Integrated desert plant intelligent conservation robot

Abstract

The application provides an integrated intelligent desert plant conservation robot, which comprises five main devices, namely, a ditching device, a seeding device, a discharging device, a laying device and a spraying device. The ditching device uses a ditching plow to plow a ridge ditch in the sand, the seeding device scatters the sand plant seeds into the ditch, the discharging device peels off the single layer of the grass roll and delivers it to the laying device, the laying device uses a disc type grass pressing wheel to press the grass mat, and uses a soil covering wheel to backfill sand to reinforce the grass mat, and the spraying device sprays chemical sand fixation materials to enhance the sand fixation effect. The application realizes the full-automatic grass mat roll single layer peeling, discharging, ditching before laying and soil backfilling to deepen the grass mat insertion depth, has a field passability vehicle chassis, realizes the "engineering-biology-chemistry" combined sand control mode through the cooperation of the devices, reduces the labor intensity, improves the sand control efficiency, and contributes to the desert control.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automated desert management, in particular to an integrated intelligent desert plant conservation robot. BACKGROUND

[0002] The current sand-fixing technology mainly includes sand barrier sand-fixing technology and sand-fixing afforestation technology. In the sand prevention and control engineering project, it is essential to fix the drifting sand and prevent its migration. Therefore, setting up sand barriers is the most important measure for fixing sand dunes. The sand barrier sand-fixing technology is generally divided into mechanical sand barriers and industrial material sand-fixing. Nowadays, it is still mainly through low-automation agricultural and forestry machinery, manual work and the accumulation of crop straw, nylon and other materials to form a wind barrier. However, due to the huge amount of work, the low-intelligent agricultural and forestry machinery or manual work has low efficiency, and the sand barrier laying is disorganized, which cannot complete the large-area sand barrier laying.

[0003] Another technology is to use various sand-fixing agent materials to spray on the surface of the drifting sand to achieve the purpose of sand fixation. However, it mainly relies on manual work, which is costly, and the treated desert surface is not conducive to plant growth, and the desertification control period is relatively long. In addition, although there is some research on sand-fixing equipment, most of the equipment has low automation degree and still needs more manual input. Although there are some sand-fixing vehicles, the sand-fixing vehicles are based on trucks, and still need some manual input during work.

[0004] Therefore, it is necessary to develop a sand-fixing grass square laying machine with high automation degree, and it is urgent to research a mechanical sand-fixing equipment with high intelligence. SUMMARY

[0005] In order to solve the above problems of the prior art, the present application aims to provide an integrated intelligent desert plant conservation robot, which can solve the problems of low efficiency, high labor intensity and high investment of large equipment in artificial planting of grass square, has high intelligence and can efficiently conserve desert plants.

[0006] Specifically, the present application provides an integrated intelligent desert plant conservation robot, which comprises a self-propelled chassis, a seeding device, a discharging device, a spraying device, a ditching device and a laying device. The seeding device, the discharging device and the spraying device are sequentially arranged on the self-propelled chassis, and the ditching device and the laying device are arranged at the bottom of the self-propelled chassis.

[0007] The furrowing device is arranged at the front end of the lower part of the self-propelled chassis, and comprises a first electric push rod, a plow support rod and a furrowing plow connected in sequence, the middle part of the first electric push rod is connected with the plow support rod through a hole, the furrowing plow is arranged at the outer end of the plow support rod, and the first electric push rod drives the plow support rod to move and further drives the furrowing plow to move when the first electric push rod is extended;

[0008] The laying device is arranged behind the furrowing device, and comprises a second electric push rod, a connecting rod assembly, a disc-type grass rolling wheel and two earth covering wheels arranged in a symmetrical V-shaped structure in sequence; the disc-type grass rolling wheel and the earth covering wheels are respectively connected with the first end of the connecting rod assembly, the second end of the connecting rod assembly is connected with the second electric push rod; and the second electric push rod is used for controlling the extension and retraction of the laying device.

[0009] The seeding device is arranged at the front end of the upper part of the self-propelled chassis, and comprises a screw rod motor, a screw rod, a cylinder arranged outside the screw rod, an inlet and an outlet; the screw rod motor is installed by means of a support and connected with the screw rod; the cylinder is supported and fixed by means of a support seat and arranged outside the screw rod; the inlet and the outlet are respectively arranged above and below the cylinder; and the screw rod motor drives the screw rod to rotate so as to discharge seeds from the outlet.

