A fully automatic tree planting machine applicable to ecological management of mine slopes

Abstract

The present invention provides a fully automatic tree planting machine suitable for ecological management of mine slopes, belonging to the field of environmental protection technology. It includes a movable vehicle frame, a soil pushing mechanism, a pit drilling mechanism, a seedling storage mechanism, a seedling placing and soil filling mechanism, and a soil ramming mechanism. The movable vehicle frame includes a crawler assembly and a frame. The soil pushing mechanism is used to level the ground surface on the slope. The pit drilling mechanism is used to drill pits for accommodating the roots of saplings. The seedling storage mechanism is a rotatable structure formed by arranging multiple empty tubes for storing seedlings in a ring. The seedling placing and soil filling mechanism is a telescopic structure formed by nesting double tubes. The collar and the hook are respectively hinged to the connecting rod, and the opening and closing of the hook are realized by the movement of the collar, thereby realizing the process of seedling placement and soil filling. The soil ramming mechanism controls the single-acting cylinder through a two-position three-way solenoid valve to realize the repeated soil ramming process of the soil pressing rod. The present invention realizes the fully automated tree planting operation, greatly reducing the workload of operators and improving the tree planting efficiency compared with the existing agricultural and forestry planting machinery.

Description

Technical Field

[0001] The present invention belongs to the technical field of environmental protection, and in particular relates to a fully automatic tree planting machine suitable for ecological management of mine slopes. Background Art

[0002] In areas of my country rich in surface mineral resources, such as the bauxite-rich areas of Shanxi Province, mining operations are often accompanied by ecological damage in mountainous areas. This leads to a lack of vegetation and exposed land after mining, causing severe soil erosion and desertification, while also reducing air quality. To address this issue, local governments are actively implementing ecological restoration measures. However, manual planting is often costly and difficult, and commonly available tree-planting machines are not adaptable to the complex terrain following mining operations. Against this backdrop, we designed a fully automatic tree-planting machine suitable for slope management, adapting to the complex terrain of mining areas and contributing to ecological restoration. Summary of the Invention

[0003] The object of the present invention is to provide a fully automatic tree planting machine suitable for ecological management of mine slopes, characterized in that it includes a movable frame, the movable frame includes a frame and two crawler assemblies respectively arranged on both sides of the frame, the movable frame realizes its own movement through the two crawler assemblies, and the frame is provided with a bulldozer mechanism, a drilling mechanism, a seedling storage mechanism, a seedling placing and soiling mechanism, and a tamping mechanism in the forward direction from front to back;

[0004] The bulldozer mechanism is located at the front end of the movable frame and is used to level the ground surface;

[0005] The drilling mechanism is movably fixed on the movable frame and includes a second motor. The output end of the second motor is connected to a screw rod, and the other end of the screw rod is connected to a spiral blade. The fully automatic tree planting machine performs the drilling work through the spiral blade.

[0006] The seedling storage mechanism includes a lever transmission structure and a plurality of seedling storage buckets arranged in a ring. The seedling storage buckets are movably fixed to the upper surface of the movable frame through a driving shaft. The two ends of the lever transmission structure are respectively connected to the drilling mechanism and the seedling storage buckets. The seedling storage buckets are rotated by the lever transmission structure.

[0007] The seedling placing and soiling mechanism includes a thin tube, which is connected to the seedling storage bucket through a second through hole preset on the surface of the frame. A thick tube is movably provided on the periphery of the thin tube. A connecting clamp is connected to the periphery of the thick tube. The other end of the connecting clamp is connected to the drilling mechanism. A sleeve is also provided on the periphery of the thick tube. The sleeve is hinged with a hook through a connecting rod. The hook is opened and closed by cooperating with the connecting rod through the sleeve.

[0008] The ramming mechanism includes a single-acting cylinder, the end of the cylinder telescopic tube of the single-acting cylinder is connected to a ramming rod, and the other end of the ramming rod is fixed with a ramming seat. The ramming seat realizes vertical reciprocating motion relative to the movable frame through the single-acting cylinder.

