A forestry seedling transplanting device and method

Abstract

The present invention discloses a forestry seedling transplanting device and method, and relates to the technical field of forestry planting seedling transplanting. The forestry seedling transplanting device and method include a transplanting assembly, and the transplanting assembly includes a second square frame and four digging plates, the four digging plates are respectively arranged at the four sides of the bottom of the second square frame, and each digging plate is tilted, and the top four sides of the second square frame are provided with telescopic assemblies, each of the digging plates is connected to each telescopic assembly one-to-one, and the digging plates are inclined and moved linearly through the telescopic assemblies connected thereto. The driving mechanism of the present invention enables each loosening plate on the digging plate to move back and forth linearly, and the corner plate on the loosening plate loosens the soil in contact with it, thereby reducing the fit between the soil and the digging plate, thereby reducing the friction between the digging plate and the soil, reducing the force bearing capacity of the hydraulic rod, and increasing the service life of the hydraulic rod.

Description

Technical Field

[0001] The invention relates to the technical field of forestry planting, seedling raising and transplanting, and in particular to a forestry seedling raising and transplanting device and method. Background Art

[0002] During the forestry planting process, the cultivated seedlings need to be transplanted to improve their growth quality by changing their living environment. Some larger seedlings have a larger growth space and are planted more sparsely, so special mechanical equipment is usually used for transplanting operations.

[0003] After searching, the Chinese patent with the authorization announcement number CN116267492B involves the field of gardening machinery technology, specifically a forestry seedling transplanting device. A forestry seedling transplanting device includes a connecting frame, a press table is installed inside the connecting frame in a liftable manner, the inner wall of the press table is hinged with a clamp arm a and a clamp arm b respectively, an arm adjustment push rod is hinged between the relative surfaces of the press table and the clamp arm a and the clamp arm b, a semi-arc seat is fixedly installed on the surface of the clamp arm a, a rotating arc frame is slidably connected to the inner wall of the semi-arc seat, and a driven gear ring is fixedly installed on the peripheral side of the rotating arc frame; the beneficial effect of the patent is that through the setting of the transplanting mechanism a and the transplanting mechanism b, the device can efficiently complete the transplanting operation of forestry seedlings, and when the device is operating the seedlings, on the one hand, the seedlings can be removed, and on the other hand, the transplanting hole can be opened and taken out through the morphological transformation in an integrated manner, and the above-mentioned dual functions and dual working modes are realized, thereby effectively improving the automation, functionality and practicality of the device.

[0004] The above-mentioned device uses a digging method to move the seedlings out of the soil, that is, multiple shovels are used to shovel obliquely into the ground around the seedlings at the same time until every two adjacent shovels are in contact, each shovel stops moving, and each shovel moves upward synchronously to bring the seedlings out; the shovel is inserted into the ground through a hydraulic rod. If the contact area between the shovel and the soil gradually increases, the friction between the two gradually increases. At this time, the hydraulic pressure needs to be increased to successfully insert the shovel into the ground. Therefore, the bearing capacity of the hydraulic rod increases, which will shorten the service life of the hydraulic rod. Summary of the invention

[0005] In view of the deficiencies in the prior art, on the one hand, the present invention provides a forestry seedling transplanting device, which solves the problem that a shovel is inserted into the ground through a hydraulic rod. If the contact area between the shovel and the soil gradually increases, the friction between the two gradually increases. At this time, the hydraulic pressure needs to be increased to smoothly insert the shovel into the ground. Therefore, the bearing capacity of the hydraulic rod increases, which will shorten the service life of the hydraulic rod.

[0006] On the other hand, the present invention also provides a forestry seedling raising and transplanting method.

[0007] To achieve the above purpose, on the one hand, the present invention is implemented by the following technical solutions: a forestry seedling transplanting device, including a transplanting component, the transplanting component includes a second square frame and four digging plates, the four digging plates are respectively arranged at the four sides of the bottom of the second square frame, and each digging plate is tilted, the top four sides of the second square frame are provided with telescopic components, each of the digging plates is connected to each telescopic component one-to-one, and the digging plates are tilted and linearly moved through the telescopic components connected thereto, the plate surface of the digging plate is provided with a plurality of slide grooves, and a loose plate is slidably inserted in the groove of each of the slide grooves, the plate surface of the loose plate is fixed with a plurality of angle plates tilted upward, and the top of the digging plate is provided with a driving mechanism that enables each loose plate to reciprocate and linearly move along the slide groove, and also includes:

[0008] a compacting assembly for compacting the soil;

[0009] The replacement component is used to replace the position of the compacting component and the second frame.