[0010] The discharging device is arranged behind the seeding device, and comprises a grass grabbing unit and a grass conveying unit; the material box is in a funnel shape; the grass grabbing unit and the grass conveying unit are arranged in the material box, and the grass grabbing unit is arranged above the grass conveying unit; the grass grabbing unit comprises first conveying units arranged on both sides of the material box; the first conveying unit comprises a first power shaft, a first driven shaft, a first synchronous wheel and a first conveying belt; the first power shaft is connected with a first reduction motor by means of a first sprocket wheel; the first driven shaft is arranged above the first power shaft; a plurality of synchronous wheels are arranged on the first power shaft and the first driven shaft; the first conveying belt is arranged outside the synchronous wheels on the first power shaft and the first driven shaft; and the first power shaft is connected with the output shaft of the first reduction motor by means of a first chain.

[0011] The grass conveying unit comprises second conveying units oppositely arranged on two sides and claw units alternately arranged with the second conveying units, the second conveying unit comprises a second power shaft, a second driven shaft, a second synchronous wheel and a second conveying belt, the second power shaft is connected with a second reduction motor by means of a second sprocket, the second driven shaft is arranged above the second power shaft, a plurality of synchronous wheels are arranged on the second power shaft and the second driven shaft, the second conveying belt is arranged outside the synchronous wheels on the second power shaft and the second driven shaft, and the second power shaft is connected with the output shaft of the second reduction motor by means of a second chain; the claw unit comprises a claw and a third chain, the third chain is connected with the second reduction motor, and the claw is arranged outside the third chain; the grass hook on the first conveying belt of the grass grabbing unit captures the grass roll and then pulls the grass roll into the grass conveying unit below, and the second conveying belt and the claw unit pull out the grass roll to the ground through extrusion and friction.

[0012] The spraying device is arranged behind the discharging device, and the spraying device comprises a micro water pump, a water tank and uniformly distributed spray heads, liquid in the water tank is delivered to the plurality of spray heads by the micro water pump and sprayed out.

[0013] The furrow opener is a replaceable blade, the blade is fixed at both ends on a blade support and the furrow opener respectively, the middle part of the plow support rod is connected with a first electric push rod, and the end part of the plow support rod is connected with the chassis; the laid grass roll is cut by the blade to realize cross-shaped laying.

[0014] Preferably, the spray head is a narrow-angle fan-shaped atomizing spray head.

[0015] Preferably, the grass roll is a bidirectional grass roll with two layers of same-direction grass rolls in the outer circle.

[0016] Preferably, the self-propelled chassis is a wheeled power chassis, the self-propelled chassis is provided with a rudder and a plurality of groups of suspensions, and the plurality of groups of suspensions comprise two groups of upper and lower transverse arms and shock-absorbing springs.

[0017] Preferably, the claw is driven to open or close by a micro motor.

[0018] Preferably, the first conveying belt and the second conveying belt on each side are each provided with four.

[0019] Preferably, the link assembly comprises a first link, a second link, a third link and two fourth links, the output end of the second electric push rod is connected with the first end of the second link, the second end of the second link is rotationally connected with the first end of the third link and the middle positions of the two fourth links respectively, the second end of the third link is rotationally connected with the middle position of the first link, one end of the two fourth links is respectively connected with the center position of one soil covering wheel, and the end part of the first link is connected with the center position of the disc-type grass rolling wheel.

[0020] Preferably, the water tank is provided with a medicament.

[0021] Preferably, the furrow opener is obliquely arranged.

[0022] Preferably, the middle part of the electric push rod and the plow support rod are provided with mounting holes.

[0023] Compared with the prior art, the present application has the following beneficial effects:

[0024] (1) The structure of the present application is an integrated desert plant intelligent conservation robot, which includes integrated furrowing device, seeding device, discharging device, laying device and spraying device, which can realize multiple functions; the whole working process combines furrowing, discharging, grass pressing, backfilling, sowing and spraying, etc., realizes relatively efficient grass grid laying and other work, reduces the labor intensity, greatly improves the work efficiency, and improves the laying quality.

