Full-automatic gentle slope shrub continuous planting device and control method

Abstract

This invention belongs to the technical field of tree transplanting equipment, specifically a fully automatic continuous shrub planting device and control method for gentle slopes. It includes a frame with wheels on both sides; blades; a soil-turning plate; and a plurality of uprighting tubes arranged behind the blades. The uprighting tubes are rotatably mounted relative to the frame, and their axes remain vertical under gravity. A circulating deflection component and a continuous feeding component are also included. By setting up the circulating deflection component, this invention ensures that the uprighting tubes remain vertical under gravity, regardless of changes in the frame angle. Therefore, under the limiting and guiding effect of the uprighting tubes, shrub seedlings falling into the tubes remain vertical. After backfilling the soil to fix the seedlings, vertically aligned shrub seedlings are planted on the gentle slope, resulting in neat and aesthetically pleasing planted shrubs.

Description

Technical Field

[0001] This invention belongs to the technical field of tree transplanting equipment, specifically a fully automatic continuous planting equipment and control method for shrubs on gentle slopes. Background Technology

[0002] Planting trees on gentle slopes and grass on steep slopes are measures to prevent and control soil erosion. By planting low shrubs with well-developed root systems and lush foliage on gentle slopes, it is possible to effectively fix the soil and water on the gentle slopes, reduce or even prevent soil erosion, and provide a feasible implementation plan for ecological environment protection.

[0003] To reduce the labor intensity of workers when planting shrubs, automated planting equipment is often used in related technologies. This equipment is driven by vehicles to automate a series of processes such as digging ditches, placing seedlings, straightening, and covering with soil. However, when planting on gentle slopes, the angle between the shrubs and the ground needs to be considered when placing and straightening them, as the slope varies compared to flat land. When the planted shrubs are slightly off-center from the vertical plane, they will not only fall or become crooked later, which is not conducive to their normal growth and reproduction, but also to their neatness and aesthetics, thus affecting their management.

[0004] In most existing automated planting equipment, the ditching, seedling placement, and straightening mechanisms are integrated with the main body of the equipment, and their angles are always consistent with the angle of the main body. For example, the fully automatic garden construction shrub and grass planting equipment disclosed in Chinese Patent Application No. 2022101501204 has this problem. When the planting area is a gentle slope, the main body of the equipment is flush with the slope and has a certain angle with the horizontal plane, making the ditching, seedling placement, and straightening mechanism perpendicular to the slope. Therefore, although the excavated trench and the planted shrubs are perpendicular to the slope, they are still somewhat tilted relative to the horizontal plane. This is not only detrimental to the normal growth and reproduction of shrubs, but also makes it difficult to manage them. In view of this, the present invention proposes a fully automatic continuous shrub planting equipment and control method for gentle slopes to solve the above-mentioned technical problems.

[0005] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the present invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] To overcome the shortcomings of existing technologies and solve the aforementioned technical problems, this invention proposes a fully automated continuous shrub planting device and control method for gentle slopes.

[0007] The technical solution adopted by the present invention to solve its technical problem is: the fully automatic continuous shrub planting equipment on gentle slopes of the present invention includes a frame, and the frame is equipped with walking wheels on both sides;

[0008] The cutting tool is fixedly installed at the front end of the frame and extends into the ground for trenching and grooving.

[0009] Soil-turning plates are symmetrically installed at the rear end of the frame. The soil-turning plates are located on both sides of the trench excavated by the cutter. The soil-turning plates are used to push the soil on both sides of the trench backfill.

[0010] It also includes multiple straightening tubes, which are arranged behind the cutter. The straightening tubes are rotatably installed relative to the frame, and the axis of the straightening tubes is always vertical under the action of gravity.

[0011] A cyclic deflection assembly is provided, and the straightening tube is mounted on the cyclic deflection assembly. The cyclic deflection assembly is used to drive the straightening tube to circulate on the frame, and the direction of movement is opposite to the direction of movement of the frame.

[0012] A continuous feeding assembly is installed on the frame and is used to continuously supply shrub seedlings into the straightening pipe.

[0013] Specifically, the cyclic deflection assembly includes a mounting shaft, which is fixedly mounted on the frame. The mounting shafts are divided into two groups and are symmetrically distributed on both sides of the tool.

[0014] A circulating belt is provided on each set of mounting shafts via pulleys. The circulating belts rotate cyclically on the mounting shafts, and the two circulating belts rotate in opposite directions.

