Multifunctional integrated automatic desert planting vehicle and planting method

Abstract

The invention discloses a multifunctional integrated automatic desert planting vehicle and a planting method, and relates to the field of desert planting. The problems that an existing planting vehicle in the desert environment is low in efficiency, and labor productivity cannot be thoroughly liberated are solved. Crawler-type moving walking mechanisms are installed at the four corners of the lower end of a machine body frame to drive the machine body frame to move, a wind rotary landfill mechanism, a water storage mechanism and a pit drilling mechanism are sequentially installed at the bottom of the machine body frame from left to right, and visual devices are arranged on the periphery of the lower portion of the machine body frame. The seedling storage mechanism is located above the pit drilling mechanism, the water storage mechanism continuously supplements water to the roots of the seedling storage mechanism and waters newly-planted plants, the clamping mechanism is installed on the upper portion of the machine body frame and can move in the horizontal direction and the vertical direction, and the solar energy mechanism is installed outside the machine body frame. And the upper part of the solar mechanism can be opened to cover the upper end surface of the machine body frame for shading plants. The device is used for automatically planting plants in the desert.

Description

Technical Field

[0001] The present invention relates to the technical field of desert planting, and in particular to a multifunctional integrated automated desert planting vehicle and a planting method, which are used for automated planting of plants in desert areas. Background Art

[0002] Desert areas have the characteristics of scarce water, poor land, and poor ecological environment. Traditional artificial planting methods are inefficient, costly, and have low survival rates for seedlings and are not friendly to people. Therefore, developing a desert planting vehicle that can liberate labor and improve the survival rate of planting is of great significance to improving the desert environment.

[0003] The authorization announcement number is CN11564 4014B, and the name is a utility model patent for a desert planting vehicle, which mainly includes: a drilling mechanism provided on the frame, used to drill and form a planting pit; a seedling bin provided on the frame, used to store the seedlings to be planted; a seedling delivery mechanism provided on the frame, used to transport the seedlings in the seedling bin to the planting pit; a soil covering mechanism provided on the frame, used to position and straighten the seedlings in the planting pit and cover them with soil; a drip irrigation pipe installation mechanism provided on the frame, used to install the drip irrigation pipe corresponding to the seedlings after covering with soil. This desert planting vehicle can install the drip irrigation pipe while realizing the intelligent planting of seedlings. There is no need to lay the drip irrigation pipe additionally, which saves manpower, solves the problem of efficient tree planting and watering, and effectively improves the efficiency of desert planting and the survival rate of seedlings. Although it can realize the planting of desert seedlings to a certain extent, this desert planting vehicle still has the following disadvantages:

[0004] 1. Because the planting vehicle uses wheels to move in the desert, it does not take into account the loose, rugged and uneven actual conditions of the desert geology, resulting in unstable walking, easy rollover or collapse;

[0005] 2. This patent does not have the functions of mid-term seedling replenishment and water replenishment, and still requires manual intervention, resulting in low work efficiency;

[0006] 3. The patent does not have a remote real-time detection function, and cannot implement effective measures for emergencies;

[0007] 4. This patent works in a high temperature and drought environment, and the storage time of the plants needs to be considered to improve their survival rate, but this invention does not have the function of maintaining the activity of the plants.

[0008] In summary, the existing planting vehicles in desert environments are inefficient and cannot completely liberate labor productivity. Summary of the invention

[0009] The purpose of the present invention is to solve the problem that the existing planting vehicles in desert environments are inefficient and cannot completely liberate labor productivity, and to provide a multifunctional integrated automated desert planting vehicle and planting method to achieve high efficiency, high survival rate, integrated automation and multifunctional desert planting operations in desert environments.

