Non-drilling tree planting method

Abstract

The present invention discloses a non-hole-drilling forest planting method, which relates to the technical field of forest planting, and comprises the following steps: S1, preparation work, which comprises: preparing raw materials required for substrate and fertilizer and respectively preparing them according to pre-selected proportions; using soluble, degradable or non-enclosed fertilizer boxes to hold fertilizers; preparing degradable substrate boxes for holding substrates; S2, assembling substrates, which comprises: putting fertilizer boxes into substrate boxes with a preset substrate assembly device, and each substrate box has at least one fertilizer box; assembling substrates into substrate boxes with a preset substrate assembly device; S3, planting seedlings, which comprises: planting seedlings into the substrate boxes that complete the S2 step; transporting the substrate boxes with built-in seedlings and placing them at pre-selected planting points. The present application has the effect of reducing labor consumption.

Description

Technical Field

[0001] The present application relates to the technical field of tree planting, and in particular to a tree planting method without hole drilling. Background Art

[0002] When carrying out forest biological restoration and other work, relevant units and personnel need to replant various trees on the mountain. The traditional planting method is to first select an environment suitable for the survival of seedlings, and then dig pits suitable for planting seedlings for planting. During the process, workers need to carry seedlings and dig pits at designated locations. The pits need to be dug manually with shovels or using digging machines. After the seedlings are transported, the pits need to be dug, which consumes a lot of manpower and labor. Therefore, this application proposes a new technical solution. Summary of the invention

[0003] In order to facilitate tree planting work, the present application provides a tree planting method without hole drilling.

[0004] The present application provides a method for planting trees without hole drilling, which adopts the following technical scheme:

[0005] A non-drilling tree planting method comprises the following steps:

[0006] S1. Preparatory work, including:

[0007] Prepare the raw materials required for the substrate and fertilizer and mix them in pre-selected proportions;

[0008] Fertilizers are stored in soluble, degradable or non-enclosed fertilizer containers;

[0009] Prepare a degradable matrix box for containing the matrix;

[0010] S2. an assembly matrix comprising:

[0011] Putting the fertilizer box into the matrix box by using the preset matrix assembly device and each matrix box has at least one fertilizer box;

[0012] Assembling the substrate into the substrate box using a preset substrate assembly device;

[0013] S3, planting seedlings, which includes:

[0014] Plant the seedlings into the substrate box that has completed step S2;

[0015] The substrate boxes with seedlings are transported and placed at the pre-selected planting sites.

[0016] Optionally, the substrate assembly device includes a workbench, a push plate, two vertical plates, a quantitative feeder, a sprinkler pipe and a gripping mechanism;

[0017] The workbench is hollow inside and open at the top, the working area is located directly above the top opening of the workbench, the top plate of the workbench is laterally slidably connected to a movable plate for closing the top opening and is installed with a screw slide for driving the movable plate to move;

[0018] The two vertical plates are vertically fixed to the upper part of the workbench and are respectively located on both sides of the top opening, the push plate is located on the side of the top opening of the workbench and between the two vertical plates, and the workbench is provided with a first cylinder for driving the push plate to move along the interval length between the two vertical plates;

[0019] A linear motor is installed on the upper part of the two vertical plates respectively, and the quantitative feeder and the watering pipe are installed on the sliders of the two linear motors respectively. The initial positions of the quantitative feeder and the watering pipe are respectively located at the two ends of the moving direction of the slider of the linear motor. The watering pipe is externally connected to a water pump, and a plurality of watering holes are opened along the length direction of the pipe wall of the watering pipe facing the workbench. A discharging trough is provided at the discharging end of the quantitative feeder, and the end of the discharging trough faces between the two vertical plates;

[0020] The gripping mechanism is installed on the workbench and is used for gripping and moving the fertilizer boxes placed on the workbench, and is used for gripping and moving the matrix boxes stacked below the top opening of the workbench, and the side opening of the workbench.

[0021] Optionally, a lifting platform is provided in the workbench, the matrix boxes are in a structure of being larger at the top and smaller at the bottom and are plugged and stacked with each other, and the stacked matrix boxes are placed on the lifting platform;

[0022] A guide enclosure is fixed on the table top of the lifting platform, the guide enclosure surrounds the lower part of the matrix box and has an opening on one side, and the opening section of the guide enclosure is bent outward to form an open structure;

[0023] Two laterally distributed clamping plates are arranged below the top plate of the workbench, and elastic pads are arranged on opposite sides of the two clamping plates. A first electric cylinder for driving the two clamping plates to close or separate from each other is also arranged in the workbench, and the upper side walls of the stacked multiple matrix boxes except the top one can be clamped by the two clamping plates.

[0024] Optionally, the gripping mechanism comprises a rotating shaft, a telescopic rod and a gripping plate, the rotating shaft is vertically arranged on the outside of the vertical plate and is rotationally connected to the workbench, and a reduction motor for driving the rotating shaft to rotate is installed in the workbench;

[0025] A transverse crossbar is fixed to the upper part of the rotating shaft, the telescopic rod is vertically connected to the end of the crossbar, the telescopic portion of the telescopic rod faces downward and the grab plate is connected to the telescopic portion of the telescopic rod;

[0026] A plurality of connecting blocks are arranged longitudinally in the gripping plate, the connecting blocks and the gripping plate are connected in a sliding manner and the sliding direction is the thickness direction of the gripping plate, a plurality of vents are provided on the connecting blocks, a suction cup connected to the vents is installed on the outer side of the connecting blocks, the other end of the vents is connected to the suction end of the air pumping unit, and a third electric cylinder is provided on the gripping plate for driving the three connecting blocks to move respectively;

[0027] The workbench is also provided with a translation plate, which is located on the side of the position where the fertilizer box is grasped, and the workbench is installed with a second electric cylinder for driving the translation plate to push the fertilizer box into place.