[0015] The first rotating rod is fixedly installed on the circulating belt. The straightening tube is composed of two ring plates spliced ​​together. The first rotating rod corresponds to the ring plate one by one, and the first rotating rod is rotatably connected to the ring plate.

[0016] During the movement, the two ring plates are spliced ​​together in the gap between the two circulating belts to form a straightening tube.

[0017] Specifically, the cyclic deflection assembly further includes a semi-ring, which is rotatably mounted on the end of the first rotating rod and is sleeved on the outside of the ring plate;

[0018] The second rotating rod consists of two semicircular rods, both of which are rotatably mounted on a semi-ring. The semicircular rods are spaced 90 degrees apart from the first rotating rod, and the end of the semicircular rod furthest from the semi-ring is fixedly connected to the ring plate.

[0019] When the corresponding ring plates are spliced ​​together to form a straightening tube, the two half-rings are spliced ​​together to form a complete circular ring, and the corresponding semi-circular rods form the second rotating rod.

[0020] Specifically, each of the semi-rings has a limiting groove, and the semi-circular rod is fixedly installed with limiting teeth, which extend into the limiting groove.

[0021] Specifically, it also includes a linkage component, which is used to link the mounting shaft with the traveling wheel so that the circulating belt and the frame move at the same speed but in opposite directions.

[0022] The linkage component includes a transmission wheel set. A transmission cavity is provided on the frame, and the transmission wheel set is installed in the transmission cavity. The transmission wheel set is connected to the traveling wheel and the mounting shaft respectively.

[0023] Specifically, the top of the straightening tube is enlarged.

[0024] Specifically, the continuous feeding assembly includes storage tubes, and the storage tubes are designed in multiples for storing shrub seedlings;

[0025] A connecting strip is fixedly connected to a storage tube, and multiple storage tubes and the connecting strip form a ring structure.

[0026] A guide groove is provided on the frame, and the annular structure formed by the connecting strip and the storage tube extends into the guide groove;

[0027] A turn wheel is rotatably mounted in the guide groove. The turn wheel is used to drive the annular structure formed by the connecting belt and the storage tube to move.

[0028] The feeding port is located on the frame and has a tapered design at both the top and bottom.

[0029] Specifically, the actuating wheels are symmetrically designed, and the annular structure formed by the connecting belt and the storage tube is clamped between the two actuating wheels.

[0030] Specifically, a drive shaft is rotatably mounted inside the transmission cavity. The drive shaft is fixedly connected to the actuating wheel and is connected to the mounting shaft for belt drive. The two adjacent actuating wheels rotate in opposite directions.

[0031] A control method for a fully automated continuous shrub planting device on gentle slopes, the method comprising the following steps:

[0032] S1: Connect the planting equipment to the vehicle, and use the vehicle to drive the planting equipment to move in a straight line. Before planting, place the shrub seedlings one by one into the storage tube.

[0033] S2: The planting equipment moves in a straight line along the gentle slope. During the movement, the walking wheels rotate, which drives the circulation deflection component and the continuous feeding component to operate through the linkage component, etc.

[0034] S3: As the frame continues to move forward, the cutter digs a trench in the ground. The shrub seedlings in the storage tube fall into the straightening tube through the feeding port. The straightening tube deflects under the action of gravity and vertically places the shrub seedlings into the trench.

[0035] S4: Since the circulation belt moves in the opposite direction and at the same speed as the frame, the straightening pipe remains stationary relative to the ground, continuously straightening the shrub seedlings. At this time, the soil turning board backfills the soil into the trench, burying and fixing the roots of the shrub seedlings.

[0036] S5: As the frame continues to move, when the straightening tube moves to the end of the frame, it separates into a ring plate, which separates the straightening tube from the shrub seedling. The ring plate moves in a cycle to the front of the frame and then reassembles into a straightening tube to guide and straighten the fallen shrub seedling, thereby realizing fully automatic continuous planting of shrub seedlings on gentle slopes.

[0037] The beneficial effects of this invention are as follows:

[0038] 1. The fully automatic continuous shrub planting equipment and control method for gentle slopes described in this invention, by setting up a circulating deflection component, ensures that the straightening pipe remains vertical under the action of gravity and does not change with the angle of the frame. Therefore, under the limiting and guiding effect of the straightening pipe, the shrub seedlings that fall into the straightening pipe remain vertical. After the backfill soil fixes the shrub seedlings, shrub seedlings that remain vertical are planted on the gentle slope. At the same time, planting in trenches allows water to flow among multiple shrub seedlings during irrigation and other operations, ultimately resulting in neat and beautiful planted shrub seedlings.