[0010] The technical solution of the present invention is:

[0011] A multifunctional integrated automated desert planting vehicle comprises a machine frame, a solar energy mechanism, a seedling storage mechanism, a clamping mechanism, a cyclone landfill mechanism, a water storage mechanism, a drilling mechanism, a crawler-type mobile walking mechanism and a visual device. The crawler-type mobile walking mechanism is installed at the four corners of the lower end of the machine frame to drive the machine frame to move. The cyclone landfill mechanism, the water storage mechanism and the drilling mechanism are installed at the bottom of the machine frame from left to right in sequence. The visual device is arranged around the lower part of the machine frame. The seedling storage mechanism is located above the drilling mechanism, and the water storage mechanism continuously replenishes water for the roots of the seedling storage mechanism and waters the newly planted plants. The clamping mechanism is installed at the upper part of the machine frame, and the clamping mechanism can realize horizontal and vertical movement. The solar energy mechanism is installed outside the machine frame, and the upper openable cover of the solar energy mechanism is installed on the upper end surface of the machine frame to shade the plants.

[0012] Furthermore, the solar mechanism includes a signal receiving antenna, a large solar panel, two small solar panels, a solar connecting rod, a linkage rocker, a large toothed disc gear, a small toothed disc gear and a DC reduction stepper motor. One ends of the two small solar panels are rotatably mounted on two opposite upper edges of the upper end surface of the body frame, and the two small solar panels are opened and closed manually; one end of the large solar panel is horizontally slidably mounted on the upper edge of the upper end surface of the body frame and is located on one side of the two small solar panels. The other end of the large solar panel is supported by the body frame. The DC reduction stepper motor is mounted on the lower outer side of the body frame. The output shaft of the DC reduction stepper motor is turned and connected to the small toothed disc gear. The large toothed disc gear is rotatably installed on the lower outer part of the machine body frame, and the large toothed disc gear is meshed with the small toothed disc gear. One end of the linkage rocker is installed on the axle of the large toothed disc gear through a hexagonal head fixing screw. The lower end of the solar connecting rod is rotatably installed on the machine body frame. The middle and lower parts and the upper part of the solar connecting rod are respectively provided with long strip holes. The other end of the linkage rocker is slidably inserted into the long strip hole in the middle and lower part of the solar connecting rod. The toggle shaft at one end of the large solar panel is inserted into the long strip hole on the upper part of the solar connecting rod. During the swinging process of the lower part of the solar connecting rod, the large solar panel is driven to slide horizontally, so as to realize the opening and closing of the large solar panel on the upper end surface of the machine body frame.

[0013] Furthermore, the clamping mechanism includes a transverse moving component, two longitudinal moving components and a clamping unit, the clamping unit is slidably mounted on the transverse moving component through a pulley, and the clamping unit moves transversely on the transverse moving component driven by a belt transmission; both ends of the transverse moving component are respectively mounted on a longitudinal moving component, and the two longitudinal moving components jointly drive the transverse moving component and the clamping unit to move longitudinally;

[0014] The gripping unit includes a left gripping jaw, a right gripping jaw, a linkage rod, a gripping jaw plate, a main cylinder, a gripping pulley, an intermediate cylinder shaft, a left cylinder shaft, a right cylinder shaft, a left connecting rod and a right connecting rod.

[0015] The upper part of the main cylinder is installed on the lower part of the clamping plate, and the clamping plate is slidably installed on the lateral moving assembly through a clamping pulley installed on the upper part thereof, and can move laterally on the lateral moving assembly;

[0016] The lower end of the main cylinder is connected to the upper end of the intermediate cylinder shaft, and the lower end of the intermediate cylinder shaft slides through the clamping claw plate and is connected to a linkage rod on both sides. The left cylinder shaft and the right cylinder shaft are respectively located on the left and right sides of the main cylinder and connected to the clamping claw plate to realize the lifting and lowering drive of the clamping claw plate.

[0017] The upper ends of the left and right jaws are rotatably connected to the jaw disc, and the middle parts of the left and right jaws are driven by the linkage rod to move inward or outward at the same time under the extension and contraction of the main cylinder to achieve the grasping action.