[0028] Optionally, it also includes a controller and a sensing module, the sensing module includes a pressure sensor and a photoelectric sensor electrically connected to the controller respectively, the pressure sensor is installed on the movable plate and is used to sense the pressure information of the movable plate, the detection end of the photoelectric sensor is facing between the two vertical plates, and the controller controls the movement of the screw slide according to the feedback information of the pressure sensor and the photoelectric sensor.

[0029] Optionally, the gripping mechanism is electrically connected to a controller, and the controller is configured as follows:

[0030] If a signal is received from the screw slide after the opening action is completed, an action instruction 1 is sent to the telescopic rod; wherein the action instruction 1 is used to make the telescopic rod drive the grab plate to sink into the matrix box in the workbench;

[0031] If a signal is received after the telescopic rod completes action instruction one, action instruction two is sent to the third electric cylinder; wherein, the action instruction two is used to make the third electric cylinder drive multiple connecting blocks to move separately and the movement amount of the multiple connecting blocks decreases from top to bottom.

[0032] Optionally, one side wall of the fertilizer box includes two side panels distributed up and down, and the upper side panel is overlapped with the upper inner side of the other side panel; an inner wall of the matrix box is used to be close to the fertilizer box and a protrusion is fixed on the inner wall, and the controller is configured as follows:

[0033] If a feedback signal is received when the gripping mechanism completes the fertilizer box gripping action and lowers the fertilizer box to the bottom of the matrix box, an action instruction three is sent to the third electric cylinder; wherein, the action instruction three is used to enable the third electric cylinder to drive multiple connecting blocks to move separately and the movement amount is d1, and d1 is the distance value for the protrusion to push open the upper side panel of the fertilizer box.

[0034] Optionally, the discharging end of the quantitative feeder is provided with a discharging trough and a driving unit for driving the discharging trough to rotate, one end of the discharging trough is tilted downward and the other end is rotatably connected to the body of the quantitative feeder by a rotating shaft, the discharging trough rotates vertically, and the controller is electrically connected to the driving unit and is configured as follows;

[0035] If a signal is received that the gripping mechanism has returned to its initial position and the fertilizer box has been assembled, a preset filling control process is executed; the filling control process includes:

[0036] S21, sending a fourth action instruction to the linear motor of the quantitative feeder installed on the slider; wherein the fourth action instruction is used to make the linear motor drive the quantitative feeder to move to a preset final position;

[0037] S22, if a signal is received after the linear motor executes the action instruction four, a reset instruction is output to the corresponding linear motor, and a discharge angle adjustment instruction is sent to the drive unit; wherein the reset instruction is used to reset the linear motor, and the discharge angle adjustment instruction is used to drive the drive unit to drive the discharge chute to adjust the angle a, where a is a preset value;

[0038] S23, if a signal fed back after the linear motor of the slider mounted quantitative feeder executes a reset command is received, a reciprocating watering action command is sent to the linear motor of the slider mounted watering pipe;

[0039] Steps S21-S23 are executed in a loop n times, where n≥2.

[0040] Optionally, the controller is electrically connected to the quantitative feeder and is configured as follows:

[0041] Define the middle section of the moving path of the linear motor of the slider equipped with the quantitative feeder;

[0042] If the current position parameter of the linear motor of the quantitative feeder installed on the slider meets the middle section of the moving path, the quantitative feeder is controlled to stop discharging.

[0043] Optionally, the fertilizer box is in the shape of a rectangular parallelepiped, an inner wall of the matrix box is provided with a panel, the fertilizer box in the matrix box is located inside the panel, the upper inner edge of the panel is chamfered and the side of the panel is open; the bottom of the matrix box is opened and the orifice plate is fixed with an easy-tear line in the hole, and the thickness of the orifice plate is less than the thickness of the bottom plate of the matrix box.

[0044] In summary, the present application includes the following beneficial technical effects: using this method to plant seedlings eliminates the need for workers to go to the mountains to dig holes for planting, thus facilitating tree planting work, because the matrix box uses degradable materials that are more environmentally friendly. As the seedlings gradually grow, the matrix box also gradually degrades. During the process, the roots of the seedlings can directly spread into the soil, take root and continue to grow. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a flow chart of this application;

[0046] Figure 2 It is a schematic structural diagram of the matrix box of the present application;

[0047] Figure 3 is a schematic diagram of the overall structure of the matrix assembly device in the present application;

[0048] Figure 4 yes Figure 3 The local structure of Figure 1 ;

[0049] Figure 5 yes Figure 3 The local structure of Figure 2 ;

[0050] Figure 6 It is a structural schematic diagram of the grab plate part of the present application;

[0051] Figure 7 It is a control structure diagram of this application.

