A fully automated desert tree planter and a power control system thereof

Abstract

The application belongs to the technical field of automatic tree planting equipment, and particularly relates to a full-automatic desert tree planting machine and a power control system thereof. The full-automatic desert tree planting machine comprises a walking mechanism, a seedling storage mechanism, a magnetic roller seedling feeding mechanism, a drilling and planting mechanism and a recovery mechanism. The seedling storage mechanism is used for storing seedlings, the magnetic roller seedling feeding mechanism is used for pushing the seedlings to the drilling and planting mechanism, the drilling and planting mechanism is responsible for drilling holes in the desert and planting seedlings, and the recovery mechanism is used for recovering used iron seedling carrying sleeves. The power control system realizes full-automatic operation from seedling storage, drilling, seedling feeding, planting to spraying and recovery through a controller and a motor drive. Compared with the traditional manual tree planting mode, the planting efficiency is greatly improved, the labor cost is reduced, the tree planting period is shortened, and the application prospect is wide.

Description

Technical Field

[0001] This invention belongs to the field of automated tree planting equipment technology, specifically relating to a fully automated desert tree planting machine and its power control system. Background Technology

[0002] Desertification not only leads to the loss of land resources but also damages ecosystems, exacerbating problems such as water shortages and biodiversity loss. Therefore, finding effective methods for desertification control, especially through afforestation to restore the ecological environment, has become a current research hotspot.

[0003] Traditional afforestation methods rely primarily on manual labor, which is not only inefficient but also difficult to implement on a large scale and efficiently in harsh environments such as deserts. Furthermore, manual planting faces challenges such as high labor intensity and high costs, making it unsuitable for large-scale ecological restoration. Therefore, there is an urgent need to develop automated and precise afforestation machinery to improve both efficiency and quality.

[0004] As a new type of tree-planting machinery, the development and application of desert tree-planting machines are of great significance in solving the aforementioned problems. Utilizing advanced mechanical, electronic, and sensor technologies, desert tree-planting machines achieve automated and precise tree-planting operations. Through a precise navigation and positioning system, the machine can accurately locate each planting point and perform tasks such as digging holes, planting, covering with soil, and watering according to preset parameters. This not only greatly improves planting efficiency but also reduces labor intensity and labor costs.

[0005] Furthermore, desert tree planting machines possess strong environmental adaptability. Their robust and durable mechanical structure allows for stable operation in harsh environments such as deserts. Simultaneously, by optimizing operational processes and parameter settings, desert tree planting machines can fully utilize limited water resources, reducing water evaporation and loss, and improving water use efficiency. These characteristics make desert tree planting machines a highly efficient and environmentally friendly tree planting tool, providing a new solution for desertification control and ecological restoration.

[0006] In conclusion, the research and application of desert tree planting machines are important means to address desertification and restore the ecological environment. With continuous technological advancements and improvements, desert tree planting machines will play an even more significant role in future afforestation and ecological restoration efforts, making a positive contribution to the sustainable development of human society. Summary of the Invention