[0010] Furthermore, the telescopic assembly includes a guide structure, which includes multiple guide columns. A sliding sleeve is slidably provided on the outer side of each guide column, and each sliding sleeve is fixed to the second square frame. A connecting frame is fixed to the top of each digging plate, and the bottom end of each guide column in the guide structure is fixed one-to-one to each connecting frame.

[0011] Furthermore, the telescopic assembly also includes a hydraulic rod, a shell of the hydraulic rod is fixed to the second square frame, and telescopic ends of each hydraulic rod are fixed to each connecting frame in a one-to-one manner.

[0012] Furthermore, the driving mechanism includes a crankshaft, two second transmission shafts and two second fixed blocks, each connecting rod journal of the crankshaft is movably sleeved with a connecting plate, and one end of each connecting plate forms a one-to-one rotational fit with the top of each loose plate, the bottoms of the two second fixed blocks are respectively fixed on both sides of the top of the digging plate, and second rotating holes are opened on the outer sides of the two second fixed blocks, the two second transmission shafts are respectively rotatably installed in the two second rotating holes, and one end of the two second transmission shafts is coaxially fixed to the head and tail ends of the crankshaft.

[0013] Furthermore, the driving mechanism also includes a toothed plate, a gear, a first transmission shaft, a support plate, a first sprocket, a second sprocket and a chain, the support plate is fixed to one of the fixed blocks, a third rotating hole is provided on the outer side of the support plate, one end of the first transmission shaft is rotatably installed in the third rotating hole, the outer side of the first transmission shaft is coaxially fixed to the first sprocket, one end of one of the second transmission shafts is coaxially fixed to the second sprocket, and the wheel diameter of the first sprocket is larger than the wheel diameter of the second sprocket, the chain is sleeved on the first sprocket and the second sprocket, the other end of the first transmission shaft is coaxially fixed to the gear, one end of the toothed plate is fixed to the bottom of the second square frame, and the gear is meshed with the toothed plate.

[0014] Furthermore, the tamping assembly includes a first square frame, multiple sliding columns, a vibration motor and a tamping plate. Multiple sliding holes are opened on the top of the first square frame. Each sliding column is slidably inserted in each sliding hole. A limiting plate is fixed to the top of the sliding column. A return spring is sleeved on the outer side of the sliding column. Both ends of the return spring are respectively in contact with the limiting plate and the first square frame. The bottom end of each sliding column is fixed on the surface of the tamping plate. The tamping plate is in a square frame shape. The casing of the vibration motor is fixed on the tamping plate.

[0015] Furthermore, the replacement component includes a walking robot.

[0016] Furthermore, the replacement component also includes a rotating structure, which includes a rotating column, a rotating table, a worm wheel, a worm, a first servo motor and two first fixed blocks, one end of the rotating column is rotatably installed on the top of the walking robot, the worm wheel is coaxially fixed to the rotating column, the bottoms of the two first fixed blocks are fixed to the top of the walking robot, a first rotating hole is opened on the outer side of the first fixed block, the two ends of the worm are respectively rotatably installed in the first rotating holes, the worm is meshed with the worm wheel, the casing of the first servo motor is fixed on the walking robot, the output shaft of the first servo motor is coaxially fixed to the worm, and the other end of the rotating column is fixed to the bottom of the rotating table.

[0017] Furthermore, the replacement assembly also includes a No. 1 lifting assembly and a No. 2 lifting assembly of the same specification as the No. 1 lifting assembly, and the No. 1 lifting assembly and the No. 2 lifting assembly both include a gantry, a threaded rod, a movable plate, a second servo motor and a group of guide rods, the bottom ends of the two gantries are respectively fixed on both sides of the top of the rotating table, the two ends of the threaded rod are respectively rotatably installed on the top of the gantry and the top of the walking robot, the movable plate is mounted on the threaded rod through a threaded sleeve, the housing of the second servo motor is fixed on the gantry, the output shaft of the second servo motor is coaxially fixed with the threaded rod, the two ends of the guide rod are respectively fixed on the top of the gantry and the top of the walking robot, and the movable plate is slidably sleeved on the guide rod, and the movable plate in the No. 1 lifting assembly and the movable plate in the No. 2 lifting assembly are respectively fixed to the first square frame and the second square frame.