[0009] Furthermore, a rectangular opening and a first through-hole are also provided on the surface of the frame, and a two-position three-way solenoid valve is provided on the bottom surface of the frame;

[0010] The crawler assembly includes chain plates, chain pins, chain pin supports, a central suspension, idler wheels, idler wheel supports, cover plates, road wheels, road wheel supports, drive wheels, guide wheels, a first motor, and a first connecting member. The structures of the two crawler assemblies are the same and are symmetrically arranged with respect to the central axis of the frame;

[0011] The chain pin supports are symmetrically connected to the front surface of the chain plates. The chain pins connect the narrow and wide parts of the even-numbered chain pin supports arranged front and back in sequence through cooperation with round holes to form a chain loop. Reinforcing anti-slip ribs are provided on the surface of the chain plates that contact the ground;

[0012] The idler wheel supports are bolted to the upper end of the central suspension, and the idler wheel supports correspond to the three protruding perforated supports at the upper end of the central suspension one by one. At the same time, the idler wheels are respectively arranged through cooperation with round holes with the idler wheel supports and the protruding perforated supports at the upper end of the central suspension;

[0013] The road wheel supports are bolted to the lower end of the central suspension, and the road wheel supports correspond to the six protruding perforated supports at the lower end of the central suspension one by one. At the same time, the road wheels are respectively arranged through cooperation with round holes with the road wheel supports and the protruding perforated supports at the lower end of the central suspension;

[0014] The drive wheel is mutually cooperated with the rear end of the central suspension through a bearing, and the drive wheel is connected to the first motor through a D-shaped shaft. The first motor is connected to the first connecting member through bolts, the first connecting member is connected to the protruding plate provided on the frame through bolts, the guide wheel is cooperated with the front end of the central suspension through a bearing, and the upper end of the central suspension is connected to both side ends of the frame through bolts.

[0015] Furthermore, the drilling mechanism further includes a guide rail. A slider is movably connected to the guide rail. The slider is fixed with a second connecting member and is connected to a second motor through the second connecting member;

[0016] The output end of the second motor is connected to the top end of the lead screw through a first coupling. The lead screw extends into the bottom of the frame through the rectangular opening. At the rectangular opening, a lead screw nut and a nut seat are threadedly connected to the middle of the lead screw. The nut seat is fixed to the protruding plate extending downward at the rectangular opening through bolts;

[0017] The bottom end side of the lead screw is connected to a lead screw support seat through bearing cooperation. The side of the lead screw support seat is bolt-fixed to the connecting snap ring;

[0018] The bottom end of the lead screw is also connected to a helical blade through a second coupling;

[0019] The side of the guide rail is fixed to the upper surface of the movable vehicle frame through a guide rail bracket. The spiral blade of the pit drilling mechanism realizes axial reciprocating motion through the guide rail bracket, guide rail, slider, second motor and nut seat, so as to realize pit drilling.

[0020] Furthermore, a sine collar is cooperatively arranged on the outer circumference of a plurality of seedling storage barrels. The plurality of seedling storage barrels are fixed into a ring through the sine collar. A connecting ring is connected to the inner side of the ring-shaped plurality of seedling storage barrels. The output shaft arranged at the center of the connecting ring extends out of the first through hole and cooperates with a self-locking bearing to realize the movable fixation of the plurality of seedling storage barrels and the frame;

[0021] The lever transmission structure includes a lever, a lever fulcrum and a lever fulcrum shaft. The lever fulcrum is fixed on the surface of the frame. The middle of the lever is fixed to the top of the lever fulcrum through the lever fulcrum shaft. One end of the lever is fixed to the second connecting piece. The other end of the lever extends into a sine track preset outside the sine collar. The number of the plurality of seedling storage barrels corresponds to the number of periods of the sine track. When the slider drives the second connecting piece to perform axial reciprocating motion, the plurality of seedling storage barrels rotate around their own axes cooperatively, and in one reciprocating motion, the second through hole rotates past one seedling storage barrel.

[0022] Furthermore, the lever includes a lever long arm, a lever connecting arm and a lever short arm. The number of the lever long arms is two. The two lever long arms are respectively located on opposite sides of the second motor. One ends of the two lever long arms are respectively connected to the protruding shafts arranged on both sides of the second connecting piece. The other ends of the two lever long arms are connected through the lever connecting arm. The lever short arm is arranged through the lever fulcrum shaft, and one end of the lever short arm is fixed to the middle of the lever connecting arm. The other end of the lever short arm is spherical, and the spherical end of the lever short arm extends into the inside of the sine track.