[0007] In view of the many problems faced by manual tree planting in the background technology, such as high labor intensity, high cost and low planting efficiency, the present invention provides a fully automated desert tree planting machine and its power control system.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: a fully automated desert tree planting machine, comprising a walking mechanism, mainly including a vehicle base and multiple electrically driven wheels mounted in pairs on its left and right sides. A rotary motor and planetary gears are respectively mounted on the vehicle base, the rotary motor driving the planetary gears. A rotary platform is rotatably mounted on the vehicle base, and a ring gear meshing with the planetary gears is located at the bottom center of the rotary platform. The rotary platform rotates through a rotary motor-driven gear meshing transmission. Two transverse slide rails are provided on the rotary platform, and the two transverse slide rails are connected by a rail... A sliding base is provided on the sliding groove. Two first servo motors and two first bearing supports are mounted on the rotating base. The output shaft of each first servo motor is connected to one end of a first lead screw via a coupling. The other end of the first lead screw is rotatably mounted in the first bearing support. A first lead screw bearing corresponding to the first lead screw is located at the bottom of the sliding base. The sliding base moves forward and backward laterally by synchronously driving the first lead screw through the first servo motors. Base side plates are respectively provided on the left and right sides of the rotating base. A drilling mechanism is located between the two base side plates at the front end of the rotating base. The structure includes a slide rail frame and a movable base plate slidably mounted thereon. A first mounting plate and a second mounting plate are respectively provided at the upper and lower ends of the slide rail frame, and a second servo motor and a bearing base are respectively mounted on both. The output shaft of the second servo motor is connected to one end of a second lead screw via a coupling, and the other end of the second lead screw is rotatably mounted within the bearing base. A second lead screw bearing is mounted on the movable base plate via a bearing bracket, and the second lead screw is housed within the second lead screw bearing. A hollow shaft motor is mounted on the movable base plate via an L-shaped plate, and a hollow drill rod is mounted on the output shaft of the hollow shaft motor via a coupling. The lower end of the hollow drill rod is equipped with multiple rotatable blocking blocks. These blocking blocks, when the drill rod is drilling downwards, restrict and close the channel by contacting the sand and soil. Conversely, when the drill rod is rotating upwards, the weight of the sapling opens the channel, allowing the sapling to quickly enter the borehole and complete the planting. A seedling storage mechanism and a retrieval mechanism are respectively installed on the two movable base side plates. The seedling storage mechanism stores and pushes multiple rows of iron seedling sleeves. Each iron seedling sleeve has a rotatable sealing plate at its bottom, containing a sapling. The retrieval mechanism retrieves the planted iron seedling sleeves.A magnetic roller seedling feeding mechanism is installed on the movable base. This mechanism includes two gear rollers and a chain meshing with them. Multiple magnetic blocks are equidistantly arranged on the chain to attract iron seedling sleeves. The two gear rollers are mounted on the movable base via two shafts. A drive motor is installed on the movable base. The drive motor drives the two gear rollers to rotate via gear meshing, which in turn drives the chain. The chain, through the magnetic blocks, attracts and transports the iron seedling sleeves from the seedling storage mechanism to a position directly above the hollow shaft motor. The moving iron seedling sleeves have their bottom sealing plates opened by limiting blocks. The seedlings then pass through the hollow shaft motor and the hollow drill rod, where their weight impacts open multiple sealing blocks, allowing them to enter the drill hole. The limiting blocks are installed on the movable base.

[0009] As a further explanation and limitation of the above technical solution, the electric drive wheel includes a wheel assembly plate, two connecting arms, a DC motor, and a wheel connected to its power output shaft. The wheel assembly plate is hinged to the vehicle body base through the two connecting arms. A support and shock-absorbing arm is hinged between the wheel assembly plate and the vehicle body base to ensure the relative stability of the wheel posture and to play a shock-absorbing role.

[0010] As a further supplement to the above technical solution, partitions are provided on the two shaft columns, water tanks are provided on the partitions, water pumps are provided at the outlets of the water tanks, and the outlets of the water pumps are connected to annular spray pipes via water pipes. The annular spray pipes are installed on L-shaped plates, and the hollow drill rods are located in the annular spray pipes.

[0011] As a further explanation and limitation of the above technical solution, the seedling storage mechanism includes a seedling storage box and support bases respectively provided on both sides thereon. Two sleeve columns are provided on each support base. A sliding rod is inserted into each sleeve column. An installation block is provided at the end of each sliding rod. A third servo motor is provided on one of the installation blocks located on the same side of the seedling storage box. The output shaft of the third servo motor is connected to one end of a third lead screw through a coupling. The other end of the third lead screw is rotatably mounted on another installation block. A transverse connecting rod is provided between the two third lead screws through two third lead screw bearings. Multiple push plates are equidistantly provided on the transverse connecting rod for pushing out the iron seedling sleeve in the seedling storage box and adsorbing it onto the magnetic block.

[0012] As a further explanation and limitation of the above technical solution, the recycling mechanism includes a recycling box, a recycling port and a reset stop are provided in one corner of the recycling box, the reset stop is located at the recycling port and distributed on the outside of the recycling box, the planted iron seedling sleeve enters the recycling box from the recycling port under the adsorption transport of the chain, at the same time the sealing plate is reset by the obstruction of the reset stop, the iron seedling sleeve that continues to be transported backward encounters the rear wall of the recycling box and separates from the magnetic block, thus realizing recycling.

[0013] As a further supplement to the above technical solution, multiple baffles are provided inside the recycling box, which divide the interior of the recycling box into multiple recycling spaces, facilitating automatic sorting and collection of the iron seedling sleeves during the later recycling process; a slide is provided on the inner side of the bottom wall of the recycling box, which is used to keep the recycled iron seedling sleeves in a uniform flat position when separated from the magnetic block, reducing the workload of later sorting.

[0014] As a further supplement to the above technical solution, T-shaped slots are provided in the seedling storage box, the two support bases and the recycling box respectively, and T-shaped clips are provided on the two base side plates respectively, which are opposite to the T-shaped slots. The seedling storage mechanism and the recycling mechanism are connected to the base side plates by the T-shaped clips being embedded in the T-shaped slots.