[0039] 2. The fully automatic continuous shrub planting equipment and control method for gentle slopes described in this invention uses a linkage component to link the circulating deflection component with the traveling wheels. The rotation of the traveling wheels drives the circulating deflection component. Firstly, since the transmission ratio between the traveling wheels and the circulating belt is fixed after the equipment is installed and assembled, the speed of the circulating deflection component can be adjusted accordingly when the speed of the driving vehicle changes. This ensures that the speed of the straightening pipe and the frame remains consistent, facilitating continuous straightening of the shrub seedlings. Secondly, using the traveling wheels to drive the circulating deflection component reduces the need for a power source, optimizing the equipment structure, reducing its complexity, and lowering its cost. Attached Figure Description

[0040] The invention will now be further described with reference to the accompanying drawings.

[0041] Figure 1 This is a perspective view of the present invention;

[0042] Figure 2 This is a perspective view of the invention from another angle;

[0043] Figure 3 This is a 3D view of the cyclic deflection component;

[0044] Figure 4 It is a 3D diagram of the straightening tube;

[0045] Figure 5 It is a cross-sectional view of the semi-ring and the second rotating rod;

[0046] Figure 6 yes Figure 5 A magnified view of a section at point A in the middle;

[0047] Figure 7 This is a schematic diagram showing the linkage between the traveling wheel and the mounting shaft;

[0048] Figure 8 It is a 3D view of the storage tube and connecting strap;

[0049] Figure 9 This is a top view of the present invention;

[0050] Figure 10 This is a flowchart of the method of the present invention;

[0051] In the diagram: 1. Frame; 11. Traveling wheel; 12. Cutting tool; 13. Soil turning plate; 2. Straightening pipe; 21. Mounting shaft; 22. Circulating belt; 23. First rotating rod; 24. Ring plate; 25. Half ring; 26. Second rotating rod; 27. Semi-circular rod; 28. Limiting groove; 29. ​​Limiting tooth; 3. Transmission wheel set; 31. Transmission cavity; 4. Storage pipe; 41. Connecting belt; 42. Guide groove; 43. Actuating wheel; 44. Feeding port; 5. Transmission shaft. Detailed Implementation

[0052] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0053] like Figures 1 to 10 As shown, the fully automatic continuous shrub planting equipment for gentle slopes of the present invention includes a frame 1, and walking wheels 11 are installed on both sides of the frame 1;

[0054] Cutting tool 12 is fixedly installed at the front end of the frame 1 and extends underground for trenching and grooving.

[0055] Soil-turning plates 13 are symmetrically installed at the rear end of the frame 1. The soil-turning plates 13 are located on both sides of the trench excavated by the cutter 12. The soil-turning plates 13 are used to push the soil on both sides of the trench backfill.

[0056] It also includes multiple straightening tubes 2, which are arranged behind the cutter 12. The straightening tubes 2 are rotatably installed relative to the frame 1, and the axis of the straightening tubes 2 is always vertical under the action of gravity.

[0057] The circulating deflection assembly and the straightening tube 2 are both installed on the circulating deflection assembly. The circulating deflection assembly is used to drive the straightening tube 2 to circulate on the frame 1, and the direction of movement is opposite to the direction of movement of the frame 1.

[0058] A continuous feeding assembly is installed on the frame 1 and is used to continuously supply shrub seedlings into the straightening pipe 2.

[0059] When continuously planting shrub seedlings, to ensure that all seedlings planted on gentle slopes remain upright, the front end of the frame 1 is attached to a drive vehicle during planting. Driven by the vehicle, the frame 1 moves along the slope. During this movement, the cutter 12 penetrates the soil, lifting and separating the soil to form trenches on the ground. As the frame 1 continues to move forward, the continuous feeding component delivers the differentiated shrub seedlings one by one into the straightening tube 2. Driven by the circulating deflection component, the straightening tube 2 remains vertical at all times. Therefore, under the limiting and guiding effect of the straightening pipe 2, the bottom of the shrub seedling falls into the trench and remains vertically upward. Under the action of the circulating deflection component, the straightening pipe 2 moves in the opposite direction and at the same speed relative to the frame 1. Therefore, when the ground is used as a reference, the straightening pipe 2 is stationary relative to the trench, while the soil turning plate 13 and the frame 1 continue to move forward. Therefore, the soil turning plate 13 pushes and backfills the soil on both sides of the trench into the trench, thereby using the soil to fix the shrub seedling in the trench, realizing fully automatic continuous planting of shrub seedlings.