[0018] Furthermore, the lateral movement assembly includes a long slide rail, a limit plate, a limit switch, a fixed plate, a first pulley, a lateral movement driving motor, a second pulley, a left sliding wheel of the long slide rail, a long transmission belt, a right pulley of the long slide rail and a sliding plate. The left sliding wheel of the long slide rail is installed on the left end of the long slide rail through the sliding plate, and the right pulley of the long slide rail is installed on the output shaft of the lateral movement driving motor located on the right side of the long slide rail. The left sliding wheel of the long slide rail and the right pulley of the long slide rail are connected by a long transmission belt, and the clamping unit is connected to the long transmission belt and realizes lateral movement under the movement of the long transmission belt; the second pulley and the first pulley are respectively installed on the lower left and right parts of the long slide rail for longitudinal movement of the long slide rail, the limit plate is fixedly installed on the right side of the long slide rail through the fixed plate, and the limit switch is installed on the left side of the limit plate.

[0019] Furthermore, the two longitudinal moving components have the same structure and are arranged relative to each other. The longitudinal moving component includes a left longitudinal moving drive motor, a left short slide rail, a left short transmission belt, a left sliding wheel of the left short slide rail, and a right sliding wheel of the left short slide rail. The left longitudinal moving drive motor is installed on the left side of the left short slide rail, and the left sliding wheel of the left short slide rail is installed on the output shaft of the left longitudinal moving drive motor. The left sliding wheel of the left short slide rail and the right sliding wheel of the left short slide rail located on the right side of the left short slide rail are connected by the left short transmission belt.

[0020] Furthermore, the wind cyclone landfill mechanism includes a lifting drive mechanism, a fan box, a ducted fan, an air pressure pipe, a seedling conveying pipe, a discharge port, a nutrient solution valve, a nozzle valve, a fixed wind cover and a sliding wheel; the fixed wind cover is provided with a plurality of air pressure pipes in a circumferential direction, each of which is provided with a fan box, and a ducted fan is provided in the fan box, and the rotation of the ducted fan generates wind power for landfilling; the seedling conveying pipe is vertically installed at the center of the fixed wind cover, a discharge port is provided at the lower part of the seedling conveying pipe, a nutrient solution valve and a nozzle valve are installed on the fixed wind cover, and the nutrient solution valve is connected to a copper water pipe of a water storage mechanism, and a sliding wheel is installed on a side wall of the fixed wind cover, and the lifting drive mechanism is fixedly connected to the fixed wind cover and drives the fixed wind cover as a whole to achieve lifting;

[0021] Among them, the lifting drive mechanism includes a rack, a rack gear, a worm gear, a worm, a transmission wheel, a transmission belt, a rotating wheel and a first stepper motor. The first stepper motor is installed in the body frame, and the output shaft of the first stepper motor is connected to the rotating wheel. The transmission wheel and the worm are coaxially arranged, and the transmission wheel and the rotating wheel are connected by a transmission belt. The first stepper motor transmits the rotational power to the rotating wheel, and the rotating wheel drives the transmission wheel to rotate through the transmission belt. The transmission wheel transmits power to the worm, the worm engages with the worm gear, the worm gear engages with the rack gear, and the rack gear engages with the rack, thereby driving the overall lifting and lowering of the fixed wind hood.

[0022] Furthermore, the water storage mechanism includes a water tank wall, a water suction pump, a filter port, a bottom copper water pipe, a first outlet copper water pipe, a second outlet copper water pipe and a water tank pull-out sliding assembly; the water suction pump is installed on the water tank wall, the filter port is installed on the water suction side of the water suction pump, the bottom copper water pipe is horizontally arranged in the water tank wall and supplies water to the plant bin of the seedling storage mechanism to maintain the activity of the plant; one end of the first outlet copper water pipe and the second outlet copper water pipe are both connected to the water tank wall, and the other ends of the first outlet copper water pipe and the second outlet copper water pipe are respectively connected to the nutrient solution valve and the nozzle valve for spraying water and nutrient solution to the plant, and the water tank pull-out sliding assembly is slidably inserted in the body frame;

[0023] Among them, the water tank pulling and sliding assembly includes a water tank base, a water tank bottom cylinder push rod, a guide wheel and a guide wheel connecting rod; the water tank bottom cylinder push rod is installed in the body frame, the water tank base is installed on the lower end of the water tank wall, and the guide wheel is installed on the two side end surfaces of the water tank base through the guide wheel connecting rod. The water tank base and the water tank wall are slidably installed in the body frame under the telescopic action of the water tank bottom cylinder push rod.