[0023] Furthermore, protrusions are symmetrically arranged on the outer side of the tail end of the thin pipe, grooves are symmetrically arranged on the inner wall of the thick pipe, the protrusions and the grooves are arranged in a matching manner, an annular groove is arranged on the outer circumference of the top end of the thick pipe, and the annular groove and the connecting snap ring are fixedly matched. When the motor drives the lead screw to rotate and drives the lead screw support seat to perform reciprocating motion, the thick pipe moves vertically on the outer circumference of the thin pipe;

[0024] The seedling releasing and soil covering mechanism further includes side rods, a first magnet and a second magnet. The collar includes a first collar and a second collar. The number of the side rods is two. The two side rods are respectively fixedly connected to two supports symmetrically arranged with respect to the central axis through bolts. The first magnet and the second magnet are respectively fixedly connected to the middle upper part and the bottom of the side rods. The first collar and the second collar are both nested and installed in the middle of the two limit blocks of the thick pipe, and the two ends of the first collar and the second collar are fixedly connected through bolts. The round holes of the two side rods are cooperatively connected between the first magnet and the second magnet. Small iron blocks with holes are placed inside the two ends of the first collar and the second collar. The first collar and the second collar can move vertically along the thick pipe and the two side rods driven by the thick pipe and the two limit blocks;

[0025] Both ends of the connecting rod are respectively hinged to the first collar, the second collar and the upper end of the claw through a double-headed bolt. The lower end of the claw is also hinged to the lower end of the thick pipe through a double-headed bolt. When the first collar, the second collar and the thick pipe move relative to each other in the vertical direction, the claw rotates at the hinge joint at the lower end of the thick pipe under the drive of the connecting rod, realizing its own opening and closing.

[0026] Furthermore, the rammed earth structure is also provided with a rammed earth rod support and a fourth connecting piece. The cylinder telescopic rod of the single-acting cylinder is connected to the rammed earth rod through the fourth connecting piece. One end of the rammed earth rod support is arranged on the outer periphery of the rammed earth rod and is movably connected to the rammed earth rod. The other end of the rammed earth rod support is fixed to the end of the tail end of the frame through a bolt.

[0027] The two-way three-way solenoid valve is connected to the single-acting cylinder and controls the start and stop of the single-acting cylinder. When the two-way three-way solenoid valve starts the single-acting cylinder, the cylinder telescopic pipe of the single-acting cylinder makes an axial reciprocating motion, thereby realizing the vertical reciprocating motion of the rammed earth rod and the rammed earth seat.

[0028] Compared with the prior art, the beneficial effects of the present invention are mainly reflected in:

[0029] 1. The present invention uses the earth-moving mechanism to create a platform parallel to the ground on the slope, which is convenient for the planting mechanism to walk and perform subsequent tree-planting operations on this platform.

[0030] 2. The present invention has a telescopic structure composed of double-tube nesting. The limiting block and the claw are respectively hinged to the connecting rod. By moving the limiting block, the claw is opened and closed, thereby realizing the process of placing the sapling and backfilling the soil.

[0031] 3. The tree-planting machine of the present invention can automatically plant trees in a designated area by combining the pre-set program in the memory with the vision system and AI. The tree-planting process is fully automated. The staff can remotely control the terminal to control the tree-planting robot in real time and travel along the best route in the complex terrain after mining. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is an isometric structural view of the present invention.

[0033] Figure 2 It is a bottom structural view of the present invention.

[0034] Figure 3 It is a frame structural view of the present invention.

[0035] Figure 4 It is a three-link side view of the drilling, sapling storage, sapling placement and soil backfilling mechanism.

[0036] Figure 5 It is a three-link isometric view of the drilling, sapling storage, sapling placement and soil backfilling mechanism.

[0037] Figure 6 It is a schematic structural diagram of the seedling placing and soil filling mechanism.

[0038] Figure 7 It is a schematic structural diagram of the rammed earth mechanism.

[0039] In the figure, 1. Movable frame; 11. Frame; 12. Chain plate; 13. Chain pin; 14. Chain pin support; 15. Central suspension; 16. Carrier sprocket; 17. Carrier sprocket support; 18. Cover plate; 19. Idler wheel; 110. Idler wheel support; 111. Driving wheel; 112. Guide wheel; 113. First motor; 114. First connecting piece; 2. Earth pushing mechanism; 3. Pit drilling mechanism; 31. Guide rail; 32. Guide rail bracket; 33. Slide block; 34. Second motor; 35. Second connecting piece; 36. First coupling; 37. Lead screw; 38. Lead screw nut; 39. Nut seat; 310. Second coupling; 311. Spiral blade; 312. Lead screw support seat; 313. Connecting snap ring; 4. Seedling storage mechanism; 41. Seedling storage bucket; 42. Long lever arm; 43. Lever connecting arm; 44. Short lever arm; 45. Sine collar; 46. Lever fulcrum; 47. Lever fulcrum shaft; 5. Seedling placing and soil filling mechanism; 51. Thin pipe; 52. Thick pipe; 53. Side rod; 54. First magnet; 55. Second magnet; 56. First collar; 57. Second collar; 58. Connecting rod; 59. Hook claw; 6. Rammed earth mechanism; 61. Single-acting cylinder; 62. Fourth connecting rod; 63. Rammed earth rod; 64. Rammed earth rod support; 65. Rammed earth seat; 66. Two-position three-way solenoid valve Detailed implementation manners