[0060] In this invention, by setting up a cyclic deflection component, the straightening pipe 2 is always in a vertical state under the action of gravity and does not change with the angle of the frame 1. Therefore, under the limiting and guiding effect of the straightening pipe 2, the shrub seedlings that fall into the straightening pipe 2 are kept in a vertical state. After the backfill soil fixes the shrub seedlings, the shrub seedlings that are kept in a vertical state are planted on the gentle slope. At the same time, the planting is carried out in trenches, so that when watering and other operations are carried out, the water flow can be easily circulated among multiple shrub seedlings in the same trench, and finally the planted shrub seedlings are neat and beautiful.

[0061] In a preferred embodiment of the present invention, the cyclic deflection assembly includes a mounting shaft 21, which is fixedly mounted on the frame 1. The mounting shafts 21 are divided into two groups and are symmetrically distributed on both sides of the cutter 12.

[0062] A circulating belt 22 is provided on each set of mounting shafts 21 via pulleys. The circulating belt 22 rotates cyclically on the mounting shafts 21, and the two circulating belts 22 rotate in opposite directions.

[0063] The first rotating rod 23 is fixedly installed on the circulating belt 22. The straightening tube 2 is composed of two ring plates 24 spliced ​​together. The first rotating rod 23 corresponds to the ring plate 24 one by one, and the first rotating rod 23 is rotatably connected to the ring plate 24.

[0064] During the movement, the two ring plates 24 are spliced ​​together in the gap between the two circulating belts 22 to form a straightening tube 2;

[0065] During planting, due to varying slope gradients, the angle of the frame 1 relative to the horizontal plane changes. During the movement of the frame 1, a circulating deflection assembly installed on it adjusts the straightening tube 2. Specifically, the circulating belt 22 continuously rotates under the drive of the mounting shaft 21, causing the first rotating rod 23 connected to the circulating belt 22 to move at a constant speed. There are two circulating belts 22, distributed on both sides of the cutter 12. Therefore, the gap between the two circulating belts 22 is located above the trench. When the first rotating rod 23 moves into the gap between the two circulating belts 22, the corresponding two ring plates 24 on the two circulating belts 22 combine to form the straightening tube 2. As the circulating belts 22 continue to move, the straightening tube 2 formed by the splicing moves from the front end to the rear end of the frame 1. By adjusting the rotation speed of the mounting shaft 21, the straightening tube 2 can be made to move backward. The speed is the same as the forward movement speed of the frame 1. Therefore, when the gentle slope is selected as a reference, the frame 1 continues to move forward, while the straightening pipe 2 remains relatively stationary with respect to the ground. When the frame 1 is selected as a reference, the straightening pipe 2 moves backward with the same speed as the ground. Therefore, the straightening pipe 2 can continuously straighten and guide the shrub seedlings that have fallen into the ditch. As the frame 1 moves, the soil turning board 13 backfills the soil into the ditch. At this time, the straightening pipe 2 moves to the tail of the frame 1. Under the action of the circulation belt 22, the straightening pipe 2 splits into two ring plates 24 and changes its direction of movement to rotate. In the process of the ring plates 24 assembling into the straightening pipe 2, under the action of the first rotating rod 23 and gravity, the straightening pipe 2 or the ring plate 24 rotates and always moves towards the vertical direction. This makes the straightening pipe 2 and the ring plate 24 unaffected by the tilt angle of the frame 1, thus forming a vertical guiding effect on the shrub seedlings.

[0066] In a preferred embodiment of the present invention, the cyclic deflection assembly further includes a semi-ring 25, which is rotatably mounted on the end of the first rotating rod 23 and is sleeved on the outside of the ring plate 24.

[0067] The second rotating rod 26 is composed of two semi-circular rods 27. The semi-circular rods 27 are rotatably mounted on the semi-ring 25. The semi-circular rods 27 are spaced 90 degrees from the first rotating rod 23. The end of the semi-circular rod 27 away from the semi-ring 25 is fixedly connected to the ring plate 24.