[0018] On the other hand, the present invention also provides a forestry seedling raising and transplanting method, the specific steps of which are as follows:

[0019] The first step is to move the transplanting assembly to the top of the seedlings to be transplanted by using the walking robot;

[0020] In the second step, the transplanting assembly is moved downward by the second lifting assembly until the seedlings pass through the second square frame in the transplanting assembly;

[0021] In the third step, each telescopic assembly works synchronously, and the digging plate is inserted into the soil. At this time, the driving mechanism causes each loosening plate on the digging plate to move back and forth linearly to loosen the soil until every two adjacent digging plates fit together;

[0022] In the fourth step, the transplanting assembly is moved upward by the second lifting assembly to move the seedlings out of the land;

[0023] The fifth step is to move the walking robot to place the transplanting assembly with the seedlings above the desired transplanting hole, and then lower the transplanting assembly into the transplanting hole by the second lifting group, retract the digging plates in the moving assembly, and then reset the transplanting assembly;

[0024] In the sixth step, the rotating structure causes the No. 2 lifting assembly and the No. 1 lifting assembly to exchange positions, and then the No. 1 lifting assembly causes the compacting assembly to move downward to compact the land.

[0025] The present invention has the following beneficial effects:

[0026] (1) The forestry seedling transplanting device and method, through the transplanting assembly, each telescopic assembly works synchronously, and the digging plate is inserted into the soil. At this time, the driving mechanism causes each loosening plate on the digging plate to move back and forth in a straight line. The corner plate on the loosening plate loosens the soil in contact with it, thereby reducing the fit between the soil and the digging plate, thereby reducing the friction between the digging plate and the soil, reducing the force bearing capacity of the hydraulic rod, and increasing the service life of the hydraulic rod.

[0027] (2) The forestry seedling transplanting device and method uses a compaction component. After transplanting is completed, the compaction component is replaced by a replacement component. The compaction component compacts the soil, eliminating subsequent compaction work and integrating compaction and transplanting.

[0028] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall first-view structure of the present invention;

[0030] Figure 2 It is a schematic diagram of the overall second viewing angle structure of the present invention;

[0031] Figure 3 for Figure 2 A schematic diagram of the enlarged structure at point A;

[0032] Figure 4 It is a structural schematic diagram of a No. 1 lifting assembly of the present invention;

[0033] Figure 5 It is a schematic diagram of the structure of the compaction assembly of the present invention;

[0034] Figure 6 is a three-dimensional diagram of the transplanting assembly of the present invention;

[0035] Figure 7 for Figure 6 A partial schematic diagram of

[0036] Figure 8 for Figure 7 A schematic diagram of the enlarged structure at B;

[0037] Fig. 9 It is a schematic diagram of the structure of the digging plate of the present invention;

[0038] Fig.10 for Fig. 9 Enlarged structural diagram at C.

[0039] In the figure, 1, walking robot; 2, rotating structure; 201, rotating column; 202, worm gear; 203, first servo motor; 204, first fixed block; 205, worm; 206, rotating table; 3, No. 1 lifting assembly; 301, gantry; 302, threaded rod; 303, guide rod; 304, moving plate; 305, second servo motor; 4, tamping assembly; 401, first square frame; 402, return spring; 403, sliding column; 404, limit plate; 405, tamping plate; 406, vibration motor; 5. Transplanting assembly; 501. Second square frame; 502. Telescopic assembly; 503. Digging plate; 504. Guide column; 505. Sliding sleeve; 506. Hydraulic rod; 507. Connecting frame; 508. Tooth plate; 509. Gear; 510. First transmission shaft; 511. First sprocket; 512. Second sprocket; 513. Support plate; 514. Chain; 515. Second transmission shaft; 516. Second fixed block; 517. Slide; 518. Loose plate; 519. Crankshaft; 520. Connecting plate; 6. Second lifting assembly. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] In the description of the present invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inside", "all around" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0042] According to the following Figure 1-Figure 10 The forestry seedling raising and transplanting device provided in an embodiment of the present invention is described.

[0043] See also Figure 1-Figure 2 The embodiment of the present invention provides a technical solution: a forestry seedling transplanting device, comprising a transplanting assembly 5, the transplanting assembly 5 comprising a second square frame 501 and four digging plates 503, and it is supplemented here that the four digging plates 503 can form an inverted prism shell structure, the four digging plates 503 are respectively arranged at the four sides of the bottom of the second square frame 501, and each digging plate 503 is inclined;

[0044] The top four sides of the second square frame 501 are all provided with telescopic components 502, and each digging plate 503 is connected to each telescopic component 502 one-to-one, and the digging plate 503 is tilted and linearly moved through the telescopic components 502 connected thereto;

[0045] like Figure 6-Figure 7 Specifically, the telescopic assembly 502 includes a guide structure, which includes a plurality of guide columns 504. A sliding sleeve 505 is slidably sleeved on the outer side of each guide column 504. Here, the sliding sleeve 505 can be a ball sliding sleeve 505. Each sliding sleeve 505 is fixed to the second frame 501. A connecting frame 507 is fixed to the top of each digging plate 503. The bottom end of each guide column 504 in each guide structure is fixed to each connecting frame 507 one-to-one.