[0024] Furthermore, the drilling mechanism includes a ground drill lifting drive unit, a ground drill frame, a ground drill and a ground drill rotation drive unit; the ground drill lifting drive unit is installed on the body frame, the ground drill frame is installed on the ground drill lifting drive unit, and is lifted and lowered under the action of the ground drill lifting drive unit, the ground drill is vertically installed on the ground drill frame, and the ground drill is driven to rotate under the action of the drill rotation drive unit installed on the ground drill frame to complete drilling;

[0025] in,

[0026] The earth drill lifting drive unit includes a DC reduction servo motor, a motor fixing base, a drilling conveyor belt and a pulley with a bearing. The DC reduction servo motor is installed on the body frame through the motor fixing base. The output shaft of the DC reduction servo motor is connected to the pulley, and the pulley and the pulley with the bearing are connected through the drilling conveyor belt; the earth drill rotation drive unit includes a spindle motor, a rotating pulley, a rotating conveyor belt, a rotating sliding bearing, a pulley fixing rod, a left lifting pulley and a right lifting pulley. The pulley fixing rod passes through the center bearings of the left lifting pulley and the right lifting pulley, and both ends are fixed on the earth drill frame, and the left lifting pulley and the right lifting pulley are located in the earth drill frame. The pulley fixing rod is connected to the drilling conveyor belt, the spindle motor is installed on the earth drill frame, and the output shaft of the spindle motor passes through the earth drill frame upward and is connected to the rotating sliding bearing. A rotating pulley is installed on the upper end of the earth drill, and the rotating pulley and the rotating sliding bearing are connected through a rotating conveyor belt.

[0027] Furthermore, the visual device includes multiple high-definition wireless cameras and multiple explosion-proof wireless cameras. The multiple high-definition wireless cameras are installed around the body frame of the body frame, and the multiple explosion-proof wireless cameras are installed in the wind-cyclone landfill mechanism and the drilling mechanism.

[0028] The present invention also provides a planting method using a multifunctional integrated automated desert planting vehicle, which comprises the following steps:

[0029] Step 1: Start the multifunctional integrated automated desert planting vehicle, and the equipment will conduct self-inspection. If the self-inspection fails, the equipment needs to be repaired manually until it passes the inspection and proceed to the next step;

[0030] Step 2: The multifunctional integrated automated desert planting vehicle is manually controlled to arrive at the designated location in the desert. At this time, the high-definition wireless cameras around the planting vehicle can be used to observe whether the surrounding environment meets the planting conditions;

[0031] Step 3: The equipment will self-check and prepare materials. If one of the three is missing, water, seedlings or nutrient solution, the planting vehicle will send a signal through the antenna, and the drone will carry out directional transportation based on the positioning of the planting vehicle. If the materials are not missing, proceed to the next step;

[0032] Step 4: The explosion-proof wireless camera in the drilling mechanism searches for the drilling position. If no suitable position is found, the planting vehicle moves to complete fine-tuning. When a suitable position is found, drilling begins. After the drilling is completed, the explosion-proof wireless camera records the position.

[0033] Step 5: The planting vehicle is moved horizontally to move the drilling position to the position directly below the wind cyclone landfill mechanism. At this time, the explosion-proof wireless camera in the wind cyclone landfill mechanism is positioned and corrected according to the data of the explosion-proof wireless camera in the drilling mechanism.