[0068] When the corresponding ring plate 24 is spliced ​​into the straightening tube 2, the two half rings 25 are spliced ​​into a complete ring, and the corresponding semi-circular rods 27 form the second rotating rod 26.

[0069] Because the frame 1 is affected by the gentle slope, its tilt angle is not necessarily in only one direction. Therefore, by setting a second rotating rod 26 and a semi-ring 25, the first circulating rod is rotatably connected to the semi-ring 25, and the semi-ring 25 is rotatably connected to the second rotating rod 26. The first rotating rod 23 and the second rotating rod 26 are spaced 90 degrees apart, so that the ring plate 24 fixed to the second rotating rod 26 can rotate in multiple directions. Under the action of gravity, the straightening tube 2 composed of the ring plates 24 always remains vertical. In order to ensure that the second rotating rod 26 can be connected to both ring plates 24, the following measures are taken. Therefore, the second rotating rod 26 is divided into two semicircular rods 27, and the two semicircular rods 27 are fixedly connected to the two ring plates 24 respectively. At the same time, two semi-rings 25 are set. So when the corresponding ring plates 24 are combined, the two semi-rings 25 form a complete ring, and the corresponding semicircular rods 27 are spliced ​​together to form the second rotating rod 26. When the two circulating belts 22 continue to operate, they are separated. This allows them to circulate on the ground of the frame 1 under the drive of the circulating belts 22, and also allows them to deflect, thus facilitating the fully automatic continuous planting of shrub seedlings.

[0070] In a preferred embodiment of the present invention, each of the semi-rings 25 is provided with a limiting groove 28, and the semi-circular rod 27 is fixedly installed with a limiting tooth 29, the limiting tooth 29 extending into the limiting groove 28;

[0071] Since the semicircular rod 27 is rotatably mounted on the semi-ring 25, and the position where the semicircular rod 27 and the semi-ring 25 are rotatably connected is on the edge of the semi-ring 25, in order to ensure that the corresponding semicircular rod 27 and the semi-ring 25 are tightly connected and prevented from falling off while maintaining relative rotation, a limiting groove 28 and a limiting tooth 29 are provided. In specific implementation, the limiting groove 28 is opened on the semi-ring 25, while the limiting tooth 29 is fixed on the semicircular rod 27, and the limiting tooth 29 communicates with the limiting groove 28. Due to the shape restriction, the limiting tooth 29 cannot disengage from the limiting groove 28. However, the limiting tooth 29 can slide within the limiting groove 28 around its center. The limiting groove 28 is an incomplete circular design with an angle of less than 90 degrees. Therefore, the semicircular rod 27 can rotate less than 90 degrees relative to the semicircular ring 25, while still being unable to disengage from the semicircular ring 25. This results in good connection stability between the semicircular rod 27 and the semicircular ring 25, effectively preventing the semicircular rod 27 from disengaging from the semicircular ring 25.

[0072] In a preferred embodiment of the present invention, a linkage component is further included, which is used to link the mounting shaft 21 with the traveling wheel 11 so that the circulating belt 22 and the frame 1 move at the same speed but in opposite directions.

[0073] The linkage component includes a transmission wheel set 3. The frame 1 has a transmission cavity 31, and the transmission wheel set 3 is installed in the transmission cavity 31. The transmission wheel set 3 is connected to the walking wheel 11 and the mounting shaft 21 respectively.

[0074] In practical applications, to further enhance equipment linkage and reduce the number of power devices used, a linkage component is set up. The rotation of the traveling wheel 11 drives the mounting shaft 21. Specifically, when the frame 1 moves under the drive of the vehicle, the traveling wheel 11 rotates continuously. The traveling wheel 11 and the transmission wheel set 3 are connected by a belt and pulley for belt drive. Simultaneously, the transmission wheel set 3 and the mounting shaft 21 are also connected by a belt and pulley. In this embodiment, the transmission wheel set 3 uses two bevel gears for angle adjustment, and the bevel gear shaft... The transmission ratio between the diameter and bevel gears is adjusted, thereby adjusting the transmission ratio between the traveling wheel 11 and the mounting shaft 21, and further adjusting the ratio of the linear velocities of the traveling wheel 11 and the mounting shaft 21. Ultimately, the linear velocity of the circulating belt 22 is the same as that of the traveling wheel 11. At the same time, in conjunction with the adjustment of the mounting direction of the bevel gears, the rotation directions of the two circulating belts 22 are opposite, and the movement directions of the two circulating belts 22 moving towards each other are opposite to the movement direction of the frame 1. Consequently, the movement direction of the straightening tube 2 composed of the ring plates 24 on the circulating belt 22 is opposite to the movement direction of the frame 1.