[0040] The following will describe in more detail a full-automatic tree planting machine applicable to mine slope ecological treatment according to the present invention with reference to the schematic diagrams, in which the preferred embodiments of the present invention are shown. It should be understood that those skilled in the art can modify the present invention described herein while still achieving the advantageous effects of the present invention. Therefore, the following description should be understood as a broad guidance for those skilled in the art and not as a limitation to the present invention.

[0041] As Figure 1 and 2 shown, a full-automatic tree planting machine applicable to mine stress ecological treatment includes a movable frame 1, an earth pushing mechanism 2, a pit drilling mechanism 3, a seedling storage mechanism 4, a seedling placing and soil filling mechanism 5 and a rammed earth mechanism 6.

[0042] As Figure 3 shown, the movable frame includes a frame 11 and a crawler assembly:

[0043] An installation area A for installing the earth pushing mechanism 2 is provided in the central area at the front end of the frame 11.

[0044] At the front part of the upper end of the frame 11, there is an installation area B for installing the drilling mechanism 3. The front end of the installation area B is used for installing the guide rail support frame 32, the rectangular opening in the middle is for the lead screw 37 to pass through, the rear end is for installing the lever fulcrum 46, and the protruding plate below the rear end is for installing the nut seat 39.

[0045] At the middle part of the upper end of the frame 11, there is an installation area C including two through holes in the front and rear. The front through hole is for the driving shaft of the seedling storage mechanism 4 to pass through, and the rear through hole is for installing the thin tube 51 in the seedling releasing and soil covering mechanism 5. The protruding plate at the front part of the lower side is for installing the third connecting piece of the seedling storage mechanism 4, and the two symmetrically arranged supports about the central axis at the rear part of the lower side are for installing the two side rods 53 in the seedling releasing and soil covering mechanism 5.

[0046] At the rear part of the upper end of the frame 11, there is an installation area D for installing the ramming mechanism 6. The middle part of the installation area D is for installing the fourth connecting piece 62 of the ramming mechanism 6, and the rectangular openings symmetrically arranged about the central axis on both sides are for the crank 64 of the ramming mechanism 6 to pass through.

[0047] At the central area of the rear end of the frame 11, there is an installation area E for installing the two-way three-way solenoid valve 66 in the ramming mechanism 6. On both sides of the rear end of the frame 11, there are protruding plates for installing the first motor 113.

[0048] On both ends of the frame 11, there are protruding plates symmetrically arranged about the central axis for installing the central suspension 15 of the crawler assembly.

[0049] The crawler assembly includes chain plates 12, chain pins 13, chain pin supports 14, central suspension 15, carrier wheels 16, idler wheel supports 17, cover plates 18, road wheels 19, road wheel supports 110, drive wheels 111, guide wheels 112, first motor 113, and first connecting pieces 114.

[0050] The chain pin supports 14 are symmetrically connected to the front of the chain plates 12 by bolts. The chain pins 13 connect the narrow and wide parts of the front and rear chain pin supports 14 in sequence through circular hole fits to form a chain ring. The chain plates 12 are provided with reinforcing anti-slip ribs on the side in contact with the ground to improve the adhesion between the crawler and the ground.

[0051] The idler wheel supports 17 are connected to the upper end of the central suspension 15 by bolts and correspond to the three protruding perforated supports at the upper end of the central suspension 15 one by one. At the same time, the idler wheels 16 are respectively in circular hole fits with the idler wheel supports 17 and the protruding perforated supports at the upper end of the central suspension 15 for supporting and regularizing the chain ring.

[0052] The road wheel supports 110 are connected to the lower end of the central suspension 15 by bolts and correspond to the six protruding perforated supports at the lower end of the central suspension 15 one by one. At the same time, the road wheels 19 are respectively in circular hole fits with the road wheel supports 110 and the protruding perforated supports at the lower end of the central suspension for supporting the central suspension 15.

