation drive component 2234, please refer to [reference needed]. Figures 2-6 The first rotation drive component 2234 includes a first rotation drive motor 22341, a first gear 22342 and a second gear 22343. The first gear 22342 is fixedly sleeved on the output shaft of the first rotation drive motor 22341, and the second gear 22343 is fixedly sleeved on the drive shaft 2231 and meshes with the first gear 22342.

[0045] Please refer to Figures 7-10 The transverse sand barrier insertion mechanism 3 includes a storage bin 31, a conveyor belt 32, a first pushing component 33, a rotating plate 34, a spreading plate 35, a second rotating drive component 36, a second pushing component 37, and a third pushing component 38. The storage bin 31 is used to store red willow stalks 4. The conveyor belt 32 is inclined, with its upper end connected to the outlet of the storage bin 31 and its lower end connected to the rotating plate 34. The first pushing component 33 is used to push the red willow stalks 4 from the storage bin 31. The willow pole 4 is pushed to the upper end of the conveyor belt 32. The rotating plate 34 is rotatably disposed at the rear end of the chassis 11. The spreading plate 35 is slidably disposed on the rotating plate 34. The second rotating drive member 36 is connected to the rotating plate 34 and is used to drive the rotating plate 34 to rotate. The fixed end of the second pusher member 37 is connected to the rotating plate 34. The movable end of the second pusher member 37 is connected to the spreading plate 35. The third pusher member 38 is disposed above the rotating plate 34.

[0046] When the transverse sand barrier insertion mechanism 3 is in use, the red willow poles 4 are placed in the storage box 31. When feeding is required, the first pusher 33 pushes some of the red willow poles 4 from the storage box 31 onto the conveyor belt 32. The conveyor belt 32 can evenly distribute the red willow poles 4 and transport them to the spreading plate 35. After the red willow poles 4 are densely spread on the spreading plate 35, the second rotation drive 36 drives the rotating plate 34 to rotate outward by 90°, thereby driving the spreading plate 35 and the red willow poles 4 on it to rotate from a horizontal state to a vertical state. After it is in place, since the rotating plate 34 blocks the bottom of the red willow poles 4, the red willow poles 4 will not fall. Then, the second pusher 37 pushes the spreading plate 35 to move to the rear side of the chassis 11 until the outer side of the red willow poles 4 contacts the inner side wall of the outer shell 13, so that the red willow poles 4 are squeezed and fixed. Then, the third pusher 38 at the top presses the red willow poles 4 vertically into the sand, completing the insertion of the transverse sand barrier.

[0047] It should be noted that although the device needs to stop in place to insert the horizontal red willow poles, the material conveying and preparatory work before insertion can be completed while the device is moving longitudinally, so it still has high efficiency.

[0048] To specifically implement the function of the first pusher component 33, please refer to... Figures 7-10 In a preferred embodiment, the outlet of the storage bin 31 is located on its lower end face. The first pusher 33 includes a push plate 331 and an electric push rod 332. The push plate 331 is slidably disposed in the storage bin 31. The electric push rod 332 is connected to the push plate 331 and is used to drive the push plate 331 to move.

[0049] To specifically implement the function of the second pusher 37, please refer to... Figures 7-10 In a preferred embodiment, the second pusher 37 includes a bracket 371 and a plurality of electric telescopic rods 372. The bracket 371 is fixed on the rotating plate 34, one end of each electric telescopic rod 372 is fixed on the bracket 371, and the other end of each electric telescopic rod 372 is fixedly connected to the spreading plate 35.

[0050] To specifically implement the function of the third pusher component 38, please refer to... Figures 7-10 In a preferred embodiment, the third pusher 38 includes a fixed frame 381, a push cylinder 382, ​​and a pressure frame 383. The fixed frame 381 is fixed to the outer wall of the storage box 31. The cylinder body of the push cylinder 382 is fixed to the fixed frame 381. The output shaft of the push cylinder 382 is fixedly connected to the pressure frame 383. The pressure frame 383 is used to abut against the top of the red willow pole 4 on the spreading plate 35 below it.

[0051] To understand the specific functions of the second rotation drive 36, please refer to [reference needed]. Figures 7-10 In a preferred embodiment, the second rotation drive 36 is a second rotation drive motor.