[0034] Step 6: After confirming the position, the wind hood moves down, the clamping mechanism clamps the sapling and sends it into the sapling delivery tube, and inserts it into the hole drilled in step 4;

[0035] Step 7: The cyclone landfill mechanism is in operation. After the landfill action is completed, water and nutrient solution are sprayed;

[0036] Step 8: The explosion-proof wireless camera in the wind-cyclone landfill mechanism takes photos, uploads them to the server, and automatically compares them to confirm whether the planted seedlings are qualified. If they are not qualified, they need to be landfilled again, that is, repeat step 7. If they are qualified, the fixed wind hood moves up, and the planting vehicle moves to find the next station;

[0037] Step 9. Repeat steps 3 to 8 to achieve automated planting in the designated desert area.

[0038] Compared with the prior art, the present invention has the following effects:

[0039] 1. The present invention adopts a crawler-type mobile walking mechanism, which has a large contact area with the desert, ensuring the stability of the body frame and avoiding the rollover or collapse caused by loose geology, rugged and uneven actual road conditions during its movement in the desert.

[0040] 2. The present invention uses a visual device to monitor the walking environment of the machine frame in real time. At the same time, it can also observe the planting situation. If there is a shortage of seedlings, the drone can be used to replenish the seedlings in a timely and rapid manner, thereby avoiding the problem of manual replenishment and effectively improving the planting efficiency. In addition, the present invention is provided with a water storage mechanism, which can not only water the plants, but also assist in the spraying of pesticides, and has strong functionality.

[0041] 3. The visual device of the present invention, when actually used, can perform remote real-time detection functions, implement effective measures for emergencies, and ensure the effective planting of plants.

[0042] 4. The present invention can work in high temperature and drought environment. A solar energy mechanism is arranged on the upper part of the body frame, which can not only supplement the electric energy of the body frame, but also shield the plants from sunlight, so that they can be stored for a long time. Under the joint action of the water supply of the water storage mechanism, the survival rate of the plants is improved, and the activity of the plants is guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present invention; Figure 2 It is a three-dimensional front view of the present invention; Figure 3 is a three-dimensional side view of the present invention; Figure 4 is a three-dimensional top view of the present invention; Figure 5 is a two-dimensional side view of the present invention; Figure 6 is a top view of the clamping mechanism of the present invention; Figure 7 yes Figure 6 The main view; Figure 8 yes Figure 6 Side view of Fig. 9 It is the front view of the wind cyclone landfill mechanism; Fig.10 yes Fig. 9 A top view of Fig.11 It is the front view of the water storage mechanism; Fig.12 yes Fig.11 Schematic diagram of the internal structure; Fig.13 It is the main view of the drilling mechanism; Fig.14 yes Fig.13 Side view of Fig.15 It is the front view of the crawler-type mobile walking mechanism; Fig.16 It is a schematic diagram of the arrangement of the visual device; Fig.17 It is a flow chart of the planting method. DETAILED DESCRIPTION

[0044] Specific implementation method 1: Combination Figures 1 to 16 The present embodiment is described. The present embodiment includes a machine frame, which also includes a solar energy mechanism, a seedling storage mechanism, a clamping mechanism, a cyclone landfill mechanism, a water storage mechanism, a drilling mechanism, a crawler-type mobile walking mechanism and a visual device. The crawler-type mobile walking mechanism is installed at the four corners of the lower end of the machine frame to drive the machine frame to move. The cyclone landfill mechanism, the water storage mechanism and the drilling mechanism are installed at the bottom of the machine frame from left to right in sequence. The visual device is arranged around the lower part of the machine frame. The seedling storage mechanism is located above the drilling mechanism, and the water storage mechanism continuously replenishes water for the roots of the seedling storage mechanism and waters the newly planted plants. The clamping mechanism is installed on the upper part of the machine frame, and the clamping mechanism can realize horizontal and vertical movement. The solar energy mechanism is installed on the outside of the machine frame, and the upper openable cover of the solar energy mechanism is installed on the upper end surface of the machine frame to shade the plants.

[0045] The seedling storage mechanism of this embodiment is Figure 5 The plant bin 61 contains a number of plants to be planted.