[0015] As a further explanation and limitation of the above technical solution, driven gears are respectively provided at the bottom of the two gear rollers, and transmission gears that mesh with the driven gears are provided on the movable base. A transmission shaft is provided on the movable base through a second bearing support. A worm gear that meshes with the transmission gear is provided at one end of the transmission shaft, and a columnar gear is provided at the other end of the transmission shaft. A drive gear that meshes with the columnar gear is provided on the output shaft of the drive motor.

[0016] As a further supplement to the above technical solution, a sandproof cover is provided on the mobile base to protect the drive motor and the two second servo motors.

[0017] A power control system for a fully automated desert tree planting machine includes a power supply and a controller, comprising the fully automated desert tree planting machine described above. The power supply and controller are mounted on a vehicle base. A DC motor, a rotary motor, a first servo motor, a second servo motor, a hollow shaft motor, a water pump, and a third servo motor are respectively connected to the signal output terminal of the controller. By executing various action commands, the machine can automate operations such as walking, rotating, drilling, pushing iron seedling sleeves, transporting iron seedling sleeves, rotating hollow drill rods to plant seedlings, spraying, and retrieving iron seedling sleeves. The power supply provides power to the controller, water pump, and various motors.

[0018] Compared with the prior art, the present invention has the following advantages:

[0019] 1. This invention relates to a fully automated desert tree planting machine and its power control system. The fully automated desert tree planting machine includes a walking mechanism, a seedling storage mechanism, a magnetic roller seedling delivery mechanism, a drilling and planting mechanism, and a retrieval mechanism. In this power control system, the controller executes various action commands to automate the following operations: walking, rotating, drilling, pushing and transporting the iron seedling-carrying sleeve, rotating the hollow drill rod to plant seedlings, spraying, and retrieving the iron seedling-carrying sleeve. Compared to traditional manual tree planting methods, this significantly improves planting efficiency, reduces labor costs, and shortens the planting cycle.

[0020] 2. This invention employs a walking mechanism with multiple electrically driven wheels, making it more adaptable to complex sandy terrain and enhancing the stability of planting operations in sandy conditions. Simultaneously, automated operation reduces human interference, improving the accuracy and reliability of planting operations.

[0021] 3. The magnetic roller seedling delivery mechanism of this invention utilizes magnetic blocks on a chain to automate the loading, transportation, and retrieval of seedlings, improving resource utilization efficiency. Furthermore, the entire system is electrically driven, making it more environmentally friendly and energy-efficient compared to traditional mechanical or fuel-powered methods.

[0022] 4. This invention employs a servo motor-driven lead screw transmission in the drilling mechanism, achieving precise control of the drilling depth. The hollow drill rod design allows for more accurate and convenient loading and transportation of seedlings. Simultaneously, the entire system's operation is programmed via a controller, simplifying operation and reducing the skill requirements for operators.

[0023] 5. This invention, through the design of a fully automated desert afforestation system, achieves efficient, stable, and environmentally friendly desert afforestation operations, which is of great significance for improving the desert environment and promoting ecological balance. Attached Figure Description

[0024] Figure 1 This is a structural diagram of the walking mechanism, rotating base, and movable base in this invention;

[0025] Figure 2 This is a front view of the fully automated desert tree planting machine of the present invention;

[0026] Figure 3 This is an assembly diagram of the walking mechanism, rotating base, and moving base in this invention;

[0027] Figure 4 This is an assembly drawing of the fully automated desert tree planting machine of the present invention;

[0028] Figure 5 This is a structural diagram of the drilling mechanism in this invention;

[0029] Figure 6 This is a structural diagram of the hollow drill rod in this invention;

[0030] Figure 7 for Figure 6 Enlarged view of section A;

[0031] Figure 8 This is a structural diagram of the iron seedling carrier sleeve in this invention;

[0032] Figure 9 This is a structural diagram of the magnetic roller seedling feeding mechanism in this invention;

[0033] Figure 10 This is a side view of the fully automated desert tree planting machine of the present invention;

[0034] Figure 11 This is a structural diagram of the seedling storage mechanism in this invention;

[0035] Figure 12 This is a structural diagram of the recycling mechanism in this invention.

[0036] In the diagram: the walking mechanism is 100, the seedling storage mechanism is 200, the recycling mechanism is 300, the drilling mechanism is 400, and the magnetic roller seedling delivery mechanism is 500.