[0046] In this embodiment, the digging plate 503 moves along the sliding sleeve 505 through the guide column 504 fixed thereto. It can be seen that the guide structure is arranged so that the digging plate 503 can only move linearly and obliquely relative to the second frame plate.

[0047] Reference Figure 6-Figure 7 More specifically, the telescopic assembly 502 further includes a hydraulic rod 506 , the outer shell of the hydraulic rod 506 is fixed to the second square frame 501 , and the telescopic ends of each hydraulic rod 506 are fixed one-to-one to each connecting frame 507 .

[0048] In the embodiment, the hydraulic rod 506 controls the digging plate 503 to move linearly by telescoping.

[0049] like Figure 7 As shown, in order to achieve the purpose of loosening the soil, the plate surface of the digging plate 503 is provided with a plurality of slide grooves 517, and a loosening plate 518 is slidably inserted in the groove of each slide groove 517. The plate surface of the loosening plate 518 is fixed with a plurality of angle plates inclined upward, and the top of the digging plate 503 is provided with a driving mechanism for making each loosening plate 518 move back and forth along the slide groove 517. The purpose of the driving mechanism moving the loosening plate 518 is that, during the process of inserting the digging plate 503 into the soil, the driving mechanism makes the loosening plate 518 move back and forth in the slide groove 517 in which it is located, and the angle plate on the digging plate 503 pushes part of the soil to the surface, thereby achieving the function of loosening the soil.

[0050] Specifically, the driving mechanism mentioned above includes a crankshaft 519, two second transmission shafts 515 and two second fixed blocks 516. Each connecting rod journal of the crankshaft 519 is movably sleeved with a connecting plate 520. Fig. 9The crankshaft 519 shown is a multi-link journal, and one end of each connecting plate 520 forms a one-to-one rotational fit with the top of each loose plate 518, the bottoms of the two second fixed blocks 516 are respectively fixed on both sides of the top of the digging plate 503, and the outer sides of the two second fixed blocks 516 are provided with second rotation holes, and the two second transmission shafts 515 are respectively rotatably installed in the two second rotation holes, and one end of the two second transmission shafts 515 are respectively coaxially fixed to the head and tail ends of the crankshaft 519.

[0051] In the implementation scheme, when one of the second transmission shafts 515 rotates, the second transmission shaft 515 drives the crankshaft 519 fixed thereto to rotate, and the connecting rods on the connecting rod journals on the crankshaft 519 drive the loosening plates 518 to move back and forth in a straight line along the slide groove 517 where the loosening plates 518 are located. The angle plates on the loosening plates 518 move the soil to loosen the soil, thereby reducing the fit between the soil and the digging plate 503, thereby reducing the friction between the digging plate 503 and the soil, reducing the force bearing capacity of the hydraulic rod 506, and increasing the service life of the hydraulic rod 506.

[0052] More specifically, the driving mechanism mentioned above also includes a toothed plate 508, a gear 509, a first transmission shaft 510, a support plate 513, a first sprocket 511, a second sprocket 512 and a chain 514. The support plate 513 is fixed to one of the fixed blocks. The support plate 513 here provides an installation position for the first transmission shaft 510. A third rotating hole is provided on the outer side of the support plate 513. One end of the first transmission shaft 510 is rotatably installed in the third rotating hole. The outer side of the first transmission shaft 510 is coaxially fixed with the first sprocket 511. One end of one of the second transmission shafts 515 is coaxially fixed with the second sprocket 512. The wheel diameter of the first sprocket 511 is larger than the wheel diameter of the second sprocket 512. The chain The chain 514 is sleeved on the first sprocket 511 and the second sprocket 512. Since the wheel diameter of the first sprocket 511 is larger than the wheel diameter of the second sprocket 512, when the wheel diameter of the first sprocket 511 and the second sprocket 512 rotate synchronously through the chain 514, the second sprocket 512 rotates faster than the first sprocket 51; the other end of the first transmission shaft 510 is coaxially fixed with the gear 509, one end of the tooth plate 508 is fixed to the bottom of the second square frame 501, and the gear 509 is meshed with the tooth plate 508. When the gear 509 on the support plate 513 and the tooth plate 508 on the second square frame 501 move linearly relative to each other, the gear 509 is moved by the tooth plate 508, and the gear 509 rotates the first sprocket 511 through the first transmission shaft 510;