[0052] Explanation of the accompanying drawings: 1. workbench; 11. matrix box; 111. enclosure; 112. protrusion; 12. fertilizer box; 13. movable plate; 131. screw slide; 14. push plate; 141. first cylinder; 15. vertical plate; 151. linear motor; 152. support block; 16. quantitative feeder; 161. discharge chute; 162. drive unit; 17. sprinkler pipe; 18. lifting platform; 181. guide enclosure; 19. clamping plate; 191. first electric cylinder; 2. gripping mechanism; 21. rotating shaft; 211. cross bar; 22. telescopic rod; 221. fixed rod; 222. lifting rod; 223. second cylinder; 224. reduction motor; 23. gripping plate; 231. suction cup; 232. third electric cylinder; 233. connecting block; 24. translation plate; 241. second electric cylinder. DETAILED DESCRIPTION

[0053] The following is combined with Figure 1-7 This application is described in further detail.

[0054] Reference Figure 1 and Figure 2 The present application embodiment discloses a method for planting trees without hole drilling, comprising the following steps:

[0055] S1. Preparatory work, including:

[0056] Prepare the raw materials required for the substrate and fertilizer and mix them according to the pre-selected proportions.

[0057] The substrate is prepared according to the specific needs of the seedlings, such as peat, vermiculite, slag, and perlite as raw materials, prepared in a ratio of 2:2:5:1; the fertilizer is also prepared according to the specific needs of the seedlings, and can be organic fertilizers rich in nitrogen, phosphorus or potassium, such as cow and sheep manure, dried chicken manure, and composted manure with soil as raw materials. After the preparation is completed, the fertilizer is packed in a box and sealed. The fertilizer box 12 (see Figure 5 ) adopts a soluble, degradable or non-enclosed structure; the soluble one is made of water-soluble paper, and the non-enclosed one is explained in other embodiments later, and the degradable one is similar to the matrix box 11.

[0058] A degradable matrix box 11 is prepared for containing the matrix. The material of the matrix box 11 can be processed with corn starch and plant fiber as main components.

[0059] S2, an assembly matrix comprising:

[0060] The fertilizer box 12 is placed into the matrix box 11 by a preset matrix assembly device, and each matrix box 11 has at least one fertilizer box 12 to meet the needs of seedling cultivation;

[0061] The substrate is assembled into the substrate box 11 by using a preset substrate assembly device.

[0062] S3, planting seedlings, which includes:

[0063] Planting the seedlings into the matrix box 11 after completing step S2;

[0064] The matrix box 11 with the seedlings built in is transported and placed at a pre-selected planting point.

[0065] Example: The matrix box 11 assembled with the matrix is ​​moved to an open area by a conveyor belt or workers, and then the workers plant the seedlings into the matrix box 11. Finally, the matrix box 11 together with the planted seedlings is transported to the mountain and placed at a pre-planting point.

[0066] Planting seedlings using this method does not require workers to go to the mountains to dig holes for planting, which facilitates forest planting work. Because the matrix box 11 uses degradable materials, it is more environmentally friendly. As the seedlings gradually grow, the matrix box 11 also gradually degrades. During the process, the roots of the seedlings can directly spread into the soil, take root and continue to grow.

[0067] Reference Figure 2 In the present method, an inner wall of the matrix box 11 is formed with a panel 111, and the space enclosed by the panel 111 and the inner wall of the matrix box 11 is used as the position for the fertilizer box 12 to be lowered into the matrix box 11. The panel 111 can help provide certain support for the fertilizer box 12 to prevent the fertilizer box 12 from lying down when the matrix is ​​loaded into the matrix box 11 and affecting the subsequent planting of seedlings in the center of the inner cavity of the matrix box 11.

[0068] The fertilizer box 12 is in the shape of a rectangular parallelepiped; the side of the enclosure 111 is open, and this arrangement is to prevent some nutrients that are dissolved and released later from being confined in the enclosure 111. The upper inner edge of the enclosure 111 is chamfered to make it easier for the fertilizer box 12 to enter.

[0069] It should be noted that one side wall of the fertilizer box 12 includes two side panels distributed up and down, and the side panel located at the top is overlapped with the upper inner side of the other side panel, so as not to affect the loading of the fertilizer box 12. At the same time, a protrusion 112 is fixed on the inner wall of the matrix box 11 used to be close to the fertilizer box 12, and the protrusion 112 is triangular in side view; the fertilizer box 12 can be moved 1-2 cm forward, backward, left and right in the enclosure 111.

[0070] The fertilizer box 12 lowered to the inner side of the enclosure 111 does not stick to the inner wall of the matrix box 11 at first, but sticks to the wall after the fertilizer box 12 touches the bottom, that is, moves toward the protrusion 112. At this time, the protrusion 112 pushes open the upper side plate of the fertilizer box 12.

[0071] The advantage of the above arrangement is that the fertilizer box 12 does not release the fertilizer after being degraded, but can slowly release the fertilizer through the gaps created by the side panels being pushed open, making the cultivation of seedlings more stable and not affected too much by the failure of the fertilizer box 12 to degrade in time.

[0072] Reference Figure 2 The bottom of the matrix box 11 is opened, and the orifice plate is fixed in the hole with an easy-tear line structure, and the thickness of the orifice plate is less than the thickness of the bottom plate of the matrix box 11.