[0025] (2) The self-propelled chassis of the present application is provided with an independent suspension, which has good damping function and strong overall adaptability, and is suitable for use in desert environment.

[0026] (3) The discharging device of the present application realizes automatic single-layer peeling of grass rolls, which can realize the discharging of grass rolls without manual intervention, greatly reduces the labor intensity, and improves the overall automation degree.

[0027] (4) The grass pressing device of the present application is provided with a covering wheel, which can backfill the soil on both sides of the ditch, deepen the insertion depth, and make the grass grid more stable. The V-shaped covering wheel can better cover the soil and press the grass.

[0028] (5) The device of the present application realizes the combination of mechanical device furrowing, grass grid laying, plant root sand fixation and chemical sand fixation agent to strengthen the sand fixation effect, effectively improves the overall sand fixation effect, and has high working efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a side view of the integrated desert plant intelligent conservation robot of the present application;

[0030] Figure 2 is a perspective view of the integrated desert plant intelligent conservation robot of the present application;

[0031] Figure 3 is a schematic view of the furrowing device of the present application;

[0032] Figure 4 is a schematic view of the seeding device structure of the present application;

[0033] Figure 5 is a schematic view of the discharging device structure of the present application;

[0034] Figure 6 This is a schematic diagram of the laying device structure of the present invention;

[0035] Figure 7 This is a schematic diagram of the spraying device of the present invention;

[0036] Figure 8 This is a schematic diagram of the structure of the straw roll in an embodiment of the present invention.

[0037] Some of the attached figures are labeled as follows:

[0038] 1-Ditching device, 101-Ditching plow, 102-Plow support rod, 103-First electric push rod;

[0039] 2-Seeding device, 201-Round cover, 202-Support base, 203-Inlet, 204-Cylinder, 205-Outlet, 206-Screw rod, 207-Support, 208-Screw rod motor;

[0040] 3-Discharge device; 30-Material box; 301-First drive sprocket; 302-Second drive shaft; 303-First drive shaft; 304-First geared motor; 305-First chain; 306-Second drive sprocket; 307-Second chain; 308-Second geared motor; 309-Claw unit; 310-Second conveying unit; 311-First conveying unit;

[0041] 4-Laying device, 401-First link, 402-Second electric actuator, 403-Disc-type grass pressing wheel, 404-Second link, 405-Third link, 406-Fourth link, 407-Soil covering wheel;

[0042] 5-Spraying device, 501-Sprayer head, 502-Water tank, 503-Miniature water pump;

[0043] 6 - Self-propelled chassis; 100 - Straw roll. Detailed Implementation

[0044] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0045] This invention provides an integrated intelligent conservation robot for desert plants, such as... Figures 1 to 2 As shown, it includes a self-propelled chassis 6, a ditching device 1, a seeding device 2, a discharge device 3, a laying device 4, and a spraying device 5. The seeding device 2, the discharge device 3, and the spraying device 5 are arranged sequentially on the self-propelled chassis, while the ditching device 1 and the laying device 4 are both located at the bottom of the self-propelled chassis 6.

[0046] like Figure 3As shown, the ditching device 1 is located at the front end of the lower part of the self-propelled chassis, including a first electric push rod 103, a plow support rod 102, and a ditching plow 101 connected in sequence. The electric push rod 103 is connected to the middle part of the plow support rod 102. The support rod 102 and the plow 101 are connected to form the ditching device 1. The ditching plow 101 is inclined at a certain angle to the ground. When the electric push rod 103 extends, it pushes the plow support rod 102 to move, thereby causing the plow 101 to move forward and downward. In a specific embodiment, the first electric push rod 103 and the plow support rod 102 are connected by an opening in the middle. The ditching plow 101 is located at the front end of the plow support rod 102. The movement of the first electric push rod 103 drives the plow support rod 102 to move and further drives the ditching plow 101 to move forward and downward, performing the ditching action.

[0047] The main component of the trenching device is the trenching plow. The device uses an electric actuator to control the extension and retraction of the plow. This actuator effectively saves space on the sand-fixing vehicle chassis and adapts to both working (extending) and idle (retracting) states. The trenching plow is equipped with replaceable blades, which can be changed as needed.