[0053] It can be seen from the above connection relationship that when the digging plate 503 moves downward, the supporting plate 513 on the digging plate 503 moves downward accordingly, and the gear 509 on the supporting plate 513 moves linearly relative to the tooth plate 508 on the second square frame 501. The gear 509 is moved by the tooth plate 508, and the gear 509 rotates the first sprocket 511 through the first transmission shaft 510. The first sprocket 511 and the second sprocket 512 rotate synchronously through the chain 514, and the second sprocket 512 drives the second sprocket 512 fixed thereto. The transmission shaft 515 rotates. Since the wheel diameter of the first sprocket 511 is larger than the wheel diameter of the second sprocket 512, the rotation speed of the second sprocket 512 is faster than that of the first sprocket 511. The second sprocket 512 drives the second transmission shaft 515 fixed thereto to rotate rapidly. The second transmission shaft 515 drives the crankshaft 519 to rotate rapidly. The connecting rods on each connecting rod journal on the crankshaft 519 drive each loosening plate 518 to move back and forth rapidly in a straight line along the slide groove 517 where the loosening plate 518 is located, thereby loosening the soil faster.

[0054] A compacting assembly 4 for compacting soil;

[0055] Specifically, in combination with Figure 5 The tamping assembly 4 mentioned above includes a first square frame 401, a plurality of sliding columns 403, a vibration motor 406 and a tamping plate 405. A plurality of sliding holes are provided on the top of the first square frame 401. Each sliding column 403 is slidably inserted in each sliding hole. A limit plate 404 is fixed to the top of the sliding column 403. A return spring 402 is sleeved on the outer side of the sliding column 403. The two ends of the return spring 402 are respectively in contact with the limit plate 404 and the first square frame 401. The bottom end of each sliding column 403 is fixed on the plate surface of the tamping plate 405. It can be seen that the tamping plate 405 can only move up and down linearly relative to the first square frame plate. The setting of the return spring 402 is to enable the sliding column to have the ability to reset. The tamping plate 405 is in the shape of a square frame. When tamping is performed, the seedlings are located in the frame of the tamping plate 405, and the casing of the vibration motor 406 is fixed on the tamping plate 405.

[0056] In the implementation scheme, the vibration motor 406 makes the compacting plate 405 vibrate, so that the compacting plate 405 vibrates to compact the soil, during which the return spring 402 is reciprocatingly compressed.

[0057] In order to enable the compaction assembly 4 and the transplantation assembly 5 to be interchangeable in position, a replacement assembly is also provided. The compaction assembly 4 and the second frame 501 are arranged relatively to each other, so that the compaction assembly 4 and the second frame 501 are replaced in position through the replacement assembly.

[0058] Preferably, the above-mentioned replacement component includes a walking robot 1.

[0059] In the embodiment, the entire device is moved by the walking robot 1. Figure 1 The walking robot 1 is wheeled. In order to improve the stability of movement, a crawler-type walking robot 1 can be selected.

[0060] More specifically, in conjunction with Figure 3 The replacement component also includes a rotating structure 2, which includes a rotating column 201, a rotating table 206, a worm wheel 202, a worm 205, a first servo motor 203 and two first fixed blocks 204. One end of the rotating column 201 is rotatably mounted on the top of the walking robot 1, so that the rotating column 201 can walk with the walking robot 1 and can rotate on the walking robot 1. In addition, the worm wheel 202 is coaxially fixed with the rotating column 201, and the bottoms of the two first fixed blocks 204 are fixed on the top of the walking robot 1. A first rotating hole is provided on the outer side of the fixed block 204, and both ends of the worm 205 are rotatably installed in the first rotating hole respectively, and the worm 205 is meshed with the worm wheel 202. The worm 205 and the worm wheel 202 are used here to transmit the movement, mainly because the meshing of the worm 205 and the worm wheel 202 is self-locking, so that the rotating column 201 cannot rotate on its own. The casing of the first servo motor 203 is fixed on the walking robot 1, and the output shaft of the first servo motor 203 is coaxially fixed with the worm 205, and the other end of the rotating column 201 is fixed to the bottom of the rotating table 206.

[0061] In the implementation scheme, the first servo motor 203 causes the worm 205 to axially rotate through the output shaft, the worm 205 is rotated through the worm wheel 202 meshing therewith, the worm wheel 202 drives the rotating column 201 to rotate, and the rotating column 201 drives the rotating platform 206 to rotate.