[0075] This invention uses a linkage component to link the circulating deflection component with the traveling wheel 11. The rotation of the traveling wheel 11 drives the circulating deflection component to move. On the one hand, since the transmission ratio between the traveling wheel 11 and the circulating belt 22 is fixed after the equipment is installed and assembled, the speed of the circulating deflection component can be adjusted accordingly when the speed of the driving vehicle changes. This ensures that the speed of the straightening pipe 2 and the frame 1 remains consistent, facilitating the continuous straightening of the shrub seedlings by the straightening pipe 2. On the other hand, using the traveling wheel 11 to drive the circulating deflection component reduces the need for a power source, which not only optimizes the structure of the equipment and reduces its complexity but also lowers the cost of the equipment.

[0076] In a preferred embodiment of the present invention, the top end of the straightening tube 2 is enlarged;

[0077] As the straightening pipe 2 continuously deflects under the influence of gravity, although the angle of the gentle slope does not change much, the angle at the top of the straightening pipe 2 is still changing. Therefore, in order to facilitate the shrub seedlings falling into the straightening pipe 2, the diameter of the top of the straightening pipe 2 is expanded, thereby increasing the diameter of the end of the straightening pipe 2, which makes it easier for the shrub seedlings to fall into the straightening pipe 2. In addition, since the roots of the shrub seedlings are relatively heavy under the soil, they can flexibly and automatically adjust their position in the straightening pipe 2 under the influence of gravity, so that the shrub seedlings can be planted vertically in the trench.

[0078] In a preferred embodiment of the present invention, the continuous feeding component includes a storage tube 4, wherein the storage tube 4 is designed in multiples, and the storage tube 4 is used to store shrub seedlings;

[0079] A connecting strap 41 is fixedly connected to a storage tube 4, and multiple storage tubes 4 and connecting straps 41 form a ring structure.

[0080] Guide groove 42, the frame 1 is provided with guide groove 42, and the annular structure formed by the connecting strip 41 and the storage tube 4 extends into guide groove 42;

[0081] A turn wheel 43 is rotatably mounted in the guide groove 42. The turn wheel 43 is used to push the annular structure formed by the connecting belt 41 and the storage tube 4 to move.

[0082] Feeding port 44, the feeding port 44 is opened on the frame 1, and both the upper and lower ends of the feeding port 44 are tapered;

[0083] In continuous planting, shrub seedlings need to be continuously and automatically fed into the straightening pipe 2. Therefore, by setting up a continuous feeding component, shrub seedlings are continuously fed into the frame 1 during its movement, thereby reducing the labor intensity of workers and improving the continuity of shrub seedling planting. Specifically, before the equipment operates, the shrub seedlings are stored in storage pipes 4, and multiple storage pipes 4 are connected by connecting belts 41 to form a ring structure. By rotating the actuating wheel 43, the ring structure formed by the storage pipes 4 and connecting belts 41 is driven by the guide groove 42, causing it to move continuously and directionally within the guide groove 42. During the movement, when the storage pipe 4 is aligned with the feeding port 44, the shrub seedlings in the storage pipe 4 fall into the feeding port 44 under the action of gravity, and then fall into the straightening pipe 2 below, thus completing the feeding of the shrub seedlings. After all the shrub seedlings in all the feeding pipes on the frame 1 have been fed, shrub seedlings are loaded again, thus achieving continuous planting of shrub seedlings.

[0084] It should be noted that, in the design of this equipment, the rotation speed of the actuating wheel 43 is adjusted so that the movement speed of the storage tube 4 in the guide groove 42 is matched with the movement speed of the straightening tube 2. That is, the interval between the alignment of the storage tube 4 and the feeding port 44 is the same as the switching interval of the straightening tube 2. Therefore, when the storage tube 4 is aligned with the feeding port 44, the straightening tube 2 is also aligned with the feeding port 44, thereby causing the shrub seedlings to fall into the straightening tube 2.

[0085] In a preferred embodiment of the present invention, the actuating wheels 43 are symmetrically designed, and the annular structure formed by the connecting belt 41 and the storage tube 4 is clamped between the two actuating wheels 43.