[0037] 1. Car body base; 2. Electric drive wheel; 3. Rotary motor; 4. Planetary gear; 5. Rotary base; 6. Ring gear; 7. Base side plate; 8. Transverse slide rail; 10. Track slide groove; 9. Moving base; 11. First servo motor; 12. First bearing support; 13. First lead screw; 14. First lead screw bearing; 15. Slide rail frame; 16. First mounting plate; 17. Second mounting plate; 18. Second servo motor; 19. Bearing base; 20. Second lead screw; 21. Movable base plate; 22. Bearing bracket; 23. Second lead screw bearing; 24. L-shaped plate; 25. Hollow shaft motor; 26. Hollow drill rod; 27. Sealing block; 28. Iron seedling sleeve; 29. ​​Sealing plate; 30. Gear roller; 31. Chain; 32. Shaft column. The components are as follows: driven gear 33, transmission gear 34, worm gear 35, transmission shaft 36, cylindrical gear 37, drive motor 38, drive gear 39, magnetic block 40, second bearing support 41, limit stop 42, partition 43, water tank 44, water pump 45, water pipe 46, annular spray pipe 47, sandproof cover 48, seedling storage box 49, support base 50, sleeve column 51, slide rod 52, mounting block 53, third servo motor 54, third lead screw 55, third lead screw bearing 56, transverse linkage 57, push plate 58, recycling box 59, recycling port 60, reset stop 61, baffle 62, slide plate 63, T-shaped slot 64, and T-shaped strip 65.

[0038] The electric drive wheel includes: a wheel assembly plate (201), a connecting arm (202), a support and shock absorber arm (203), a DC motor (204), and a wheel (205). Detailed Implementation

[0039] To further illustrate the technical solution of the present invention, the following description is in conjunction with the appendix. Figures 1 to 12 Based on the design scheme and automated planting process, we will further illustrate the present invention through the preferred embodiment.

[0040] As attached Figures 1 to 8As shown, a fully automated desert tree planting machine includes a walking mechanism 100, which mainly includes a vehicle base 1 and multiple electric drive wheels 2 installed in pairs on its left and right sides. Each electric drive wheel 2 includes a wheel assembly plate 201, two connecting arms 202, a DC motor 204, and a wheel 205 connected to its power output shaft. The wheel assembly plate 201 is hinged to the vehicle base 1 through the two connecting arms 202. A support and shock-absorbing arm 203 is hinged between the wheel assembly plate 201 and the vehicle base 1 to ensure the relative stability of the wheel 205 and to play a shock-absorbing role. A rotary motor 3 and a planetary gear 4 are respectively installed on the vehicle body base 1. The rotary motor 3 drives the planetary gear 4. A rotary platform 5 is rotatably mounted on the vehicle body base 1. A ring gear 6 that meshes with the planetary gear 4 is located at the bottom center of the rotary platform 5. The rotary platform 5 rotates through gear meshing driven by the rotary motor 3. Two transverse slide rails 8 are provided on the rotary platform 5. A movable base 9 is slidably mounted on the two transverse slide rails 8 through a track groove 10. Two first servo motors 11 and... Two first bearing supports 12 are provided. The output shaft of each first servo motor 11 is connected to one end of a first lead screw 13 via a coupling. The other end of the first lead screw 13 is rotatably mounted in the first bearing support 12. A first lead screw bearing 14 corresponding to the first lead screw 13 is provided at the bottom of the movable base 9. The movable base 9 moves forward and backward by synchronously driving the first lead screw 13 through the first servo motor 11. Base side plates 7 are respectively provided on the left and right sides of the rotary base 5. A drilling machine is provided between the two base side plates 7 located at the front end of the rotary base 5. Structure 400, the drilling mechanism 400 includes a slide rail frame 15 and a movable base plate 21 slidably disposed thereon. A first mounting plate 16 and a second mounting plate 17 are respectively disposed at the upper and lower ends of the slide rail frame 15, and a second servo motor 18 and a bearing base 19 are respectively mounted on the two mounting plates. The output shaft of the second servo motor 18 is connected to one end of a second lead screw 20 via a coupling. The other end of the second lead screw 20 is rotatably disposed within the bearing base 19. A second lead screw bearing 23 is disposed on the movable base plate 21 via a bearing bracket 22. A hollow shaft motor 25 is mounted on the movable base plate 21 via an L-shaped plate 24, housed in the second lead screw bearing 23. A hollow drill rod 26 is mounted on the output shaft of the hollow shaft motor 25 via a coupling. Multiple closing blocks 27 are rotatably mounted inside the lower end of the hollow drill rod 26. When the hollow drill rod 26 is drilling downwards, the multiple closing blocks 27 restrict and close the channel of the hollow drill rod 26 by contacting the sand and soil, and conversely, when the hollow drill rod 26 is rotating upwards, the channel of the hollow drill rod 26 is opened by the gravity of the seedling, allowing it to quickly enter the drill hole and complete the drilling and planting.