[0073] The above arrangement allows the staff to tilt the matrix box 11 on the mountain and poke the orifice plate more easily when necessary, so that the matrix in the matrix box 11 contacts the mountain, and the seedling root system is also more likely to spread out. The orifice plate can also be replaced by a degradable film, such as: a layer of film is laid on the bottom of the matrix box 11, and the film is a degradable material. When the matrix box 11 is loaded, there is a film covering to reduce the leakage of the matrix in the matrix box 11, and when the seedling gradually spreads its roots, the root of the seedling can easily penetrate the film and then pass through the through hole at the bottom of the matrix box 11 to take root underground.

[0074] This embodiment also discloses a substrate assembly device.

[0075] Reference Figure 3 and Figure 4 The substrate assembly device comprises a workbench 1, which is hollow inside and has an opening at the top. The upper edge of the opening is obliquely arranged, and one side close to the edge of the workbench 1 is flattened to facilitate the substrate box 11 to be pushed away from the table after assembly is completed. The upper part of the opening at the top is the working area of ​​the workbench 1. A movable plate 13 for shielding the opening at the top is slidably connected to the inner side of the top plate of the workbench 1.

[0076] Reference Figure 5 A screw slide 131 is installed in the workbench 1. The screw slide 131 is attached to the lower surface of the top of the workbench 1. The slider of the screw slide 131 is fixedly connected to the movable plate 13.

[0077] Be positioned at the working area directly below in the workbench 1 and be stacked with empty matrix box 11, the top opening area of ​​workbench 1 is greater than the area of ​​matrix box 11 upper openings.In order to stack more matrix boxes 11 in the workbench 1, also in order to make empty matrix boxes 11 easier to store, matrix box 11 is set to be upper large and lower small structure and mutually plug and stack, and namely matrix box 11 is frustum structure.Workbench 1 side opening, so that the matrix box 11 after the stacking is sent in the workbench 1.

[0078] Reference Figure 4 and Figure 5 Two vertical plates 15 are vertically fixed on the table top of the workbench 1, and the two vertical plates 15 are symmetrically distributed on both sides of the top opening of the workbench 1.

[0079] The substrate assembly device also includes a push plate 14, which is vertically located between two vertical plates 15, and is used to push the substrate box 11 away from the table surface of the workbench 1 without being interfered by the vertical plates 15. A first cylinder 141 is installed on the workbench 1, and the first cylinder 141 is located on the side of the push plate 14 away from the working area and its cylinder body is fixed, and the piston rod end is fixed to the push plate 14.

[0080] Reference Figure 5 Two linear motors 151 are respectively installed on the top of the two vertical plates 15 by bolts, and both ends of the linear motors 151 extend out of the vertical plates 15. The sliders of the two linear motors 151 are respectively installed with quantitative feeders 16 and sprinkler pipes 17, and the quantitative feeders 16 and sprinkler pipes 17 are respectively located at the two ends of the sliding path of the slider, that is, the two are staggered to avoid interference.

[0081] A watering hole is provided along the length direction of the watering pipe 17 on one side facing the workbench 1. The watering pipe 17 is externally connected to a water pump (not shown in the figure) to spray water appropriately during the process of assembling the matrix. The quantitative feeder 16 can be a feeding device such as a screw quantitative feeder. The vertical plate 15 equipped with the quantitative feeder 16 is fixedly connected to a support block 152 on the side away from the working area. The support block 152 is in a stepped shape. It can be climbed by workers while supporting the vertical plate 15 to feed the quantitative feeder 16. In order to stably support the quantitative feeder 16, a rod-shaped slide can be fixed on the support block 152 with a bracket, and the slider of the slide is fixed on the body of the quantitative feeder 16 for auxiliary support.

[0082] The substrate assembly device further comprises a gripping mechanism 2 , which is mounted on the workbench 1 and is used to grip and move the fertilizer box 12 placed on the workbench 1 , and is used to grip and move the substrate box 11 stacked below the top opening of the workbench 1 .

[0083] According to the above arrangement, the fertilizer box 12 can be placed on the table top of the workbench 1; when in use, the gripping mechanism 2 first grabs a matrix box 11 from under the top plate of the workbench 1 and moves it to the working area, and then the movable plate 13 closes the top opening of the workbench 1, then the gripping mechanism 2 releases the matrix box 11 to grab the fertilizer box 12 and put the fertilizer box 12 into the matrix box 11, and then the quantitative feeder 16 feeds, and the sprinkler pipe 17 sprinkles water. After assembling the matrix, the first cylinder 141 extends to push the matrix box 11 from the workbench 1 with the push plate 14. At this time, the matrix box 11 can be received by a conveyor belt or a staff member with a cart, etc., because there is no need to manually assemble the matrix in the above process, the labor of the staff is less.

[0084] In one embodiment of the present device, reference Figure 5 A lifting platform 18 is provided below the workbench 1. The lifting platform 18 is located directly below the top opening of the workbench 1. The lifting platform 18 can be a cross-scissor lift in this embodiment.

[0085] A guide enclosure 181 is fixed on the table of the lifting platform 18, and the guide enclosure 181 surrounds the lower part of the matrix box 11 and is open on one side, and the opening section of the guide enclosure 181 is bent outward to form an open structure. The setting of the guide enclosure 181 is to standardize the position of the matrix box 11, so that it cannot be smoothly pulled up from the top opening of the workbench 1 when it is grabbed; the open structure of the guide enclosure 181 is to allow the matrix box 11 to be placed in the guide enclosure 181 more easily.