[0062] More specifically, in conjunction with Figure 2-Figure 4 The replacement components mentioned above also include a No. 1 lifting component 3 and a No. 2 lifting component 6 of the same specification as the No. 1 lifting component 3. The No. 1 lifting component 3 and the No. 2 lifting component 6 both include a gantry 301, a threaded rod 302, a moving plate 304, a second servo motor 305 and a group of guide rods 303. The bottom ends of the two gantries 301 are respectively fixed on both sides of the top of the rotating table 206, and the two ends of the threaded rod 302 are respectively rotatably installed on the top of the gantry 301 and the top of the walking robot 1, and the moving plate 304 is arranged on the threaded rod 302 through a threaded sleeve.

[0063] In the implementation scheme, the second servo motor 305 causes the threaded rod 302 to axially rotate via the output shaft, and the threaded rod 302 causes the moving plate 304 to move via thread transmission.

[0064] Among them, Figure 4As shown, the housing of the second servo motor 305 mentioned above is fixed on the gantry 301, the output shaft of the second servo motor 305 is coaxially fixed with the threaded rod 302, and the second servo motor 305 can use a servo worm gear reduction motor, so that the second servo motor 305 can output a larger torque force, and the second servo motor 305 has a self-locking property to prevent the threaded rod 302 from rotating. The two ends of the guide rod 303 are respectively fixed to the top of the gantry 301 and the top of the walking robot 1, and the moving plate 304 is slidably sleeved on the guide rod 303, and the moving plate 304 in the No. 1 lifting component 3 and the moving plate 304 in the No. 2 lifting component 6 are respectively fixed to the first square frame 401 and the second square frame 501;

[0065] In the implementation scheme, the guide rod 303 is provided to enable the movable plate 304 to move linearly up and down in the gantry 301 .

[0066] On the other hand, an embodiment of the present invention further provides a forestry seedling transplanting method, the specific steps of which are as follows:

[0067] The first step is to move the transplanting assembly 5 to the top of the seedlings to be transplanted by the walking robot 1;

[0068] In the second step, the transplanting assembly 5 is moved downward by the second lifting assembly 6 until the seedlings pass through the second square frame 501 in the transplanting assembly 5;

[0069] In the third step, the telescopic components 502 work synchronously, and the digging plate 503 is inserted into the soil. At this time, the driving mechanism causes the loosening plates 518 on the digging plate 503 to move back and forth linearly to loosen the soil until every two adjacent digging plates 503 fit together;

[0070] In the fourth step, the transplanting assembly 5 is moved upward by the second lifting assembly 6 to move the seedlings out of the land;

[0071] The fifth step is to move the walking robot 1 to place the transplanting assembly 5 with the seedlings above the desired transplanting hole, and then lower the transplanting assembly 5 into the transplanting hole by the second lifting group, retract the digging plates 503 in the moving assembly, and then reset the transplanting assembly 5;

[0072] In the sixth step, the rotating structure 2 replaces the positions of the No. 2 lifting assembly 6 and the No. 1 lifting assembly 3, and then the No. 1 lifting assembly 3 moves the compacting assembly 4 downward to compact the land.

[0073] When in use (working), the walking robot 1 is used to move the transplanting assembly 5 to the top of the seedlings to be transplanted, and the second servo motor 305 in the second lifting assembly 6 causes the threaded rod 302 to rotate axially through the output shaft, and the threaded rod 302 causes the moving plate 304 to move downward through the form of threaded transmission until the seedlings pass through the second square frame 501 in the transplanting assembly 5, the hydraulic rod 506 is extended, and the digging plate 503 is moved downward, and the hydraulic rod 506 inserts the digging plate 503 into the soil. When the digging plate 503 moves downward, the support plate 513 on the digging plate 503 moves accordingly. The gear 509 on the support plate 513 moves downwardly, and the gear 509 on the support plate 513 moves linearly relative to the toothed plate 508 on the second square frame 501. The gear 509 is shifted by the toothed plate 508, and the gear 509 rotates the first sprocket 511 through the first transmission shaft 510. The first sprocket 511 and the second sprocket 512 rotate synchronously through the chain 514. The second sprocket 512 drives the second transmission shaft 515 fixed thereto to rotate, and the second transmission shaft 515 drives the crankshaft 519 fixed thereto to rotate, and the connecting rods on the connecting rod journals on the crankshaft 519 drive the loose plates 518 along the loose plates. The movable plate 518 moves back and forth in the slide groove 517, and the angle plate on the loosening plate 518 moves the soil to loosen the soil, thereby reducing the fit between the soil and the digging plate 503, thereby reducing the friction between the digging plate 503 and the soil, and reducing the force bearing capacity of the hydraulic rod 506, until every two adjacent digging plates 503 are in contact, and the transplanting component 5 moves up through the No. 2 lifting component 6 to move the seedlings out of the land, and moves through the walking robot 1 to place the transplanting component 5 with the seedlings above the desired transplanting hole, and then the No. 2 lifting group lowers the transplanting component 5 into the transplanting hole, and moves Each digging plate 503 in the assembly is retracted, and then the transplanting assembly 5 is reset. The first servo motor 203 causes the worm 205 to rotate axially through the output shaft. The worm 205 rotates through the worm gear 202 meshing therewith. The worm gear 202 drives the rotating column 201 to rotate. The rotating column 201 drives the rotating table 206 to rotate. The No. 2 lifting assembly 6 and the No. 1 lifting assembly 3 are replaced in position. Then the No. 1 lifting assembly 3 causes the compacting assembly 4 to move downward, and the vibration motor 406 causes the compacting plate 405 to vibrate, so that the compacting plate 405 vibrates to compact the land.