[0048] like Figure 4 As shown, the seeding device 2 is located at the front end of the self-propelled chassis. The seeding device 2 includes a support base 202, a support 207, a screw motor 208, a screw 206, a cylinder 204 located outside the screw 206, a feed inlet 203, and a discharge outlet 205. The screw motor 208 is mounted on the support and connected to the screw 206. The cylinder 204 is supported and fixed by the support base 202 and located outside the screw 206. The feed inlet 203 and discharge outlet 205 are located at the top and bottom of the cylinder 204, respectively. A circular cover 201 is provided on the side of the cylinder 204. In the seeding device 2, the screw motor 208 drives the screw 206, which in turn scatters the seeds from the cylinder 204 into the furrow through the discharge outlet 205. The seeding device uses a screw conveyor mechanism to sow grass seeds. A screw motor 208 drives a screw rod 206 to rotate, transporting grass and tree seeds such as Artemisia arenaria and Artemisia argyi to the discharge port 205. The discharge port 205 is connected to the seeding port on the furrowing plow via a conveying hose. The screw motor 208 is typically a stepper motor.

[0049] The seeding device is a plant sand-fixing mode aiming at the short-acting defect of the grass checkerboard. The seeding device adopts a spiral conveying mechanism to seed the sowing of grass seeds. A stepping motor drives the spiral rod to rotate, so that the grass seeds such as sand sage and sand millet are transported to the discharge port along the rotation direction. Through the connection of the conveying hose between the discharge port and the seeding port installed on the furrower, the grass seeds are dropped into the furrow along with the operation of the furrower. Within the effective four or five years of the grass checkerboard, a reliable root growth condition is provided for the seeds. Thus, after the four or five years of the grass checkerboard lose effectiveness, the sowed grass seeds and tree seeds have grown deeply in the weathered sand erosion grass checkerboard, forming a new plant grass checkerboard, so that the sand-fixing effect is more significant.

[0050] As shown in Figure 5 The discharge device 3 is arranged behind the seeding device 2. The discharge device 3 includes a material box 30, a grass grabbing unit, and a grass feeding unit. The material box 30 is in the shape of a funnel as a whole, and the grass rolls are placed in the material box 30. The grass grabbing unit and the grass feeding unit are arranged inside the material box, and the grass grabbing unit is arranged above the grass feeding unit. The grass grabbing unit includes first conveying units 311 arranged on both sides of the material box. The first conveying units 311 include a first power shaft 303, a first driven shaft, first synchronous wheels, and a first conveying belt. The first power shaft 303 is connected to a first reduction motor 304 by means of a first chain wheel. The first driven shaft is arranged above the first power shaft. A plurality of synchronous wheels are arranged on the first power shaft and the first driven shaft. The first power shaft 303 and the synchronous wheels on the first driven shaft are externally provided with the first conveying belt. The first power shaft 303 is connected to the output shaft of the first reduction motor 304 by means of a first chain 305.

[0051] The grass conveying unit comprises second conveying units 310 arranged oppositely on two sides and claw units 309 arranged alternately with the second conveying units 310. The second conveying unit 310 comprises a second driving shaft 302, a second driven shaft, second synchronous wheels and a second conveying belt. The second driving shaft is connected with a second speed reducer motor by a second sprocket. The second driven shaft is arranged above the second driving shaft. A plurality of synchronous wheels are arranged on the second driving shaft and the second driven shaft. The second conveying belt is arranged outside the synchronous wheels on the second driving shaft and the second driven shaft. The second driving shaft 302 is connected with the output shaft of the second speed reducer motor 308 by a second chain 307. A first driving sprocket 301 and a second driving sprocket 306 are arranged between the first speed reducer motor 304 and the first chain 305 and between the second speed reducer motor 308 and the second chain 307. The claw unit 309 comprises a claw and a third chain. The third chain is connected with the second speed reducer motor. The claw is arranged outside the third chain. The claw on the first conveying belt of the grass grabbing unit captures the grass roll and pulls the grass roll into the grass conveying unit below. The second conveying belt and the claw unit pull the grass roll out to the ground by extrusion and friction. The claw is driven by a micro motor. When the motor rotates forward, the claw extends to grab the grass. When the motor reverses, the claw resets to release the grass roll.