[0046] Specific implementation method 2: Combination Figures 1 to 5 The present embodiment is described. The solar energy mechanism of the present embodiment includes a signal receiving antenna 1, a large solar panel 2, two small solar panels 3, a solar energy connecting rod 4, a linkage rocker 5, a large toothed disc gear 7, a small toothed disc gear 8 and a DC reduction stepping motor 9. One ends of the two small solar panels 3 are rotatably mounted on two opposite upper edges on the upper end surface of the body frame, and the two small solar panels 3 are opened and closed manually; one end of the large solar panel 2 is horizontally slidably mounted on the upper edge of the upper end surface of the body frame, and is located on one side of the two small solar panels 3. The other end of the large solar panel 2 is supported by the body frame, and the DC reduction stepping motor 9 is mounted on the lower outer side of the body frame. The output shaft of the DC reduction stepping motor 9 is turned and then It is connected to the small toothed disc gear 8, the large toothed disc gear 7 is rotatably installed on the lower outer part of the body frame, and the large toothed disc gear 7 is meshed with the small toothed disc gear 8. One end of the linkage rocker 5 is installed on the axle of the large toothed disc gear 7 through the hexagonal head fixing screw 6. The lower end of the solar connecting rod 4 is rotatably installed on the body frame. The middle and lower parts and the upper parts of the solar connecting rod 4 are respectively provided with long strip holes. The other end of the linkage rocker 5 is slidably inserted into the long strip hole in the middle and lower parts of the solar connecting rod 4. The toggle shaft at one end of the large solar panel 2 is inserted into the long strip hole in the upper part of the solar connecting rod 4. During the swinging process of the lower part of the solar connecting rod 4, the large solar panel 2 is driven to slide horizontally, thereby realizing the automatic opening and closing of the large solar panel 2 on the upper end surface of the body frame.

[0047] When the solar energy mechanism of this embodiment is actually used, the signal receiving antenna 1 is used to receive and transmit satellite signals; the large solar panel 2 is used to collect solar energy to provide energy supply for the planting vehicle; the small solar panel 3 is used to assist the large solar panel in collecting solar energy and increase the efficiency of solar energy collection; the solar connecting rod 4 is connected to one end of the large solar panel 2, and can be horizontally moved to adjust the position of the large solar panel 2 on the upper end surface of the body frame, so as to shield the plants in the plant bin 61 on the upper part of the body frame, and also control the opening and closing of the top of the seedling storage mechanism. When seedlings need to be stored, the large solar panel 2 is opened to facilitate the placement of seedlings, which provides a sunshade environment for the seedling storage mechanism to avoid direct sunlight and increase the survival rate of seedlings;

[0048] The DC reduction stepper motor 9 is fixed on the body frame, and the linkage rocker 5 is connected to the solar connecting rod 4 to transmit power and realize the opening and closing functions; the hexagonal head fixing screw 6 plays a fixing role, fixing the linkage rocker 5 on the large toothed disc gear 7; the large toothed disc gear 7 is meshed with the small toothed disc gear 8 to realize the transmission of force; the small toothed disc gear 8 is installed on the output shaft of the DC reduction stepper motor 9, meshed with the large toothed disc gear 7, and transmits the power generated by the DC reduction stepper motor 9 to the large toothed disc gear 7; the plant bin 61 is used to store plants, and contains seedlings. Other components and connection relationships are the same as those in the first embodiment.

[0049] Specific implementation method three: Combination Figures 6 to 8 The present embodiment is described. The clamping mechanism of the present embodiment comprises a transverse moving assembly, two longitudinal moving assemblies and a clamping unit. The clamping unit is slidably mounted on the transverse moving assembly through a pulley, and the clamping unit moves transversely on the transverse moving assembly driven by a belt transmission; both ends of the transverse moving assembly are respectively mounted on a longitudinal moving assembly, and the two longitudinal moving assemblies jointly drive the transverse moving assembly and the clamping unit to move longitudinally;