[0074] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0075] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A forestry seedling transplanting device, comprising a transplanting assembly (5), characterized in that: The transplanting assembly (5) comprises a second square frame (501) and four digging plates (503), the four digging plates (503) being respectively arranged at the four sides of the bottom of the second square frame (501), and each digging plate (503) being arranged at an inclination, and the top four sides of the second square frame (501) being respectively provided with a telescopic assembly (502), each of the digging plates (503) being respectively connected to each of the telescopic assemblies (502) in a one-to-one manner, and .... The digging plate (503) is provided with a plurality of slide grooves (517) on its surface, and a loose plate (518) is slidably inserted in each of the slide grooves (517). A plurality of angle plates tilted upward are fixed to the surface of the loose plate (518), and a driving mechanism is provided on the top of the digging plate (503) to enable each of the loose plates (518) to reciprocate along the slide grooves (517). The digging plate (503) further comprises: A compacting assembly (4) for compacting soil; A replacement component, wherein the compacting component (4) and the second square frame (501) are arranged relative to each other, and the compacting component (4) and the second square frame (501) are replaced in position by the replacement component.

2. A forestry seedling raising and transplanting device according to claim 1, characterized in that: The telescopic assembly (502) comprises a guide structure, wherein the guide structure comprises a plurality of guide columns (504), each guide column (504) is slidably sleeved with a slide sleeve (505) on its outer side, each slide sleeve (505) is fixed to the second square frame (501), a connecting frame (507) is fixed to the top of each digging plate (503), and the bottom end of each guide column (504) in the guide structure is fixed to each connecting frame (507) in a one-to-one manner.

3. A forestry seedling raising and transplanting device according to claim 2, characterized in that: The telescopic assembly (502) further comprises a hydraulic rod (506), the outer shell of the hydraulic rod (506) being fixed to the second square frame (501), and the telescopic ends of each hydraulic rod (506) being fixed one-to-one to each connecting frame (507).

4. The forestry seedling raising and transplanting device according to claim 1, characterized in that: The driving mechanism comprises a crankshaft (519), two second transmission shafts (515) and two second fixed blocks (516); each connecting rod journal of the crankshaft (519) is movably sleeved with a connecting plate (520), and one end of each connecting plate (520) is respectively rotatably matched with the top of each loose plate (518); the bottoms of the two second fixed blocks (516) are respectively fixed on both sides of the top of the digging plate (503), and the outer sides of the two second fixed blocks (516) are provided with second rotating holes; the two second transmission shafts (515) are respectively rotatably mounted in the two second rotating holes, and one end of the two second transmission shafts (515) is respectively coaxially fixed to the head and tail ends of the crankshaft (519).

5. A forestry seedling raising and transplanting device according to claim 4, characterized in that: The driving mechanism further comprises a toothed plate (508), a gear (509), a first transmission shaft (510), a support plate (513), a first sprocket (511), a second sprocket (512) and a chain (514); the support plate (513) is fixed to one of the fixing blocks; a third rotating hole is provided on the outer side of the support plate (513); one end of the first transmission shaft (510) is rotatably mounted in the third rotating hole; the outer side of the first transmission shaft (510) is in contact with the first sprocket (511); ) are coaxially fixed, one end of one of the second transmission shafts (515) is coaxially fixed with the second sprocket (512), and the wheel diameter of the first sprocket (511) is larger than the wheel diameter of the second sprocket (512), the chain (514) is sleeved on the first sprocket (511) and the second sprocket (512), the other end of the first transmission shaft (510) is coaxially fixed with the gear (509), one end of the toothed plate (508) is fixed to the bottom of the second square frame (501), and the gear (509) is meshed with the toothed plate (508).