[0086] Because the matrix boxes 11 are stored in a plug-in stacked form, when the gripping mechanism 2 grabs the matrix box 11, the matrix box 11 below may be accidentally brought up together. Therefore, the device also has the following configuration:

[0087] Reference Figure 5 Two horizontally distributed clamping plates 19 are arranged under the top plate of the workbench 1. The two clamping plates 19 are glued with elastic pads on the opposite sides. The elastic pads can be sponges. A first electric cylinder 191 is fixed on the table of the lifting platform 18 outside the guide enclosure 181 with a vertical support. The first electric cylinder 191 is composed of two clamping plates 19 fixed with piston rods. The first electric cylinder 191 is horizontal and can drive the two clamping plates 19 to close or separate.

[0088] The upper side walls of the stacked plurality of matrix boxes 11 except the top one can be clamped by two clamping plates 19 to prevent the other matrix boxes 11 from being brought up when one matrix box 11 is grabbed.

[0089] When it is necessary to grab the matrix box 11, the lifting platform 18 raises the matrix box 11 to a certain height. Each time a matrix box 11 is grabbed, the lifting platform 18 is raised a little upward, and each time the matrix box 11 is to be grabbed, the first electric cylinder 191 is driven to drive the clamping plate 19 to move, so that several matrix boxes 11 except the top can be fixed, and the situation that many matrix boxes 11 are grabbed together when grabbing the matrix box 11 is reduced; at the same time, because the position of the matrix box 11 is continuously raised by the lifting platform 18, the matrix box 11 can be always kept at a certain height for easy grabbing.

[0090] Reference Figure 3 and Figure 4 The gripping mechanism 2 includes a rotating shaft 21, a telescopic rod 22 and a gripping plate 23, wherein the rotating shaft 21 is vertically set up and the lower end is formed with a rotating shaft rotatably connected to the top plate of the workbench 1, and a reduction motor 224 is installed on the inner side of the top plate of the workbench 1, and the output shaft of the reduction motor 224 is fixed to the rotating shaft to drive the rotating shaft 21 to rotate.

[0091] A transverse cross bar 211 is fixed to the upper part of the rotating shaft 21; the telescopic rod 22 includes a fixed rod 221 and a lifting rod 222, the fixed rod 221 is hollow inside and the lifting rod 222 is inserted into the fixed rod 221, the fixed rod 221 is vertically fixed to one end of the cross bar 211 away from the rotating shaft 21, and a second cylinder 223 is installed on the top of the fixed rod 221, and the piston rod of the second cylinder 223 is inserted into the fixed rod 221 and fixedly connected to the end of the lifting rod 222.

[0092] Reference Figure 4 and Figure 6 The bottom end of the lifting rod 222 is fixed with a grab plate 23, which is concave to form multiple grooves, and the grooves are distributed vertically. The grab plate 23 is laterally slidably connected with multiple connecting blocks 233, and one connecting block 233 is placed in one groove. The sliding direction of the connecting block 233 is parallel to the thickness direction of the grab plate 23. This embodiment takes three connecting blocks 233 as an example.

[0093] The three connecting blocks 233 are all provided with a plurality of ventilation holes, and a plurality of suction cups 231 are also installed on the connecting blocks 233. The positions of the suction cups 231 and the ventilation holes correspond to each other, and the bottom ends of the suction cups 231 have holes therein and are connected to the ventilation holes. The side of the connecting block 233 facing away from the suction cups 231 is externally connected to an air pumping unit through a pipeline, and the air suction end of the air pumping unit is connected to the ventilation holes. The air pumping unit may be a reversible air pump. A third electric cylinder 232 is fixed on a plate surface of the grab plate 23 away from the suction cups 231. The number of the third electric cylinders 232 is the same as the number of the connecting blocks 233. The piston rod end of the third electric cylinder 232 is inserted into the groove to fix the connecting block 233.

[0094] When grabbing the fertilizer box 12, the multi-layer suction cups 231 are located on the same vertical plane; when grabbing the matrix box 11, since the side wall of the matrix box 11 is inclined, the position of the suction cup 231 can be changed to correspond to the inclination of the side wall of the matrix box 11, thereby slowing down the angular deviation generated when grabbing the matrix box 11 and moving upward, which is conducive to more smoothly grabbing the matrix box 11 onto the workbench 1.

[0095] Reference Figure 5 Because of the arrangement of the above-mentioned gripping mechanism 2, if the fertilizer boxes 12 are stacked in a row and distributed on the table surface of the workbench 1, the gripping mechanism 2 can actually only grip the fertilizer boxes 12 that are aligned with the vertical planes where the outer edges of the suction cups 231 are flush after the rotating shaft 21 rotates (90°), otherwise the outer edges of the suction cups 231 on the gripping mechanism 2 will be skewed relative to the fertilizer boxes 12, resulting in failure to grip smoothly. For this reason, a translation plate 24 and a second electric cylinder 241 are also installed on the workbench 1. The translation plate 24 is on the side of the fertilizer box 12 that can be gripped, and the second electric cylinder 241 is located on the side of the translation plate 24 that is away from the fertilizer box 12, and the piston rod of the second electric cylinder 241 is fixed to the translation plate 24.