[0050] The clamping unit includes a left clamping jaw 26, a right clamping jaw 27, a linkage rod 28, a clamping jaw plate 29, a main cylinder 32, a clamping pulley 33, an intermediate cylinder shaft 34, a left cylinder shaft 35, a right cylinder shaft 36, a left connecting rod 42 and a right connecting rod 43. The upper part of the main cylinder 32 is installed on the lower part of the clamping plate, and the clamping plate is slidably installed on the lateral moving assembly through the clamping pulley 33 installed on the upper part thereof, and can move laterally on the lateral moving assembly; the lower end of the main cylinder 32 is connected to the upper end of the intermediate cylinder shaft 34, and the intermediate cylinder After the lower end of the shaft 34 slides through the clamping plate 29, the left and right sides are respectively connected to a linkage rod 28. The left cylinder shaft 35 and the right cylinder shaft 36 are respectively located on the left and right sides of the main cylinder 32 and are connected to the clamping plate 29 to realize the lifting and lowering drive of the clamping plate 29. The upper ends of the left clamping jaw 26 and the right clamping jaw 27 are both rotatably connected to the clamping plate 29, and the middle parts of the left clamping jaw 26 and the right clamping jaw 27 are driven by the linkage rod 28 to move inward or outward at the same time under the extension and retraction of the main cylinder 32 to realize the grasping action.

[0051] When the clamping unit is actually used, it also includes a first hexagon socket head screw 30, a first hexagon nut type I 31, a second hexagon socket head screw 37, a third hexagon socket head screw 38, a second hexagon nut type I 39, a fourth hexagon socket head screw 40 and a third hexagon nut type I 41;

[0052] The left clamp 26 and the right clamp 27 are meshed with the linkage rod 28 to realize the clamping action of the left clamp 26 and the right clamp 27; one end of the clamp plate 29 is connected to the main cylinder 32, and the other end of the clamp plate 29 is hinged to the left clamp 26 and the right clamp 27; the first hexagon socket cylindrical head screw 30 is used for the connection of the left clamp 26, and the right clamp 27 is the same; the hexagonal nut type I 31 and the first hexagon socket cylindrical head screw 30 are used to connect the left clamp 26 and the right clamp 27; the main cylinder 32 is fixed on the long slide rail 10 to provide power for the clamping of the left clamp 26 and the right clamp 27; the clamping pulley 33 is used for the lateral movement of the main cylinder 32 on the long slide rail 10; the intermediate cylinder shaft 34 is fixed at the main cylinder 32 for the telescopic action of the clamping mechanism; the left cylinder shaft 35 is fixed at the main cylinder 32 for The right cylinder shaft 36 is fixed at the main cylinder 32 for the extension and retraction of the clamping plate 29; the second hexagon socket head screw 37 is used to fix the intermediate cylinder shaft 34 and the clamping plate 29; the third hexagon socket head screw 38 is used to fix the clamping pulley 33 on the main cylinder 32; the hexagon nut type I 39 cooperates with the third hexagon socket head screw 38 to fix the clamping pulley 33 on the main cylinder 32; the fourth hexagon socket head screw 40 is used to fix the main cylinder 32 on the long slide rail 10; the hexagon nut type I 41 cooperates with the fourth hexagon socket head screw 40 to fix the main cylinder 32 on the long slide rail 10; the left connecting rod 42 is hinged to the linkage rod 28; the right connecting rod 43 is hinged to the linkage rod 28.

[0053] Such arrangement facilitates the rapid and flexible clamping of the plant. The other components and connection relationships are the same as those of the first or second specific implementation.

[0054] Specific implementation method four: Combination Figures 6 to 8 The present embodiment is described. The lateral movement assembly of the present embodiment includes a long slide rail 10, a limit plate 12, a limit switch 13, a fixed plate 14, a first pulley 15, a lateral movement drive motor 23, a second pulley 19, a long slide rail left slide wheel 20, a long transmission belt 21, a long slide rail right pulley 22 and a slide plate 18.