[0052] After the grass roll is placed in the feeding device, the first driven sprocket in the middle and upper part will make the synchronous belt adhere to the grass roll under the action of the coil spring. The two first driving shafts on the two sides of the material box will rotate towards each other. Under the action of the friction force of the synchronous belt and the self-weight of the grass roll, the first layer of the grass roll will be rolled down and enter the grass conveying unit. After the head of the grass roll enters the grass conveying unit, the grass roll will rotate by itself under the drive of the grass conveying unit. The rotation direction of the grass roll is detected by the lower torque sensor. The turning information is fed back to the motor driving the two first driving shafts on the two sides through the control system, so that the motor drives the two first driving shafts on the two sides to rotate in the same direction as the grass roll, providing power assistance for the rotation of the grass roll. At the same time, a pressure sensor module is installed at the bottom of the discharging device 3. When the grass roll is insufficient, the pressure sensor timely transmits a signal, so that the grass loading vehicle or manual operation can load the grass for the grass square sand fixation vehicle, which is simple and convenient.

[0053] When the grass roll is placed in the funnel-shaped box, the motor drives the chain to rotate, and the claws on the chain of the claw assembly move. The claws are straightened under the drive of the micro motor, and the grass roll is clamped by the sharp end portion at the front end. At the same time, the power shaft drives the synchronous belt in the feeding device to promote the rotation of the grass roll, and drives the grass into the middle part of the two-layer conveying belt of the grass clump unit, so as to realize the expansion and conveying of the cylindrical grass roll. When the grass roll has been partially expanded and laid, the micro motor drives the claws to rotate counterclockwise and separate from the grass mat, and reset.

[0054] As Figure 8As shown, the type of grass roll 100 used is a two-way grass roll, which has a different production process from the original one-way grass roll. In the production process, the outer layer of the two-way grass roll is folded back once. If a one-way grass roll is used, it may be jammed during the grabbing process of the chain gripper due to force conflict, and the grass roll cannot be transmitted to the conveying device. If the improved two-way grass roll is used, the problem of the gripper being jammed can be solved.

[0055] In the specific working process, the discharging device is composed of a material box, a grass grabbing unit and a grass conveying unit, and the discharging work is completed under the cooperation of the three parts. The material box part adopts a funnel type design, and four conveying belts are placed on each side. The first chain is provided with a grabbing hook, and the upper end of the second conveying belt is provided with a small spike, which can increase the friction between the grass and the conveying belt, so that the grass roll is more easily put in.

[0056] As shown in Figure 6 The laying device 4 is arranged behind the ditching device 1, and the laying device 4 comprises a second electric push rod 402, a connecting rod assembly, a disc-type grass pressing wheel 403 and two earth covering wheels 407 arranged in a V-shaped structure symmetrically. The disc-type grass pressing wheel 403 and the earth covering wheel 407 are connected with the first end of the connecting rod assembly respectively, the second end of the connecting rod assembly is connected with the second electric push rod 402, and the connecting rod assembly comprises a first connecting rod 401, a second connecting rod 404, a third connecting rod 405 and a fourth connecting rod 406. The output end of the second electric push rod 402 is connected with the first end of the second connecting rod 404, the second end of the second connecting rod 404 is rotatably connected with the first end of the third connecting rod 405 and the middle position of the two fourth connecting rods 406 respectively, the second end of the third connecting rod 405 is rotatably connected with the middle position of the first connecting rod 401, one end of the two fourth connecting rods 406 is respectively connected with the center position of one earth covering wheel 407, and the end of the first connecting rod 401 is connected with the center position of the disc-type grass pressing wheel 403. The second electric push rod 402 is used for controlling the pushing out and retracting of the laying device. The movement of the second electric push rod 402 drives the movement of the disc-type grass pressing wheel 403 and the earth covering wheel 407 through the connecting rod assembly. When the laying device 4 works, the second electric push rod 402 is extended, the second connecting rod 404 is pushed forward, the second connecting rod 404 drives the grass inserting disc 403 and the fourth connecting rod 406, the earth covering wheel 407 is lowered to pile the sand and soil plowed in the ditching process beside the inserted grass roll to reinforce the grass roll, and the grass roll laying is completed. The laying device adopts the electric push rod to control the pushing out and retracting of the working mechanism, which can effectively save the space of the sand fixing vehicle chassis, and adapt to the working state (pushing out) and the idle state (retracting). The grass inserting disc and the earth covering wheel are connected with each other through the connecting rod assembly and the electric push rod, and the connecting rod assembly and the electric push rod are connected with the vehicle frame.