[0052] To better understand this invention, the following is combined with... Figures 1-10 The working process of the automatic insertion device for red willow bark mesh sand barriers provided by the present invention will be described in detail below: During use, the drive mechanism 12 drives the chassis 11 to move longitudinally. During the movement, the innermost coil of the central torsion spring 211 is rotated by the winding motor 212, causing the central torsion spring 211 to tighten, thereby clamping the red willow bark 4 between the coils of the central torsion spring 211. Then, the innermost coil of the central torsion spring 211 is rotated in the opposite direction by the winding motor 212, thereby causing the central torsion spring 211 to... During the expansion process, the central torsion spring 211 drives each red willow branch 4 to move, so that the outermost red willow branch 4 falls onto the receiving plate 213. Then, the insertion drive 223 drives the slider 222 to move downward, while the gripping head 224 expands. After contacting the red willow branch 4, the gripping head 224 retracts inward, thereby gripping the red willow branch 4. Then, the insertion drive 223 drives the slider 222 to move until the red willow branch 4 is inserted into place. Then, the gripping head 224 is unscrewed, and the slider 222 returns to its original position. The entire insertion process is cyclical, effectively achieving the insertion of longitudinal sand barriers. After the device travels a certain distance, it stops and places the red willow stalks 4 into the storage box 31. When feeding is needed, the first pusher 33 pushes some of the red willow stalks 4 from the storage box 31 onto the conveyor belt 32. The conveyor belt 32 can evenly distribute the density of the red willow stalks 4 and transport them to the spreading plate 35. After the red willow stalks 4 are densely spread on the spreading plate 35, the second rotation drive 36 drives the rotating plate 34 to rotate outward. The device rotates 90°, causing the spreading plate 35 and the red willow poles 4 on it to rotate from a horizontal to a vertical position. Once in position, the rotating plate 34 blocks the bottom of the red willow poles 4, preventing them from falling. Then, the second pushing component 37 pushes the spreading plate 35 towards the rear of the chassis 11 until the outer side of the red willow poles 4 contacts the inner wall of the outer casing 13, thus pressing and fixing the red willow poles 4. Then, the third pushing component 38 at the top vertically presses the red willow poles 4 into the sand, completing the insertion of the horizontal sand barrier. The device continues to move, repeating this cycle to achieve automatic insertion of the red willow pole grid sand barrier, greatly improving the insertion efficiency and reducing labor costs.

[0053] In addition, different from the straw checkerboard sand barrier, the laying process of the tamarisk rod sand barrier is more demanding. Because the tamarisk rods are hard and brittle, while ensuring that they are laid into a grid, the laid tamarisk rods cannot be crushed or broken, which requires a relatively high control of the overall device. And it cannot be laid in the traditional way of "first laying all the longitudinal rods and then starting to lay the transverse rods". The present invention innovatively proposes a "丄"-shaped laying method, which can effectively solve the above problems. However, during the laying process, due to the influence of the terrain, there may be a phenomenon that the transverse sand barriers cannot be aligned. To solve this problem, ROS visual recognition is used to capture the ends of the transverse tamarisk rod sand barriers through the laid sand barriers, give feedback, and accurately position them to achieve an ideal control effect of sand barrier laying.

[0054] The control of the device is mainly carried out through the STM32 single-chip microcomputer for overall regulation. By designing a program, the device can lay the longitudinal tamarisk rod sand barriers during the process of moving forward and lay the transverse tamarisk rod sand barriers when it is stationary, effectively improving the work efficiency. And it can control the density of the laying of the tamarisk rod sand barriers according to the on-site situation and manage the sand dunes according to local conditions.