[0053] The driving wheel 111 is fitted with the rear end of the central suspension 15 through a bearing, and is also connected to the first motor 113 through a D-shaped shaft. The first motor 113 is connected to the first connecting piece 114 by bolts, and the first connecting piece 114 is connected to the protruding plates on both sides of the rear end of the frame 11 by bolts. The guiding wheel 112 is fitted with the front end of the central suspension 15 through a bearing.

[0054] The upper end of the central suspension 15 is connected to both ends of the frame 11 by bolts; the crawler assemblies are symmetrically distributed about the central axis of the whole vehicle.

[0055] As Figure 1 shown, the earth-moving mechanism 2 is arranged within the installation area A of the frame 11, and includes a front shovel and a connecting structure. The front shovel is connected to the frame through a connecting structure and bolts, and is used to expand the ground surface on a slope for the device to move and for subsequent planting processes.

[0056] As Figure 4 and 5 shown, the pit-drilling mechanism 3 is arranged within the installation area B of the frame 11, and is used to drill a pit for accommodating the root system of a sapling into the soil directly below; the pit-drilling mechanism 3 includes a guide rail 31, a guide rail support 32, a slider 33, a second motor 34, a second connecting piece 35, a first coupling 36, a lead screw 37, a lead screw nut 38, a nut seat 39, a second coupling 310, a helical blade 311, a lead screw support seat 312, and a connecting snap ring 313.

[0057] The guide rail support 32 is connected to the front end of the installation area B of the frame 11 by bolts. The guide rail 31 is fitted with the guide rail support 32 through countersunk head bolts and is vertically installed. The slider 33 is fitted with the guide rail 31 through a surface fit and moves vertically along the guide rail 31. The second connecting piece 35 is respectively connected to the slider 33 and the second motor 34 by bolts.

[0058] The lead screw 37 passes through the first coupling 36, the lead screw nut 38, the lead screw support seat 312, and the second coupling 310 from top to bottom. The output shaft of the second motor 34 is connected to the upper end of the lead screw 37 through the first coupling 36. The lead screw 37 is in threaded fit with the lead screw nut 38 and is connected to the nut seat 39 by bolts. The nut seat 39 is connected to the lower protruding plate at the rear end of the installation area B of the frame 11 by bolts. The lower end of the lead screw 37 is connected to the lead screw support seat 312 through a bearing. The side of the lead screw support seat 312 is connected to the connecting snap ring 313 by bolts. The connecting snap ring 313 is fitted and connected to the upper end of the thick pipe 52. The end of the lead screw 37 is connected to the helical blade 311 through the second coupling 310.

[0059] ]The second motor 34 drives the output shaft to drive the screw 37 to rotate at a constant speed. The screw 37 then completes the vertical translation movement by cooperating with the thread of the screw nut 38, driving the slider 33, the second motor 34 and the screw support seat 312 to perform vertical translation movement along the guide rail 31, and then drives the spiral blade 311 to complete the composite movement of vertical translation and rotation, thereby achieving the purpose of drilling a hole.

[0060] like Figure 4 and 5 As shown, the seedling storage mechanism 4 is arranged in the installation area B and the installation area C of the frame 11, which is used to store seedlings, including a seedling storage bucket 41, a long lever arm 42, a lever connecting arm 43, a short lever arm 44, a sinusoidal ring 45, a lever fulcrum 46, and a lever fulcrum shaft 47.

[0061] The seedling storage mechanism 4 can be divided into a lever transmission structure and a seedling storage bucket based on its mechanical structure. In the lever transmission structure, a long lever arm 42 is connected to the extended shafts provided at both ends of the side plates of the second connecting member 35 of the drilling mechanism 3. The other ends of the two long lever arms 42 are connected via a lever connecting arm 43. The lower end of the lever fulcrum 46 is bolted to the rear end of the mounting section B of the frame 11, and the upper end is engaged with a short lever arm 44 via a lever fulcrum shaft 47. One end of the short lever arm 44 is connected to the middle of the lever connecting arm 43, and the other end of the short lever arm 44 is provided with a ball end and connected to the seedling storage bucket.

[0062] In the seedling storage barrel part, the seedling storage barrel 41 is matched with the installation interval C of the frame 11 through a self-locking bearing, the sinusoidal ring 45 is matched with the seedling storage barrel 41 and is consolidated at a certain height; and the ball end of the lever short arm 44 is placed in the sinusoidal track outside the sinusoidal ring 45.