[0057] As shown in Figure 7As shown, the spraying device 5 is arranged behind the discharging device, and the spraying device comprises a micro water pump 503, a water tank 502, and uniformly distributed spray heads 501. The micro water pump 503 is arranged inside the water tank 502, and the water tank 502 contains liquid medicine. The liquid medicine in the water tank 502 is pumped out by the micro water pump 503 and sprayed through the spray heads 501. When the spraying device is working, the micro water pump 503 is turned on to pressurize the chemical agent in the water tank 502 and spray it out of the spray heads 501.

[0058] The water tank of the spraying device is a large-capacity water tank, so that the working area of the spraying device is wider. By using the vehicle-mounted micro water pump in cooperation with the narrow-angle fan-shaped atomizing spray head, the sand-fixing agent in the water tank is sprayed in a fan shape on both sides of the laid grass checkerboard, meeting the laying requirements of the grass checkerboard. The water tank contains chemical reagents and other medicines, which can govern the sand layer on the basis of wetting.

[0059] In use, the spraying device uses the vehicle-mounted micro water pump in cooperation with the narrow-angle fan-shaped atomizing spray head to spray the chemical reagents in the water tank in a fan shape on both sides of the laid grass checkerboard. On the one hand, the properties of the liquid are used to wet the sand layer and prevent dust from being raised. On the other hand, the sand layer in the grass checkerboard is formed into a sand block, which, in cooperation with the grass checkerboard, makes the sand-fixing effect better. The large-capacity water tank and the narrow-angle fan-shaped atomizing spray head make the working area of the spraying device wider. In specific embodiments, the chemical sand-fixing material can be emulsified asphalt, which does not hinder plant growth.

[0060] The furrow plow 101 is a replaceable blade, the two ends of the blade are fixed to the blade support and the furrow plow respectively, the middle part of the plow support rod is connected to the first electric push rod, and the end part of the plow support rod is connected to the chassis. The blade is used to cut the laid grass roll to realize cross-shaped laying of the grass roll. In specific applications, the blade can be replaced as needed to meet different cutting requirements.

[0061] When laying the grass checkerboard manually, no furrowing operation is generally performed, and an iron shovel is directly used to press the grass roll into the sand ground. In order to make the grass checkerboard deeper, the sand-fixing vehicle uses the furrowing device to plow a furrow in the sand ground, and then inserts the grass roll in the furrow, thereby increasing the burying depth of the grass roll by the method of first furrowing and then laying.

[0062] The main acting component of the furrowing device is the slotting plow. In specific application embodiments, the furrowing device uses a four-bar linkage mechanism and controls the extension and retraction of the furrowing plow through an electric push rod, which can effectively save the space of the sand-fixing vehicle chassis and adapt to the working state (electric push rod extended) and the idle state (electric push rod retracted), thereby improving the working efficiency on the basis of saving space.

[0063] In specific embodiments, as shown in FIG. 6, the sand-fixing vehicle comprises a chassis 1, a discharging device 2, a spraying device 5, a furrowing device 6, and a grass roll laying device 7. Figure 1As shown, the vehicle chassis is provided with independent suspension. The independent suspension is composed of two sets of upper and lower control arms and shock springs, each set of suspension independently connects the wheel and the frame, so as to play a damping effect and prolong the service life of the whole device.

[0064] The independent suspension is composed of two sets of upper and lower control arms and shock springs, each set of suspension independently connects the wheel and the frame, so as to play a damping effect and prolong the service life of the whole device.

[0065] The working principle of the present application is further described as follows:

[0066] The maximum size of the grass roll that can be loaded on the sand-fixing vehicle is 60 cm in diameter and 80 cm in width, and the thickness of one layer of grass roll is 3 mm. The maximum straight-line working length of each grass roll is about 95 meters.