[0086] By setting symmetrical actuating wheels 43 and clamping the annular structure formed by the connecting belt 41 and the storage tube 4 between the two actuating wheels 43, on the one hand, the rotation of the actuating wheels 43 is effectively used to drive the annular structure formed by the connecting belt 41 and the storage tube 4 to perform directional movement. On the other hand, the setting of double actuating wheels 43 can also effectively reduce the slippage between the actuating wheels 43 and the connecting belt 41 and the storage tube 4, thereby enhancing the convenience of continuous feeding.

[0087] In a preferred embodiment of the present invention, a transmission shaft 5 is rotatably mounted in the transmission cavity 31, the transmission shaft 5 is fixedly connected to the actuating wheel 43, the transmission shaft 5 is belt-driven connected to the mounting shaft 21, and two adjacent actuating wheels 43 rotate in opposite directions;

[0088] By connecting the drive shaft 5 and the mounting shaft 21 with a belt drive and adjusting the transmission ratio between them, the rotation speed of the actuating wheel 43 is finally correlated with the rotation speed of the walking wheel 11, thereby matching the speed at which the storage tube 4 delivers shrub seedlings with the travel speed of the walking wheel 11. This allows the shrub seedling delivery speed to be automatically adjusted according to the movement speed of the frame 1, enhancing the automation level of the equipment operation.

[0089] A control method for a fully automated continuous shrub planting device on gentle slopes, the method comprising the following steps:

[0090] S1: Connect the planting equipment to the vehicle and use the vehicle to drive the planting equipment to move in a straight line. Before planting, put the shrub seedlings one by one into the storage tube 4.

[0091] S2: The planting equipment moves in a straight line along the gentle slope. During the movement, the walking wheel 11 rotates, which drives the circulation deflection component and the continuous feeding component to operate through the linkage component, etc.

[0092] S3: As the frame 1 continues to move forward, the cutter 12 digs a trench in the ground, and the shrub seedlings in the storage pipe 4 fall into the straightening pipe 2 through the feeding port 44. The straightening pipe 2 deflects under the action of gravity and vertically places the shrub seedlings into the trench.

[0093] S4: Since the circulation belt 22 moves in the opposite direction and at the same speed as the frame 1, the straightening pipe 2 remains stationary relative to the ground, continuously straightening the shrub seedlings. At this time, the soil turning board 13 backfills the soil into the trench, burying and fixing the roots of the shrub seedlings.

[0094] S5: As the frame 1 continues to move, when the straightening pipe 2 moves to the tail end of the frame 1, it separates into a ring plate 24, so that the straightening pipe 2 separates from the shrub seedling. The ring plate 24 moves in a cycle to the front end of the frame 1, and then reassembles into the straightening pipe 2 to guide and straighten the fallen shrub seedling, thereby realizing the fully automatic continuous planting of shrub seedlings on the gentle slope.