[0063] The part of the long arm 42 of the lever that cooperates with the second connecting member 35 makes reciprocating motion in the vertical direction along the guide rail 31 with the second connecting member 35. The fulcrum of the lever is fixed, thereby driving the ball end of the short arm 44 of the lever to make reciprocating motion in the vertical direction. Since the ball end is placed in the sinusoidal track outside the sinusoidal ring 45, it can drive the seedling storage bucket 41 of the sinusoidal ring 45 to rotate, and the number of seedling storage buckets corresponds to the number of sinusoidal cycles, thereby ensuring that one seedling storage bucket is rotated after one reciprocating motion.

[0064] like Figure 4 and 5 As shown, the seedling placing and soiling mechanism 5 is arranged in the installation area C of the frame 11, which is used for placing seedlings and soiling; the seedling placing and soiling mechanism 5 includes a thin tube 51, a thick tube 52, a side rod 53, a first magnet 54, a second magnet 55, a first ring 56, a second ring 57, a connecting rod 58, and a hook 59.

[0065] The upper end of the thin tube 51 is connected to the through-hole at the rear of the installation area C by bolts. The symmetrically distributed protrusions on the outer side of the end are matched with the symmetrically distributed grooves on the inner wall of the thick tube 52, thus preventing the thick tube 52 from rotating. The annular groove at the upper end of the thick tube 52 is matched and connected with the connecting snap ring 313, and it can move vertically along the thin tube 51 under the drive of the connecting snap ring 313.

[0066] The two side rods 53 are respectively connected and fixed to the supports symmetric about the central axis at the rear part of the lower side of the installation area C by bolts. The first magnet 54 and the second magnet 55 are respectively fixedly connected to the middle upper part and the bottom of the side rod 53. The first collar 56 and the second collar 57 are both nested and installed in the middle of the upper and lower limit blocks of the thick tube 52, and are fastened by bolts at both ends, and are connected with the circular holes of the two side rods 53 and are arranged between the first magnet 54 and the second magnet 55 to limit the movement of the two collars along with the thick tube at the top and the bottom respectively, so as to realize the opening and closing of the subsequent claws. Small iron blocks with holes are placed inside both ends of the first collar 56 and the second collar 57. The first collar 56 and the second collar 57 can move vertically along the thick tube 52 and the two side rods 53 under the drive of the upper and lower limit blocks of the thick tube 52.

[0067] Both ends of the connecting rod 58 are hinged to the first collar 56, the second collar 57 and the upper end of the hook claw 59 by double-headed bolts. The lower end of the hook claw 59 is simultaneously hinged to the lower end of the thick tube 52 by double-headed bolts. The hook claw 59 can rotate at the hinge at the lower end of the thick tube under the drive of the connecting rod 58 when the first collar 56, the second collar 57 and the thick tube move relatively in the vertical direction, realizing opening and closing.

[0068] Such as Figure 4 、 5 As shown in

[0069] The single-acting cylinder 61 is connected to the middle of the installation area D of the frame 11 by bolts. The cylinder telescopic tube is matched with the upper end of the ramming rod 63 through the fourth connecting piece 62. The ramming rod 65 passes through the rectangular opening of the ramming rod support 64. The ramming rod support 64 is connected to the central area at the rear end of the frame 11 by bolts. The ramming seat 65 is matched and connected with the lower end of the ramming rod 63.

[0070] The ramming mechanism 6 controls the cylinder telescopic tube of the single-acting cylinder 61 to make reciprocating motions through the two-position three-way solenoid valve 66, so as to realize the vertical reciprocating motions of the ramming rod 65 and the ramming seat 65.

[0071] The specific working process of the present invention is as follows. First, a platform is developed by means of the vehicle driving power using the earth-moving mechanism. Then, a pit is dug on the ground through the mechanism composed of a lead screw and other components and a spiral blade. The sapling is placed in the soil-cultivating mechanism through the rotational movement of the sapling storage mechanism. The opening and closing of the clamping claws are realized by the movement of the limit block, so as to realize the process of sapling placement and soil cultivation. Finally, the soil ramming mechanism is used for soil ramming.

[0072] The above are only the preferred embodiments of the present invention and do not impose any limitation on the present invention. Any person skilled in the art, within the scope of the technical solution of the present invention, makes any form of equivalent replacement or modification and other changes to the technical solution and technical content disclosed by the present invention, which are all within the content of the technical solution of the present invention and still fall within the protection scope of the present invention.