[0041] As attached Figure 9 As shown, a magnetic roller seedling feeding mechanism 500 is provided on the movable base 9. The magnetic roller seedling feeding mechanism 500 includes two gear rollers 30 and a chain 31 meshing with them. Multiple magnetic blocks 40 are equidistantly arranged on the chain 31 for adsorbing the iron seedling sleeve 28. The two gear rollers 30 are respectively mounted on the movable base 9 via two shafts 32. Driven gears 33 are respectively provided at the bottom of the two gear rollers 30. A transmission gear 34 meshing with the driven gears 33 is provided on the movable base 9. A transmission shaft 36 is provided on the movable base 9 via a second bearing support 41. A worm gear 35 meshing with the transmission gear 34 is provided at one end of the transmission shaft 36. A cylindrical gear 37 is provided at the other end of the shaft 36. A drive gear 39 that meshes with the cylindrical gear 37 is provided on the output shaft of the drive motor 38. The drive motor 38 is mounted on the movable base 9. The drive motor 38 drives the two gear rollers 30 to rotate through gear meshing transmission, thereby driving the chain 31 to rotate. The chain 31 is attracted and picked up from the seedling storage mechanism 200 by the magnetic block 40 and transported to the top of the hollow shaft motor 25. The running iron seedling sleeve 28 opens its bottom sealing plate 29 by the limiting block 42. The seedling passes through the hollow shaft motor 25 and the hollow drill rod 26 in sequence. Under the impact of its gravity, the seedling opens multiple closed blocks 27 and enters the drill hole. The limiting block 42 is mounted on the movable base 9.

[0042] In the above embodiments, as shown in the appendix Figure 10 As shown, a partition plate 43 is provided on two shaft columns 32, a water tank 44 is provided on the partition plate 43, a water pump 45 is provided at the outlet of the water tank 44, and the outlet of the water pump 45 is connected to an annular spray pipe 47 through a water pipe 46. The annular spray pipe 47 is installed on an L-shaped plate 24, and the hollow drill rod 26 is located in the annular spray pipe 47.

[0043] As a preferred embodiment of this example, see attached... Figure 3 , 11 As shown in Figure 12, T-shaped slots 64 are respectively provided on the seedling storage box 49, the two support bases 50, and the recycling box 59. T-shaped clips 65, opposite to the T-shaped slots 64, are respectively provided on the two base side plates 7. The seedling storage mechanism 200 and the recycling mechanism 300 are connected to the base side plates 7 by the T-shaped clips 65 embedded in the T-shaped slots 64. Meanwhile, a sandproof cover 48 is provided on the movable base 9 to protect the drive motor 38 and the two second servo motors 18.

[0044] As attached Figure 4As shown, a seedling storage mechanism 200 and a recycling mechanism 300 are respectively provided on the two base side plates 7 of the activity.

[0045] Preferably, as shown in the appendix Figure 11 As shown, the seedling storage mechanism 200 includes a seedling storage box 49 and support bases 50 on both sides of it. Two sleeve columns 51 are provided on each support base 50. A slide rod 52 is inserted into each sleeve column 51. Mounting blocks 53 are provided at the ends of the two slide rods 52. A third servo motor 54 is provided on one of the mounting blocks 53 on the same side of the seedling storage box 49. The output shaft of the third servo motor 54 is connected to one end of a third lead screw 55 through a coupling. The other end of the third lead screw 55 is rotatably mounted on another mounting block 53. A transverse connecting rod 57 is provided between the two third lead screws 55 through two third lead screw bearings 56. Multiple push plates 58 are equidistantly provided on the transverse connecting rod 57 for pushing out the iron seedling sleeves 28 in the seedling storage box 49 and adsorbing them onto the magnetic block 40. A sealing plate 29 is rotatably provided at the bottom of each iron seedling sleeve 28, and seedlings are stored inside it.

[0046] Preferably, as shown in the appendix Figure 12 As shown, the recycling mechanism 300 includes a recycling box 59. A recycling port 60 and a reset block 61 are located at one corner of the recycling box 59. The reset block 61 is located at the recycling port 60 and distributed on the outside of the recycling box 59. After planting, the iron seedling sleeve 28 enters the recycling box 59 through the recycling port 60 under the adsorption transport of the chain 31. Simultaneously, the sealing plate 29 is reset by the reset block 61. The iron seedling sleeve 28, continuing to be transported, encounters the rear wall of the recycling box 59 and separates from the magnetic block 40, thus achieving recycling. Multiple baffles 62 are provided inside the recycling box 59, dividing the interior of the recycling box 59 into multiple recycling spaces, facilitating automatic sorting and collection of the iron seedling sleeve 28 during subsequent recycling. A slide 63 is provided on the inner side of the bottom wall of the recycling box 59. The slide 63 is used to uniformly lay the recycled iron seedling sleeve 28 in a flat position when separated from the magnetic block 40, reducing the workload of subsequent sorting.