[0096] According to the above arrangement, more fertilizer boxes 12 can be stacked on the surface of the workbench 1. After that, when the grab plate 23 grabs the fertilizer boxes 12 stacked in the first row, the second electric cylinder 241 can be controlled to drive the translation plate 24 to push the remaining fertilizer boxes 12 forward, so that the grab plate 23 can grab the fertilizer boxes 12 in the second row at the original position. On the one hand, it makes it more convenient to load the fertilizer boxes 12, and on the other hand, it makes the grabbing of the fertilizer boxes 12 more stable.

[0097] Reference Figure 7 In another embodiment of the present device, it further includes a controller and a sensing module, wherein the sensing module includes a pressure sensor and a photoelectric sensor electrically connected to the controller respectively. The pressure sensor can be a thin film pressure sensor and embedded in the movable plate 13 to sense the pressure information of the movable plate 13; the photoelectric sensor can be embedded in the vertical plate 15, and the detection end of the photoelectric sensor faces between the two vertical plates 15 to detect whether there is a matrix box 11 in the working area.

[0098] On the basis of the above, the controller is electrically connected to the screw slide 131 and is used to control the movement of the screw slide 131 according to the feedback of the pressure sensor and the photoelectric sensor.

[0099] Example: When the feedback from the pressure sensor is less than the preset pressure threshold, it indicates that the matrix box 11 is not prepared. At this time, the controller controls the screw slide 131 to drive the movable plate 13 to open the top opening of the workbench 1; when the feedback from the photoelectric sensor indicates that there is a matrix box 11 in the working area, the controller controls the screw slide 131 to drive the movable plate 13 to close the top opening of the workbench 1.

[0100] Furthermore, the gripping mechanism 2 is also electrically connected to the controller. In addition to allowing the gripping plate 23 to automatically move to a suitable position through program settings, more importantly, the controller is configured as follows:

[0101] If a signal is received from the screw slide 131 after the opening action is completed, an action instruction 1 is sent to the telescopic rod 22; wherein the action instruction 1 is used to make the telescopic rod 22 drive the gripping plate 23 to sink into the matrix box 11 in the workbench 1;

[0102] If a signal is received after the telescopic rod 22 completes the action instruction 1, the action instruction 2 is sent to the third electric cylinder 232; wherein the action instruction 2 is used to make the third electric cylinder 232 drive the multiple connecting blocks 233 to move respectively and the movement amount of the multiple connecting blocks 233 decreases from top to bottom.

[0103] According to the above arrangement, when the gripping plate 23 of the gripping mechanism 2 sinks into the matrix box 11 to prepare for gripping, the position of the suction cups 231 can be automatically adjusted to allow each suction cup 231 to fully contact the inner wall of the matrix box 11, making the gripping process more stable.

[0104] In another embodiment of the device, the controller is further configured to:

[0105] If a feedback signal is received when the gripping mechanism 2 completes the gripping action of the fertilizer box 12 and lowers the fertilizer box 12 to the inner bottom of the matrix box 11, an action instruction three is sent to the third electric cylinder 232; wherein, the action instruction three is used to make the third electric cylinder 232 drive multiple connecting blocks 233 to move separately and the movement amount is d1, and d1 is the distance value for the protrusion 112 to push open the upper side panel of the fertilizer box 12.

[0106] The advantages of the above setup are:

[0107] 1) With the unique design of the fertilizer box 12, when the fertilizer box 12 is loaded into the matrix box 11, a gap can be opened from the side, so that the fertilizer release is more stable;

[0108] 2) The structural design on the gripping plate 23 is multi-purpose, and makes up for the defect that the gripping mechanism 2 is only equipped with the rotating shaft 21 and the cross bar 211, but not equipped with a cross slide structure and cannot push the fertilizer box 12 horizontally, so as to ensure that the above 1) can be successfully realized.

[0109] Reference Figure 5 and Figure 7In another embodiment of the device, a discharge trough 161 is hinged on the body of the discharge port of the quantitative feeder 16, and the end of the discharge trough 161 away from the discharge port of the quantitative feeder 16 is inclined downward; a driving unit 162 is installed on the body of the quantitative feeder 16, and the driving unit 162 can be a small reduction motor, and its output shaft fixes the preset rotating shaft of the discharge trough 161 to drive the discharge trough 161 to swing up and down to adjust the discharge position.

[0110] The driving unit 162 is electrically connected to the controller, and the controller is configured to: if a feedback signal is received that the gripping mechanism 2 has returned to its initial position and the fertilizer box 12 has been assembled, a preset filling control process is executed; wherein the position of the gripping plate 23 close to the fertilizer box 12 ready to be gripped can be defined as the initial position.

[0111] The filling control process includes:

[0112] S21, sending an action instruction 4 to the linear motor 151 of the quantitative feeder 16 installed on the slide; wherein the action instruction 4 is used to make the linear motor 151 drive the quantitative feeder 16 to move to a preset final position;

[0113] S22, if a signal is received after the linear motor 151 executes the action instruction 4, a reset instruction is output to the corresponding linear motor 151, and a discharge angle adjustment instruction is sent to the drive unit 162; wherein the reset instruction is used to reset the linear motor 151, and the discharge angle adjustment instruction is used to drive the drive unit 162 to drive the discharge chute 161 to adjust the angle a, where a is a preset value, which can be 5-10°;

[0114] S23, if a signal is received from the linear motor 151 of the slider mounted quantitative feeder 16 after executing a reset command, a reciprocating watering action command is sent to the linear motor 151 of the slider mounted watering pipe 17;

[0115] Steps S21-S23 are executed in a loop n times, where n≥2.