Claims

1. An automatic tree planter applicable to the ecological treatment of mine slopes, characterized in that, The movable frame includes a frame and two crawler assemblies respectively arranged on both sides of the frame. The movable frame realizes its own movement through the two crawler assemblies. The forward direction of the frame is sequentially provided with a bulldozer mechanism, a drilling mechanism, a seedling storage mechanism, a seedling placing and soiling mechanism, and a tamping mechanism from front to back; The bulldozer mechanism is provided at the front end of the movable frame and is used for leveling the ground surface; The drilling mechanism is movably fixed on the movable frame and includes a second motor, an output end of the second motor is connected to a screw rod, and the other end of the screw rod is connected to a spiral blade, and the fully automatic tree planting machine performs the drilling work through the spiral blade; The seedling storage mechanism includes a lever transmission structure and a plurality of seedling storage buckets arranged in an annular shape. The plurality of seedling storage buckets are movably fixed to the upper surface of the movable frame through a driving shaft. The two ends of the lever transmission structure are respectively connected to the drilling mechanism and the plurality of seedling storage buckets. The plurality of seedling storage buckets are rotated by the lever transmission structure. The seedling placing and soiling mechanism includes a thin tube, which is connected to the seedling storage bucket through a second through hole preset on the surface of the frame. A thick tube is movably provided on the periphery of the thin tube. A connecting clamp is connected to the periphery of the thick tube. The other end of the connecting clamp is connected to the drilling mechanism. A collar is also provided on the periphery of the thick tube. The collar is hinged with a hook through a connecting rod. The hook is opened and closed by cooperating with the connecting rod through the collar. The tamping mechanism includes a single-acting cylinder, a tamping rod is connected to the end of the cylinder telescopic tube of the single-acting cylinder, and a tamping seat is fixed to the other end of the tamping rod. The tamping seat realizes vertical reciprocating motion relative to the movable frame through the single-acting cylinder; The drilling mechanism further includes a guide rail, the guide rail is movably connected to a slider, the slider is fixed with a second connecting member, and is connected to the second motor through the second connecting member; A sinusoidal collar is provided on the outer circumference of the plurality of seedling storage barrels, and the plurality of seedling storage barrels are fixed into a ring shape by the sinusoidal collar. A third connecting piece is connected to the inner side of the plurality of ring-shaped seedling storage barrels. An output shaft provided at the center of the third connecting piece extends out of a first through hole provided on the surface of the frame, and cooperates with a self-locking bearing to realize the movable fixation of the plurality of seedling storage barrels and the frame; The lever transmission structure includes a lever, a lever fulcrum and a lever fulcrum axis. The lever fulcrum is fixed to the surface of the frame, the middle part of the lever is fixed to the top of the lever fulcrum through the lever fulcrum axis, one end of the lever is fixed to the second connecting piece, and the other end of the lever extends into the sinusoidal track preset outside the sinusoidal ring. The multiple seedling storage barrels correspond to the number of periods of the sinusoidal track. When the slider drives the second connecting piece to perform axial reciprocating motion, the multiple seedling storage barrels cooperate to rotate, and the second through hole rotates through one seedling storage barrel in one reciprocating motion.

2. The full-automatic tree planter applicable to the ecological treatment of mine slopes according to claim 1, wherein The surface of the frame is also provided with a rectangular opening, and the bottom surface of the frame is also provided with a two-position three-way solenoid valve; The crawler assembly includes chain plates, chain pins, chain pin supports, a central suspension, carrier wheels, idler wheel supports, cover plates, road wheels, road wheel supports, drive wheels, guide wheels, a first motor, and a first connecting member. The two crawler assemblies are identical in structure and symmetrically arranged with respect to the central axis of the frame. The chain pin supports are symmetrically connected to the front of the chain plates. The chain pins connect the narrow and wide parts of the even-numbered chain pin supports arranged front and back in sequence through cooperation with round holes to form a chain loop. The chain plates are provided with reinforcing anti-slip ribs on the side in contact with the ground. The idler wheel supports are bolted to the upper end of the central suspension, and the idler wheel supports correspond to the three protruding perforated supports at the upper end of the central suspension one by one. At the same time, the idler wheels are respectively arranged through cooperation with round holes with the idler wheel supports and the protruding perforated supports at the upper end of the central suspension. The road wheel supports are bolted to the lower end of the central suspension, and the road wheel supports correspond to the six protruding perforated supports at the lower end of the central suspension one by one. At the same time, the road wheels are respectively arranged through cooperation with round holes with the road wheel supports and the protruding perforated supports at the lower end of the central suspension. The drive wheel is mutually cooperated with the rear end of the central suspension through a bearing, and the drive wheel is connected to the first motor through cooperation with a D-shaped shaft. The first motor is connected to the first connecting member through bolts. The first connecting member is connected to the protruding plate provided on the frame through bolts. The guide wheel is cooperated with the front end of the central suspension through a bearing. The upper end of the central suspension is connected to both side ends of the frame through bolts.