[0095] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A fully automatic continuous shrub planting device for gentle slopes, comprising a frame (1) and wheels (11) installed on both sides of the frame (1); Cutting tool (12), the cutting tool (12) is fixedly installed at the front end of the frame (1), the cutting tool (12) extends into the ground and is used for trenching and grooving; Soil turning plate (13): The rear end of the frame (1) is symmetrically equipped with soil turning plate (13). The soil turning plate (13) is located on both sides of the trench excavated by the cutter (12). The soil turning plate (13) is used to push the soil backfill on both sides of the trench. Its features are: It also includes multiple straightening tubes (2), which are arranged behind the cutter (12). The straightening tubes (2) are rotatably installed relative to the frame (1), and the axis of the straightening tubes (2) is always vertical under the action of gravity. The circulating deflection assembly and the straightening tube (2) are both installed on the circulating deflection assembly. The circulating deflection assembly is used to drive the straightening tube (2) to circulate on the frame (1) and the direction of movement is opposite to the direction of movement of the frame (1). A continuous feeding assembly is installed on the frame (1) and is used to continuously supply shrub seedlings into the straightening tube (2); It also includes a linkage component, which is used to link the mounting shaft (21) with the traveling wheel (11) so that the circulating belt (22) and the frame (1) move at the same speed but in opposite directions. The cyclic deflection assembly includes a mounting shaft (21), which is fixedly mounted on the frame (1). The mounting shafts (21) are divided into two groups and are symmetrically distributed on both sides of the tool (12). A circulating belt (22) is provided on each set of mounting shafts (21) via pulleys. The circulating belt (22) rotates cyclically on the mounting shafts (21), and the two circulating belts (22) rotate in opposite directions. The first rotating rod (23) is fixedly installed on the circulating belt (22). The straightening tube (2) is spliced ​​from two ring plates (24). The first rotating rod (23) corresponds to the ring plate (24) one by one, and the first rotating rod (23) and the ring plate (24) are rotatably connected. During the movement, the two ring plates (24) are spliced ​​together in the gap between the two circulating belts (22) to form a straightening tube (2); The cyclic deflection assembly also includes a semi-ring (25), which is rotatably mounted on the end of the first rotating rod (23) and is sleeved on the outside of the ring plate (24); The second rotating rod (26) is composed of two semicircular rods (27), both of which are rotatably mounted on the semi-ring (25). The semicircular rods (27) are spaced 90 degrees apart from the first rotating rod (23). The end of the semicircular rod (27) away from the semi-ring (25) is fixedly connected to the ring plate (24). When the corresponding ring plate (24) is spliced ​​into a straightening tube (2), the two half rings (25) are spliced ​​into a complete ring, and the corresponding semi-circular rod (27) forms the second rotating rod (26). Each of the semi-rings (25) has a limiting groove (28), and the semi-circular rod (27) is fixedly installed with a limiting tooth (29), which extends into the limiting groove (28). The linkage component includes a transmission wheel set (3), and a transmission cavity (31) is provided on the frame (1). The transmission wheel set (3) is installed in the transmission cavity (31), and the transmission wheel set (3) is connected to the walking wheel (11) and the mounting shaft (21) respectively. The continuous feeding assembly includes a storage tube (4), which is designed in multiples and is used to store shrub seedlings; A connecting strip (41) is fixedly connected to a storage tube (4), and multiple storage tubes (4) and the connecting strip (41) form a ring structure; Guide groove (42), the frame (1) is provided with guide groove (42), and the annular structure formed by the connecting strip (41) and the storage tube (4) extends into the guide groove (42); A dial wheel (43) is rotatably installed in the guide groove (42). The dial wheel (43) is used to push the annular structure formed by the connecting belt (41) and the storage tube (4) to move. Feeding port (44), the feeding port (44) is opened on the frame (1), and both the upper and lower ends of the feeding port (44) are tapered; The actuating wheel (43) is symmetrically designed, and the annular structure formed by the connecting belt (41) and the storage tube (4) is sandwiched between the two actuating wheels (43); A drive shaft (5) is rotatably installed in the transmission cavity (31). The drive shaft (5) is fixedly connected to the actuating wheel (43). The drive shaft (5) is connected to the mounting shaft (21) via belt drive. The two adjacent actuating wheels (43) rotate in opposite directions.

2. The fully automatic continuous shrub planting equipment for gentle slopes according to claim 1, characterized in that: The top of the straightening tube (2) is enlarged.

3. A control method for a fully automated continuous shrub planting device on gentle slopes, characterized in that: This control method is applicable to the fully automated continuous shrub planting equipment on gentle slopes described in claim 2. Includes the following steps: S1: Connect the planting equipment to the vehicle and use the vehicle to drive the planting equipment to move in a straight line. Before planting, put the shrub seedlings into the storage tube (4) one by one. S2: The planting equipment moves in a straight line along the gentle slope. During the movement, the walking wheel (11) rotates and drives the circulating deflection component and the continuous feeding component to operate through the linkage component. S3: As the frame (1) continues to move forward, the cutter (12) digs a trench on the ground, and the shrub seedlings in the storage pipe (4) fall into the straightening pipe (2) through the feeding port (44). The straightening pipe (2) deflects under the action of gravity and vertically places the shrub seedlings into the trench. S4: Since the circulation belt (22) moves in the opposite direction and at the same speed as the frame (1), the straightening pipe (2) is stationary relative to the ground and continues to straighten the shrub seedling. At this time, the soil turning board (13) backfills the soil into the trench and fills and fixes the roots of the shrub seedling. S5: As the frame (1) continues to move, when the straightening tube (2) moves to the end of the frame (1), it separates into a ring plate (24), which separates the straightening tube (2) from the shrub seedling. The ring plate (24) moves in a cycle to the front end of the frame (1) and then reassembles into the straightening tube (2) to guide and straighten the fallen shrub seedling, thereby realizing the fully automatic continuous planting of shrub seedlings on the gentle slope.

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