[0116] According to the above content, after the fertilizer box 12 is assembled, the device starts to spread the matrix first, and the linear motor 151 drives the quantitative feeder 16 to move back and forth, and adjusts the angle of the discharge trough 161 each time it moves in the opposite direction of the previous time, so that the matrix can be spread more evenly; and after the quantitative feeder 16 moves back and forth once, the sprinkler pipe 17 moves back and forth once to sprinkle water to moisten the matrix; after multiple cycles, the matrix can be assembled relatively evenly, and the humidity of each height of the matrix can be relatively balanced, which is conducive to the planting and cultivation of seedlings.

[0117] In another embodiment of the present application, the controller is electrically connected to the quantitative feeder 16 and is configured as follows:

[0118] Define the middle section of the moving path of the linear motor 151 of the slider mounted with the quantitative feeder 16;

[0119] If the current position parameter of the linear motor 151 of the quantitative feeder 16 installed on the slider meets the middle section of the moving path, the quantitative feeder 16 is controlled to stop discharging materials.

[0120] The position parameter can be obtained according to the speed*working time of the linear motor 151. According to the above configuration, the middle part of the matrix box 11 will have relatively less matrix, which is conducive to transplanting the seedlings into the matrix box 11 in the next step. After all, during the transplanting process, pits need to be dug to put in the seedlings.

[0121] In summary, this application reduces the workload of workers during the tree planting process.

[0122] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for planting trees without hole drilling, characterized in that: The following steps are involved: S1. Preparatory work, including: Prepare the raw materials required for the substrate and fertilizer and mix them in pre-selected proportions; Fertilizer is contained in a soluble, degradable or non-enclosed fertilizer box (12); Preparing a degradable matrix box (11) for containing the matrix; S2. an assembly matrix comprising: Using a preset substrate assembly device, a fertilizer box (12) is placed into a substrate box (11), and each substrate box (11) contains at least one fertilizer box (12); Assembling the substrate into the substrate box (11) using a preset substrate assembly device; S3, planting seedlings, which includes: Planting the seedlings into the substrate box (11) that has completed step S2; Transporting and placing the substrate box (11) containing the seedlings to a pre-selected planting point; The matrix assembly device comprises a workbench (1), a push plate (14), two vertical plates (15), a quantitative feeder (16), a watering pipe (17) and a gripping mechanism (2); The workbench (1) is hollow inside and has an opening at the top; the working area is located directly above the opening at the top of the workbench (1); the top plate of the workbench (1) is laterally slidably connected to a movable plate (13) for closing the top opening and is provided with a screw slide (131) for driving the movable plate (13) to move; The two vertical plates (15) are vertically fixed to the upper part of the workbench (1) and are respectively located on both sides of the top opening; the push plate (14) is located on the side of the top opening of the workbench (1) and between the two vertical plates (15); and a first cylinder (141) is provided on the workbench (1) for driving the push plate (14) to move along the interval length between the two vertical plates (15); A linear motor (151) is respectively installed on the upper part of the two vertical plates (15); the quantitative feeder (16) and the watering pipe (17) are respectively installed on the sliders of the two linear motors (151); the initial positions of the quantitative feeder (16) and the watering pipe (17) are respectively located at the two ends of the moving direction of the slider of the linear motor (151); the watering pipe (17) is externally connected to a water pump; a plurality of watering holes are opened along the length direction of the pipe wall of the watering pipe (17) facing the workbench (1); a discharge trough (161) is provided at the discharge end of the quantitative feeder (16); the end of the discharge trough (161) faces between the two vertical plates (15); The gripping mechanism (2) is mounted on the workbench (1) and is used to grip and move a fertilizer box (12) placed on the workbench (1), and is used to grip and move a matrix box (11) stacked below the top opening of the workbench (1), wherein the side of the workbench (1) is open.

2. The method for planting trees without hole drilling according to claim 1, characterized in that: A lifting platform (18) is arranged inside the workbench (1); the matrix boxes (11) are in a structure of being larger at the top and smaller at the bottom and are plugged into and stacked with each other; the stacked matrix boxes (11) are placed on the lifting platform (18); A guide enclosure (181) is fixed on the tabletop of the lifting platform (18), the guide enclosure (181) surrounds the lower part of the matrix box (11) and is open on one side, and the opening section of the guide enclosure (181) is bent outwards to form an open structure; Two laterally distributed clamping plates (19) are arranged below the top plate of the workbench (1), and elastic pads are arranged on opposite sides of the two clamping plates (19). A first electric cylinder (191) for driving the two clamping plates (19) to close or separate from each other is also arranged inside the workbench (1), and the upper side walls of the stacked plurality of matrix boxes (11) except the topmost one can be clamped by the two clamping plates (19).