3. The full-automatic tree planting machine applicable to ecological treatment of mine slopes according to claim 2, characterized in that, The output end of the second motor is connected to the top end of the lead screw through a first coupling. The lead screw extends into the bottom of the frame through a rectangular opening. At the rectangular opening, a lead screw nut and a nut seat are threadedly connected to the middle of the lead screw. The nut seat is fixed to the protruding plate extending downward at the rectangular opening through bolts. The bottom end side of the lead screw is connected to a lead screw support seat through bearing cooperation, and the side of the lead screw support seat is bolt-fixed to the connecting snap ring. The bottom end of the lead screw is also connected to the spiral blade through a second coupling. The side of the guide rail is fixed to the upper surface of the movable vehicle frame through a guide rail support. The spiral blade of the drilling mechanism realizes axial reciprocating motion through the guide rail support, guide rail, slider, second motor, and nut seat, thereby realizing the drilling work.

4. The fully automatic tree planting machine applicable to ecological treatment of mine slopes according to claim 3, characterized in that, The lever includes a long lever arm, a lever connecting arm, and a short lever arm. The number of long lever arms is two. The two long lever arms are respectively located on opposite sides of the second motor. One end of each of the two long lever arms is respectively connected to the protruding shafts provided on both sides of the second connecting member. The other ends of the two long lever arms are connected through the lever connecting arm. The short lever arm passes through the lever fulcrum shaft. One end of the short lever arm is fixed to the middle of the lever connecting arm. The other end of the short lever arm is spherical. The spherical end of the short lever arm extends into the sine track.

5. The fully automatic tree planting machine applicable to ecological management of mine slopes according to claim 3, characterized in that, On the outer side of the tail end of the thin pipe, protrusions are symmetrically provided. On the inner wall of the thick pipe, grooves are symmetrically provided. The protrusions and the grooves are arranged in a matching manner. On the outer periphery of the top end of the thick pipe, an annular groove is provided. The annular groove and the connecting snap ring are fixedly matched. When the second motor drives the screw rod to rotate and drives the screw rod support seat to make a reciprocating motion, the thick pipe makes a vertical movement on the outer periphery of the thin pipe; The seedling placing and soil filling mechanism further includes side rods, a first magnet and a second magnet. The sleeve ring includes a first sleeve ring and a second sleeve ring. The number of side rods is two. The two side rods are respectively fixedly connected to two supports symmetrically arranged with respect to the central axis by bolts. The first magnet and the second magnet are respectively fixedly connected to the middle upper part and the bottom of the side rods. The first sleeve ring and the second sleeve ring are both nested and installed in the middle of the two limit blocks of the thick pipe, and the two ends of the first sleeve ring and the second sleeve ring are fixedly connected by bolts. The two side rod round holes are connected in a matching manner between the first magnet and the second magnet. Small iron blocks with holes are placed inside the two ends of the first sleeve ring and the second sleeve ring. The first sleeve ring and the second sleeve ring can make a vertical movement along the thick pipe and the two side rods driven by the thick pipe and the two limit blocks; Both ends of the connecting rod are hinged to the first sleeve ring, the second sleeve ring and the upper end of the hook claw through double-headed bolts in a matching manner. The lower end of the hook claw is simultaneously hinged to the lower end of the thick pipe through a double-headed bolt. When the first sleeve ring, the second sleeve ring and the thick pipe make a relative movement in the vertical direction, the hook claw makes a rotational movement at the hinge at the lower end of the thick pipe driven by the connecting rod, realizing its own opening and closing.

6. The full-automatic tree planting machine applicable to ecological treatment of mine slopes according to claim 2, characterized in that, The rammer mechanism is further provided with a rammer rod support and a fourth connecting member. The cylinder expansion rod of the single-acting cylinder is connected to the rammer rod through the fourth connecting member. One end of the rammer rod support is arranged on the outer periphery of the rammer rod and is movably connected to the rammer rod. The other end of the rammer rod support is fixed to the end of the tail end of the frame by bolts; The two-position three-way solenoid valve is connected to the single-acting cylinder and controls the start and stop of the single-acting cylinder. When the two-position three-way solenoid valve starts the single-acting cylinder, the cylinder expansion pipe of the single-acting cylinder makes an axial reciprocating motion, thereby realizing the vertical reciprocating motion of the rammer rod and the rammer seat.

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