6. The forestry seedling raising and transplanting device according to claim 1, characterized in that: The tamping assembly (4) comprises a first square frame (401), a plurality of sliding columns (403), a vibration motor (406) and a tamping plate (405); a plurality of sliding holes are provided on the top of the first square frame (401); each of the sliding columns (403) is slidably inserted in each of the sliding holes; a limiting plate (404) is fixed to the top of the sliding column (403); a return spring (402) is sleeved on the outer side of the sliding column (403); two ends of the return spring (402) are in contact with the limiting plate (404) and the first square frame (401) respectively; the bottom end of each of the sliding columns (403) is fixed on the plate surface of the tamping plate (405); the tamping plate (405) is in a square frame shape; and the housing of the vibration motor (406) is fixed on the tamping plate (405).

7. A forestry seedling raising and transplanting device according to claim 6, characterized in that: The replacement component comprises a walking robot (1).

8. A forestry seedling raising and transplanting device according to claim 7, characterized in that: The replacement component further comprises a rotating structure (2), wherein the rotating structure (2) comprises a rotating column (201), a rotating platform (206), a worm wheel (202), a worm (205), a first servo motor (203) and two first fixed blocks (204), wherein one end of the rotating column (201) is rotatably mounted on the top of the walking robot (1), the worm wheel (202) is coaxially fixed to the rotating column (201), and the bottoms of the two first fixed blocks (204) are both fixed on The first fixed block (204) is provided with a first rotating hole on the top of the walking robot (1), and the two ends of the worm (205) are respectively rotatably mounted in the first rotating hole. The worm (205) is meshed with the worm wheel (202). The housing of the first servo motor (203) is fixed on the walking robot (1), the output shaft of the first servo motor (203) is coaxially fixed with the worm (205), and the other end of the rotating column (201) is fixed to the bottom of the rotating platform (206).

9. A forestry seedling raising and transplanting device according to claim 8, characterized in that: The replacement assembly further comprises a first lifting assembly (3) and a second lifting assembly (6) of the same specification as the first lifting assembly (3), wherein the first lifting assembly (3) and the second lifting assembly (6) each comprise a gantry (301), a threaded rod (302), a moving plate (304), a second servo motor (305) and a group of guide rods (303), wherein the bottom ends of the two gantries (301) are respectively fixed to the top sides of the rotating platform (206), the two ends of the threaded rod (302) are respectively rotatably mounted on the top of the gantry (301) and the top of the walking robot (1), and the moving plate (304) is provided on the second servo motor (305) and the second servo motor (305 ... 04) is threadedly sleeved on the threaded rod (302), the housing of the second servo motor (305) is fixed on the gantry (301), the output shaft of the second servo motor (305) is coaxially fixed with the threaded rod (302), the two ends of the guide rod (303) are respectively fixed to the top of the gantry (301) and the top of the walking robot (1), and the moving plate (304) is slidably sleeved on the guide rod (303), and the moving plate (304) in the first lifting component (3) and the moving plate (304) in the second lifting component (6) are respectively fixed to the first square frame (401) and the second square frame (501).

10. A forestry seedling raising and transplanting method, comprising the forestry seedling raising and transplanting device according to claim 9, characterized in that: The specific steps are as follows: The first step is to move the transplanting assembly (5) to the top of the seedlings to be transplanted by using the walking robot (1); In a second step, the transplanting assembly (5) is moved downward by the second lifting assembly (6) until the seedlings pass through the second square frame (501) in the transplanting assembly (5); In the third step, the telescopic components (502) work synchronously, and the digging plate (503) is inserted into the soil. At this time, the driving mechanism causes the loosening plates (518) on the digging plate (503) to move back and forth linearly to loosen the soil until every two adjacent digging plates (503) are in contact with each other; In the fourth step, the transplanting assembly (5) is moved upwards through the second lifting assembly (6) to move the seedlings out of the ground; The fifth step is to move the walking robot (1) to place the transplanting assembly (5) with the seedlings above the desired transplanting hole, and then lower the transplanting assembly (5) into the transplanting hole by the second lifting assembly (6), retract the digging plates (503) in the moving assembly, and then reset the transplanting assembly (5); In the sixth step, the rotating structure (2) causes the second lifting assembly (6) and the first lifting assembly (3) to exchange positions, and then the first lifting assembly (3) causes the compacting assembly (4) to move downward to compact the land.

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