[0047] A power control system for a fully automated desert tree planting machine includes a power supply and a controller. The power supply and controller are mounted on a vehicle base 1. A DC motor 204, a rotary motor 3, a first servo motor 11, a second servo motor 18, a hollow shaft motor 25, a water pump 45, and a third servo motor 54 are connected to the signal output terminal of the controller. By executing various action commands, the machine automates operations such as walking, rotating, drilling, pushing and transporting the iron seedling-carrying sleeve 28, rotating the hollow drill rod 26 to plant seedlings, spraying, and retrieving the iron seedling-carrying sleeve 28. The power supply powers the controller, the water pump 45, and the various motors. Based on this power control system, the automated desert tree planting machine can achieve the entire process of automated seedling planting through the following steps:

[0048] Step 1. Preparation stage: First, the operator removes the push plate 58 by lifting the transverse linkage 57; then, the seedlings are placed into the seedling storage box 49 of the seedling storage mechanism 200, with each seedling placed inside the iron seedling sleeve 28, and the sealing plate 29 is kept closed; finally, the transverse linkage 57 is lowered so that each push plate 58 is inserted into the corresponding position of the pushed iron seedling sleeve 28.

[0049] Step 2. Automatic Pushing and Adsorption: The controller starts the third servo motor 54, which drives the third lead screw 55 to rotate. This causes the pusher plate 58 to push the iron seedling sleeves 28 in the seedling storage box 49 row by row to the chain 31 of the magnetic roller seedling delivery mechanism 500. At this time, the magnetic block 40 on the chain 31 will attract the iron seedling sleeves 28, and the transportation process will begin.

[0050] Step 3. Transport and Opening of the Sealing Plate: The controller starts the drive motor 38, which drives the two gear rollers 30 to rotate through gear meshing, thereby driving the chain 31 to rotate. As the chain 31 moves, the iron seedling carrier sleeve 28 is transported to directly above the hollow shaft motor 25. During this process, the iron seedling carrier sleeve 28 encounters the limit stop 42, the sealing plate 29 is opened, and the seedling is exposed.

[0051] Step 4. Drilling and Planting: When the iron seedling sleeve 28 moves directly above the hollow drill rod 26, the controller activates the second servo motor 18 and the hollow shaft motor 25 to perform drilling by moving the hollow drill rod 26 downwards. When the hollow drill rod 26 rotates upwards, the iron seedling sleeve 28 uses the limit stop 42 to open the sealing plate 29 at its bottom. The seedling passes through the hollow shaft motor 25 and the hollow drill rod 26 in sequence, and under the impact of its gravity, it opens multiple sealing blocks 27 and enters the previously drilled hole.

[0052] Step 5. Watering and securing: After the saplings are planted, the water pump 45 is started to water the newly planted saplings through the water pipe 46 and the ring spray pipe 47. This helps to secure the saplings and provide the necessary moisture.

[0053] Step 6. Recycling the iron seedling sleeve: After planting, the iron seedling sleeve 28 continues to move backward with the chain 31 and enters the recycling box 59 through the recycling port 60. Inside the recycling box 59, the sealing plate 29 is reset by the action of the reset stop 61, and the iron seedling sleeve 28 lies flat under the action of the slide plate 63, which facilitates later recycling and sorting.

[0054] Step 7. Repeated Cycle: As seedlings are gradually pushed and planted in the seedling storage box 49, the magnetic roller seedling delivery mechanism 500 continuously draws new iron seedling sleeves 28 from the seedling storage mechanism 200 for the next round of planting. Simultaneously, the recycling mechanism 300 continuously collects used iron seedling sleeves 28 for reuse.

[0055] The foregoing has shown and described the main features and advantages of the present invention. It will be apparent to those skilled in the art that the specific embodiments of the present invention are not limited to the details of the exemplary embodiments described above. Furthermore, without departing from the spirit or essential characteristics of the present invention, the inventive concept and design ideas of the present invention can be implemented in other specific forms, and these should be equivalently included within the protection scope disclosed in the technical solutions of the present invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of the present invention is defined by the appended claims rather than the foregoing description, and thus all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included within the present invention.