[0067] When the sand-fixing vehicle drives forward, a furrow is plowed in the sand by the furrowing plow. In order to prevent the hook of the grass extraction mechanism from hooking two layers of grass rolls and causing the machine to be stuck, the grass roll is designed with two layers of grass rolls in the same direction in the outer circle. Whether the hook hooks one layer or two layers, the grass extraction work can be smoothly completed. When the grass roll is placed in the hopper, the power shaft drives the chain to rotate, and the hook on the chain moves. The hook is straightened, and the grass roll is clamped by the sharp end of the front end. At the same time, the power shaft drives the conveyor belt in the feeding device to promote the rotation of the grass roll, and the grass is fed into the middle part of the two-layer conveyor belt to realize the expansion and conveying of the cylindrical grass roll. When the grass roll has been partially expanded and laid, the motor drives the hook to rotate counterclockwise and separates from the grass roll for resetting. The hook captures the grass roll and pulls it into the lower grass extraction part. The lower conveyor belt pulls the grass roll out to the ground through extrusion and friction. When the expanded grass roll is conveyed to the ground from the discharging device, the furrowing plow cuts it. The rear electric push rod of the sand-fixing vehicle is extended, and the grass inserting disc and the soil covering wheel are lowered. When the sand-fixing vehicle drives forward, the grass inserting disc can continuously insert and press the grass roll. At the same time, the soil covering wheel piles up the sand excavated by the furrowing plow beside the inserted grass roll to reinforce the grass roll. The grass roll laying is completed. Since the sand-fixing vehicle drives slowly during the laying work and the grass inserting disc can roll, the resistance has little effect on the insertion work. The seeding device is discharged through the discharge port to make the seeds fall into the furrow along with the operation of the furrowing plow.

[0068] In specific application, the application combines the "engineering-biology-chemistry" combined sand control mode, which comprises a ditching device, a seeding device, a discharging device, a laying device and a spraying device, and can realize multiple work. Since the sand control vehicle is slow during the laying work and the grass inserting disc can roll, the resistance has little effect on the inserting work. The seeding device scatters seeds through the discharge port, so that the seeds fall into the ditch along with the ditching plow operation. Within the effective period of the grass checkerboard, a reliable root growth condition is provided for the seeds. After the effective period, the grass checkerboard loses its effectiveness, but the scattered grass seeds and tree seeds have already grown deeply in the weathered sand eroded grass checkerboard, forming a new plant checkerboard, so that the sand control effect is more significant and more durable. The nozzle of the device sprays the sand control agent in the water tank in a fan shape on both sides of the laid grass checkerboard. The sand control vehicle combines three sand control modes, which complement each other, so that the sand control effect is significantly improved.

[0069] The above-described embodiments are merely preferred embodiments of the application, and are not intended to limit the scope of the application. Without departing from the design spirit of the application, various modifications and improvements to the technical solutions of the application made by those of ordinary skill in the art shall fall within the protection scope of the application as defined by the claims.