3. The method for planting trees without hole drilling according to claim 2, characterized in that: The gripping mechanism (2) comprises a rotating shaft (21), a telescopic rod (22) and a gripping plate (23); the rotating shaft (21) is vertically arranged outside the vertical plate (15) and is rotationally connected to the workbench (1); a reduction motor (224) is installed in the workbench (1) for driving the rotating shaft (21) to rotate; A transverse crossbar (211) is fixed to the upper portion of the rotating shaft (21), the telescopic rod (22) is vertically connected to the end of the crossbar (211), the telescopic portion of the telescopic rod (22) faces downward, and the gripping plate (23) is connected to the telescopic portion of the telescopic rod (22); A plurality of connecting blocks (233) are arranged longitudinally inside the gripping plate (23), the connecting blocks (233) and the gripping plate (23) are slidably connected and the sliding direction is the thickness direction of the gripping plate (23), a plurality of vents are provided on the connecting block (233), a suction cup (231) connected to the vents is mounted on the outer side of the connecting block (233), the other end of the vents is connected to the suction end of the suction and delivery unit, and a third electric cylinder (232) is provided on the gripping plate (23) for driving the three connecting blocks (233) to move respectively; The workbench (1) is also provided with a translation plate (24), the translation plate (24) being located to the side of the position where the fertilizer box (12) is grasped, and the workbench (1) is provided with a second electric cylinder (241) for driving the translation plate (24) to push the fertilizer box (12) into place.

4. The method for planting trees without hole drilling according to claim 3, characterized in that: It also includes a controller and a sensing module, the sensing module including a pressure sensor and a photoelectric sensor respectively electrically connected to the controller, the pressure sensor being mounted on the movable plate (13) and used to sense pressure information of the movable plate (13), the detection end of the photoelectric sensor facing between the two vertical plates (15), and the controller controlling the movement of the lead screw slide (131) according to feedback information from the pressure sensor and the photoelectric sensor.

5. The method for planting trees without hole drilling according to claim 4, characterized in that: The gripping mechanism (2) is electrically connected to a controller, and the controller is configured as follows: If a signal is received from feedback after the screw slide (131) has completed the opening action, an action instruction 1 is sent to the telescopic rod (22); wherein the action instruction 1 is used to cause the telescopic rod (22) to drive the gripping plate (23) to sink into the matrix box (11) in the workbench (1); If a signal is received that is fed back after the telescopic rod (22) completes the action instruction one, an action instruction two is sent to the third electric cylinder (232); wherein the action instruction two is used to cause the third electric cylinder (232) to drive the plurality of connecting blocks (233) to move respectively, and the movement amounts of the plurality of connecting blocks (233) decrease sequentially from top to bottom.

6. The method for planting trees without hole drilling according to claim 5, characterized in that: A side wall of the fertilizer box (12) comprises two side panels distributed up and down, the side panel located at the top overlaps the upper inner side of the other side panel; an inner wall of the matrix box (11) is used to be close to the fertilizer box (12) and a protrusion (112) is fixed on the inner wall, and the controller is configured as follows: If a feedback signal is received when the gripping mechanism (2) completes the gripping action of the fertilizer box (12) and lowers the fertilizer box (12) to the inner bottom of the matrix box (11), an action instruction three is sent to the third electric cylinder (232); wherein the action instruction three is used to cause the third electric cylinder (232) to drive the plurality of connecting blocks (233) to move respectively and the movement amount is d1, and d1 is the distance value for causing the protrusion (112) to push open the upper side plate of the fertilizer box (12).

7. The method for planting trees without hole drilling according to claim 5, characterized in that: The discharging end of the quantitative feeder (16) is provided with a discharging trough (161) and a driving unit (162) for driving the discharging trough (161) to rotate, one end of the discharging trough (161) is tilted downward and the other end is rotatably connected to the body of the quantitative feeder (16) via a rotating shaft, the discharging trough (161) rotates vertically, and the controller is electrically connected to the driving unit (162) and is configured as follows; If a feedback signal is received indicating that the gripping mechanism (2) has returned to its initial position and the fertilizer box (12) has completed assembly, a preset filling control process is executed; the filling control process includes: S21, sending a fourth action instruction to a linear motor (151) of a quantitative feeder (16) mounted on a slide; wherein the fourth action instruction is used to cause the linear motor (151) to drive the quantitative feeder (16) to move to a preset final position; S22, if a signal is received as feedback from the linear motor (151) after executing action instruction four, a reset instruction is output to the corresponding linear motor (151), and a discharge angle adjustment instruction is sent to the drive unit (162); wherein the reset instruction is used to reset the linear motor (151), and the discharge angle adjustment instruction is used to cause the drive unit (162) to drive the discharge chute (161) to adjust the angle a, where a is a preset value; S23, if a signal is received from the linear motor (151) of the slider mounted quantitative feeder (16) after executing a reset command, a reciprocating watering action command is sent to the linear motor (151) of the slider mounted watering pipe (17); Steps S21-S23 are executed in a loop n times, where n≥2.

8. The method for planting trees without hole digging according to claim 5, characterized in that: The controller is electrically connected to the quantitative feeder (16) and is configured as follows: defining a middle section of a moving path of a linear motor (151) on which a quantitative feeder (16) is mounted on a slide; If the current position parameter of the linear motor (151) of the quantitative feeder (16) installed on the slider meets the middle section of the moving path, the quantitative feeder (16) is controlled to stop discharging materials.

9. The method for planting trees without hole drilling according to claim 1, characterized in that: The fertilizer box (12) is in the shape of a rectangular parallelepiped; an inner wall of the matrix box (11) is provided with a surrounding plate (111); the fertilizer box (12) in the matrix box (11) is located inside the surrounding plate (111); the upper inner edge of the surrounding plate (111) is chamfered and the side of the surrounding plate (111) is open; the bottom of the matrix box (11) is opened and a perforated plate is fixed by an easy-tear wire in the hole; the thickness of the perforated plate is less than the thickness of the bottom plate of the matrix box (11).

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