[0056] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A fully automated desert tree planting machine, comprising a walking mechanism (100), the walking mechanism (100) comprising a vehicle base (1) and a plurality of electrically driven wheels (2) mounted in pairs on the left and right sides of the vehicle base (1), a rotary motor (3) and a planetary gear (4) respectively mounted on the vehicle base (1), the rotary motor (3) being used to drive the planetary gear (4), a rotary platform (5) being rotatably mounted on the vehicle base (1), a ring gear (6) meshing with the planetary gear (4) being provided at the bottom center of the rotary platform (5), the rotary platform (5) being rotated by the rotary motor (3) driving the gear meshing transmission, characterized in that: Two transverse slide rails (8) are provided on the rotary base (5). A movable base (9) is slidably provided on the two transverse slide rails (8) through the track groove (10). Base side plates (7) are provided on the left and right sides of the rotary base (5). A drilling mechanism (400) is provided between the two base side plates (7) located at the front end of the rotary base (5). The drilling mechanism (400) includes a slide rail frame (15) and a movable base plate (21) slidably provided on the slide rail frame (15). An L-shaped plate (24) is provided on the movable base plate (21). A hollow shaft motor (25) is provided, and a hollow drill rod (26) is provided on the output shaft of the hollow shaft motor (25) through a coupling. Multiple closing blocks (27) are rotatably provided inside the lower end of the hollow drill rod (26). The multiple closing blocks (27) restrict and close the channel of the hollow drill rod (26) by contacting the sand and soil in the downward drilling hole of the hollow drill rod (26). Conversely, when the hollow drill rod (26) rotates upward, the channel of the hollow drill rod (26) is opened by the gravity of the seedling, so that the seedling can quickly enter the drill hole and complete the drilling and planting. A seedling storage mechanism (200) and a recycling mechanism (300) are respectively provided on the two base side plates (7). The seedling storage mechanism (200) is used to store and push multiple rows of iron seedling sleeves (28). A sealing plate (29) is rotatably provided at the bottom of each iron seedling sleeve (28), and seedlings are stored in the iron seedling sleeves (28). The recycling mechanism (300) is used to recycle the iron seedling sleeves (28) after planting. A magnetic roller seedling feeding mechanism (500) is provided on the movable base (9). The magnetic roller seedling feeding mechanism (500) includes two gear rollers (30) and a chain (31) meshing with them. Multiple magnetic blocks (40) are equidistantly arranged on the chain (31) for adsorbing iron seedling sleeves (28). The two gear rollers (30) are respectively mounted on the movable base (9) through two shafts (32). A drive motor (38) is provided on the movable base (9). The drive motor (38) drives the two gear rollers through gear meshing transmission. 30) Rotation drives the chain (31) to rotate. The chain (31) is attracted and taken from the seedling storage mechanism (200) by the magnetic block (40) and transported to the top of the hollow shaft motor (25). The running iron seedling sleeve (28) opens the sealing plate (29) at the bottom of the iron seedling sleeve (28) by the limiting block (42). The seedling enters the drill hole through the hollow shaft motor (25) and the hollow drill rod (26) in sequence. The hollow drill rod (26) opens multiple closed blocks (27) due to the impact of the seedling's weight. The limiting block (42) is installed on the movable base (9). The recycling mechanism (300) includes a recycling box (59). A recycling port (60) and a reset block (61) are provided in one corner of the recycling box (59). The reset block (61) is located at the recycling port (60) and distributed on the outside of the recycling box (59). The planted iron seedling sleeve (28) enters the recycling box (59) from the recycling port (60) under the adsorption and transportation of the chain (31). At the same time, the sealing plate (29) is reset under the obstruction of the reset block (61). The iron seedling sleeve (28) that continues to be transported backward encounters the rear wall of the recycling box (59) and separates from the magnetic block (40), thus realizing recycling.

2. The fully automated desert tree planting machine according to claim 1, characterized in that: A first mounting plate (16) and a second mounting plate (17) are respectively provided at the upper and lower ends of the slide rail frame (15), and a second servo motor (18) and a bearing base (19) are respectively installed on the two. The output shaft of the second servo motor (18) is connected to one end of the second lead screw (20) through a coupling. The other end of the second lead screw (20) is rotatably set in the bearing base (19). A second lead screw bearing (23) is provided on the movable base plate (21) through a bearing bracket (22). The second lead screw (20) is set in the second lead screw bearing (23).