Claims

1. An integrated desert plant smart-nursery robot, characterized by: It includes a self-propelled chassis, a seeding device, a discharging device, a spraying device, a furrowing device and a laying device, the seeding device, the discharging device and the spraying device are sequentially arranged on the self-propelled chassis, and the furrowing device and the laying device are arranged at the bottom of the self-propelled chassis; The furrowing device is arranged at the front end of the lower part of the self-propelled chassis, and the furrowing device comprises a first electric push rod, a plow support rod and a furrowing plow which are sequentially connected, the first electric push rod and the plow support rod are connected through a hole in the middle part, the furrowing plow is arranged at the outer end of the plow support rod, and the first electric push rod drives the plow support rod to move and further drives the furrowing plow to move when the first electric push rod is extended; The laying device is arranged behind the furrowing device, and the laying device comprises a second electric push rod, a connecting rod assembly, a disc-type grass roller and two earth covering wheels which are symmetrically arranged in a V-shaped structure; the disc-type grass roller and the earth covering wheels are respectively connected with the first end of the connecting rod assembly, and the second end of the connecting rod assembly is connected with the second electric push rod; the second electric push rod is used for controlling the extension and retraction of the laying device; The seeding device is arranged at the front end of the upper part of the self-propelled chassis, and the seeding device comprises a screw rod motor, a screw rod, a cylinder arranged outside the screw rod, an inlet and an outlet; the screw rod motor is installed by means of a support and connected with the screw rod; the cylinder is supported and fixed by means of a support seat and arranged outside the screw rod; the inlet and the outlet are respectively arranged above and below the cylinder; the screw rod motor drives the screw rod to rotate so as to discharge the seeds from the outlet; The discharging device is arranged behind the seeding device, and the discharging device realizes automatic single-layer peeling of the grass roll; the discharging device comprises a grass grabbing unit and a grass conveying unit, and the whole material box is in a funnel shape; the grass grabbing unit and the grass conveying unit are arranged in the material box, and the grass grabbing unit is arranged above the grass conveying unit; the grass grabbing unit comprises first conveying units arranged on both sides of the material box; the first conveying unit comprises a first power shaft, a first driven shaft, a first synchronous wheel and a first conveying belt; the first power shaft is connected with a first reduction motor by means of a first sprocket; the first driven shaft is arranged above the first power shaft; a plurality of synchronous wheels are arranged on the first power shaft and the first driven shaft; the first conveying belt is arranged outside the synchronous wheels on the first power shaft and the first driven shaft; and the first power shaft is connected with the output shaft of the first reduction motor by means of a first chain. The grass sending unit comprises second conveying units oppositely arranged on two sides and claw units alternately arranged with the second conveying units, the second conveying unit comprises a second power shaft, a second driven shaft, a second synchronous wheel and a second conveying belt, the second power shaft is connected with a second reduction motor by means of a second chain wheel, the second driven shaft is arranged above the second power shaft, a plurality of synchronous wheels are arranged on the second power shaft and the second driven shaft, the second conveying belt is arranged outside the synchronous wheels on the second power shaft and the second driven shaft, and the second power shaft is connected with the output shaft of the second reduction motor by means of a second chain. The spraying device is arranged behind the discharging device, and comprises a micro water pump, a water tank and uniformly distributed spray heads, liquid in the water tank is delivered to the plurality of spray heads by the micro water pump and sprayed out. The furrow opener is a replaceable blade, the blade is fixed at both ends on a blade support and the furrow opener respectively, a middle part of a plow support rod is connected with a first electric push rod, and an end part of the plow support rod is connected with the self-propelled chassis; the blade is used to cut the laid grass roll to realize cross-shaped laying; The connecting rod assembly comprises a first connecting rod, a second connecting rod, a third connecting rod and two fourth connecting rods, an output end of the second electric push rod is connected with a first end of the second connecting rod, a second end of the second connecting rod is rotatably connected with a first end of the third connecting rod and a middle position of the two fourth connecting rods respectively, a second end of the third connecting rod is rotatably connected with a middle position of the first connecting rod, one end of the two fourth connecting rods is connected with the center position of one soil covering wheel respectively, and an end part of the first connecting rod is connected with the center position of the disc-type grass pressing wheel. The grass roll is a bidirectional grass roll with two layers of same-direction grass rolls in the outer ring. The self-propelled chassis is a wheeled power chassis, the self-propelled chassis is provided with a rudder and a plurality of groups of suspensions, and the plurality of groups of suspensions comprise two groups of upper and lower transverse arms and shock absorbing springs. The claw is driven to open or close by a micro motor.

2. The integrated desert plant smart-nursery robot of claim 1, wherein: The spray head is a narrow-angle fan-shaped atomizing spray head.

3. The integrated desert plant smart-nursery robot of claim 1, wherein: Four first conveying belts and second conveying belts are arranged on each side.

4. The integrated desert plant smart-nursery robot of claim 1, wherein: The water tank contains a medicament.

5. The integrated desert plant smart-nursery robot of claim 1, wherein: The furrow opener is arranged obliquely.

6. The integrated desert plant smart-nursery robot of claim 1, wherein: Mounting holes are arranged in the middle parts of the electric push rod and the plow support rod. The first conveying belt and the second conveying belt are arranged with four first conveying belts and second conveying belts on each side.

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