[0055] The above is only the preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. An automatic insertion device for red willow pole mesh sand barriers, characterized in that, It includes a walking mechanism, a longitudinal sand barrier insertion mechanism, and a lateral sand barrier insertion mechanism; The walking mechanism includes a chassis, a walking drive mechanism, and a housing. The walking drive mechanism is used to drive the chassis to move, and the housing is fixed to the chassis. The longitudinal sand barrier insertion mechanism includes a torsion spring feeding assembly and a crank-slider insertion assembly. The torsion spring feeding assembly includes a central torsion spring, a winding motor, and a receiving plate. The outermost coil of the central torsion spring is fixed to the chassis. The winding motor is connected to the innermost coil of the central torsion spring and drives the innermost coil of the central torsion spring to rotate. The receiving plate is installed below the outlet of the outermost coil of the central torsion spring. By driving the innermost coil of the central torsion spring to rotate through the winding motor, the central torsion spring is tightened, thereby allowing the red willow branches between the coils of the central torsion spring to be inserted. The material is clamped, and then the innermost ring of the central torsion spring is rotated in the opposite direction by the winding motor, thereby expanding the central torsion spring. During the expansion process, the central torsion spring drives each red willow stalk to move, so that the outermost red willow stalk falls onto the receiving plate. The crank slider insertion assembly includes a guide rail, a slider, an insertion drive component, and a gripping head. The guide rail is vertically fixed on the chassis, and the slider is slidably disposed in the guide rail. The insertion drive component is connected to the slider and is used to drive the slider to move. The gripping head is used to clamp one end of the red willow stalk. The transverse sand barrier insertion mechanism includes a storage bin, a conveyor belt, a first pusher, a rotating plate, a spreading plate, a second rotation drive, a second pusher, and a third pusher. The storage bin is used to store red willow stalks. The conveyor belt is inclined, with its upper end connected to the outlet of the storage bin and its lower end connected to the rotating plate. The first pusher pushes the red willow stalks from the storage bin to the upper end of the conveyor belt. The rotating plate is rotatably mounted at the rear end of the chassis, and the spreading plate is slidably mounted on the rotating plate. The second rotation drive is connected to the rotating plate and drives it to rotate. The fixed end of the second pusher is connected to the rotating plate, and the movable end is connected to the spreading plate. The third pusher is positioned above the rotating plate.

2. The automatic insertion device for red willow pole mesh sand barriers according to claim 1, characterized in that, The winding motor is connected to the innermost coil of the central torsion spring via a connecting rod.

3. The automatic insertion device for red willow pole mesh sand barriers according to claim 1, characterized in that, The receiving plate is rotatably positioned below the outermost ring outlet of the central torsion spring. The torsion spring feeding assembly also includes a support spring, one end of which is fixedly connected to the receiving plate, and the other end of which is fixedly connected to the outermost ring of the central torsion spring.

4. The automatic insertion device for red willow pole mesh sand barriers according to claim 1, characterized in that, The insertion drive includes a drive shaft, a crank, a connecting shaft, and a first rotation drive. The drive shaft is rotatably mounted on the housing. One end of the crank is hinged to the drive shaft, and the other end of the crank is hinged to one end of the connecting shaft. The other end of the connecting shaft is hinged to the slider. The first rotation drive is used to drive the drive shaft to rotate.

5. The automatic insertion device for red willow pole mesh sand barriers according to claim 4, characterized in that, The first rotation drive component includes a first rotation drive motor, a first gear, and a second gear. The first gear is fixedly sleeved on the output shaft of the first rotation drive motor, and the second gear is fixedly sleeved on the drive shaft and meshes with the first gear.

6. The automatic insertion device for red willow pole mesh sand barriers according to claim 4, characterized in that, The length of the crank and the connecting shaft is 25cm.

7. The automatic insertion device for red willow pole mesh sand barriers according to claim 1, characterized in that, The outlet of the storage box is located on its lower end face. The first pusher includes a push plate and an electric push rod. The push plate is slidably disposed in the storage box. The electric push rod is connected to the push plate and is used to drive the push plate to move.

8. The automatic insertion device for red willow pole mesh sand barriers according to claim 1, characterized in that, The second pusher includes a bracket and several electric telescopic rods. The bracket is fixed to the rotating plate, one end of each electric telescopic rod is fixed to the bracket, and the other end of each electric telescopic rod is fixedly connected to the spreading plate.

9. The automatic insertion device for red willow pole mesh sand barriers according to claim 1, characterized in that, The third pushing component includes a fixed frame, a pushing cylinder, and a pressing frame. The fixed frame is fixed to the outer wall of the storage box, the cylinder body of the pushing cylinder is fixed to the fixed frame, the output shaft of the pushing cylinder is fixedly connected to the pressing frame, and the pressing frame is used to abut against the top of the red willow pole on the spreading plate below it.

10. The automatic insertion device for red willow pole mesh sand barriers according to claim 1, characterized in that, The second rotation drive component is a second rotation drive motor.

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