3. The fully automated desert tree planting machine according to claim 2, characterized in that: The electric drive wheel (2) includes a wheel assembly plate (201), two connecting arms (202), a DC motor (204), and a wheel (205) connected to the power output shaft of the DC motor (204). The wheel assembly plate (201) is hinged to the vehicle body base (1) through the two connecting arms (202). A support and shock-absorbing arm (203) is hinged between the wheel assembly plate (201) and the vehicle body base (1) to ensure that the posture of the wheel (205) is relatively stable and to play a role in shock absorption.

4. The fully automated desert tree planting machine according to claim 3, characterized in that: A partition (43) is provided on two shaft columns (32), a water tank (44) is provided on the partition (43), a water pump (45) is provided at the outlet of the water tank (44), the outlet of the water pump (45) is connected to an annular spray pipe (47) through a water pipe (46), the annular spray pipe (47) is installed on an L-shaped plate (24), and the hollow drill rod (26) is located in the annular spray pipe (47).

5. A fully automated desert tree planting machine according to claim 4, characterized in that: The seedling storage mechanism (200) includes a seedling storage box (49) and support bases (50) respectively provided on both sides of the seedling storage box (49). Two sleeve columns (51) are provided on each support base (50), and a slide rod (52) is inserted into each sleeve column (51). Mounting blocks (53) are respectively provided at the ends of the two slide rods (52). A third servo motor (54) is provided on one of the mounting blocks (53) located on the same side of the seedling storage box (49). The output shaft of the servo motor (54) is connected to one end of the third lead screw (55) via a coupling. The other end of the third lead screw (55) is rotatably mounted on another mounting block (53). A transverse connecting rod (57) is provided between the two third lead screws (55) via two third lead screw bearings (56). Multiple push plates (58) are equidistantly arranged on the transverse connecting rod (57) to push out the iron seedling sleeve (28) in the seedling storage box (49) and attract it to the magnetic block (40).

6. The fully automated desert tree planting machine according to claim 5, characterized in that: Multiple baffles (62) are provided inside the recycling box (59). The multiple baffles (62) isolate the interior of the recycling box (59) into multiple recycling spaces, which facilitates the automatic sorting and collection of the iron seedling sleeves (28) during the later recycling process. A slide (63) is provided on the inner side of the bottom wall of the recycling box (59). The slide (63) is used to make the recycled iron seedling sleeves (28) lie flat when separated from the magnetic block (40), thereby reducing the workload of later sorting.

7. A fully automated desert tree planting machine according to claim 6, characterized in that: T-shaped slots (64) are provided on the seedling storage box (49), the two support bases (50) and the recycling box (59). T-shaped strips (65) opposite to the T-shaped slots (64) are provided on the two base side plates (7). The seedling storage mechanism (200) and the recycling mechanism (300) are connected to the base side plates (7) by the T-shaped strips (65) embedded in the T-shaped slots (64).

8. A fully automated desert tree planting machine according to claim 7, characterized in that: Driven gears (33) are respectively provided at the bottom of the two gear rollers (30). A transmission gear (34) meshing with the driven gears (33) is provided on the movable base (9). A transmission shaft (36) is provided on the movable base (9) through a second bearing support (41). A worm gear (35) meshing with the transmission gear (34) is provided at one end of the transmission shaft (36). A column gear (37) is provided at the other end of the transmission shaft (36). A drive gear (39) meshing with the column gear (37) is provided on the output shaft of the drive motor (38).

9. A fully automated desert tree planting machine according to claim 8, characterized in that: Two first servo motors (11) and two first bearing supports (12) are provided on the rotary base (5). The output shaft of each first servo motor (11) is connected to one end of the first lead screw (13) through a coupling. The other end of the first lead screw (13) is rotatably set in the first bearing support (12). A first lead screw bearing (14) corresponding to the first lead screw (13) is provided at the bottom of the movable base (9). The movable base (9) moves back and forth by synchronously driving the first lead screw (13) through the first servo motor (11). A sandproof cover (48) is provided on the movable base (9) to protect the drive motor (38) and the two second servo motors (18).

10. A power control system for a fully automated desert tree planting machine, comprising a power supply and a controller, characterized in that: The fully automated desert tree planting machine, as described in claim 9, is equipped with a power supply and controller mounted on a vehicle base (1). A DC motor (204), a rotary motor (3), a first servo motor (11), a second servo motor (18), a hollow shaft motor (25), a water pump (45), and a third servo motor (54) are connected to the signal output terminal of the controller. By executing various action commands, the machine can perform automated operations such as walking, rotating, drilling, pushing iron seedling sleeves (28), transporting iron seedling sleeves (28), rotating hollow drill rods (26), planting seedlings, spraying, and recycling iron seedling sleeves (28). The power supply provides power to the controller, the water pump (45), and various motors.

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