[0055] The left sliding wheel 20 of the long slide rail is installed at the left end of the long slide rail 10 through the sliding plate 18, and the right pulley 22 of the long slide rail is installed on the output shaft of the lateral movement driving motor 23 located on the right side of the long slide rail 10. The left sliding wheel 20 of the long slide rail and the right pulley 22 of the long slide rail are connected by a long transmission belt 21. The clamping unit is connected to the long transmission belt 21 and realizes lateral movement under the movement of the long transmission belt 21; the second pulley 19 and the first pulley 15 are respectively installed at the lower left and right parts of the long slide rail 10 for the longitudinal movement of the long slide rail 10, the limit plate 12 is fixedly installed on the right side of the long slide rail 10 through the fixing plate 14, and the limit switch 13 is installed on the left side of the limit plate 12. In addition, the lateral movement driving motor 23 is a high-precision 42 stepping motor.

[0056] The lateral movement assembly of this embodiment further includes a hexagonal self-tapping locking screw 11, a cross recessed pan head self-tapping locking screw 16, a hexagonal fixing screw 17, a first hexagonal flange self-tapping screw 24 and a type II all-metal hexagonal locking nut 25;

[0057] The long slide rail 10 is used for the lateral movement of the clamping mechanism; the hexagonal self-tapping locking screw 11 is used to fix the long slide rail 10 to the limit plate 12; the limit switch 13 is installed on the limit plate 12 to limit the stroke of the clamping mechanism; the limit switch 13 is used for the hard limit of the clamping mechanism and has a reset function; the fixed plate 14 is used to fix the first pulley 15 on the long slide rail 10; the first pulley 15 is used for the longitudinal movement of the long slide rail 10; the cross-slot pan head self-tapping locking screw 16 passes through the fixed plate 14 to fix the first pulley 15 to the limit plate 12; the hexagonal fixing screw 17 is used to fix the second pulley 19 and the sliding plate 18 on the long slide rail 10; the sliding plate 18 is used to fix the second pulley 19 Fixed; the second pulley 19 is used for the longitudinal movement of the long slide shaft 10; the long slide rail left slide wheel 20 is fixed to the slide plate 18 for the rotation of the long transmission belt 21; the long transmission belt 21 is fixed on the long slide rail 10, and is fixedly supported by the long slide rail left slide wheel and the long slide rail right slide wheel 22 for the lateral movement of the clamping mechanism; the long slide rail right slide wheel 22 is connected to the output shaft of the high-precision 42 stepper motor to transfer the force to the long transmission belt 21; the high-precision 42 stepper motor provides power for the long transmission belt 21 and fixes it on the long slide rail 10; the first hexagonal flange self-tapping screw 24 is used to fix the long slide rail left slide wheel 20 and the slide plate 18; the type II all-metal hexagonal locking nut 25 cooperates with the hexagonal fixing screw 17 to play a fixing role.

[0058] Such arrangement facilitates the lateral movement of the clamping mechanism. Other components and connection relationships are the same as any one of the specific embodiments 1 to 3.

[0059] Specific implementation method five: Combination Figures 6 to 8The present embodiment is described. The two longitudinal moving components of the present embodiment have the same structure and are arranged opposite to each other. The longitudinal moving components include a left longitudinal moving drive motor 44, a left short slide rail 45, a left short transmission belt 46, a left short slide rail left sliding wheel 47 and a left short slide rail right sliding wheel 48.

[0060] The left longitudinal movement drive motor 44 is installed on the left side of the left short slide rail 45, and the left short slide rail left sliding wheel 47 is installed on the output shaft of the left longitudinal movement drive motor 44. The left short slide rail left sliding wheel 47 and the left short slide rail right sliding wheel 48 located on the right side of the left short slide rail 45 are connected through a left short transmission belt 46. The left longitudinal movement drive motor 44 is a high-precision 42 stepping motor.

[0061] Such arrangement facilitates the longitudinal movement of the clamping mechanism. Other components and connection relationships are the same as any one of the specific embodiments 1 to 4.

[0062] The longitudinal moving assembly in this embodiment further includes: a second hexagonal flange tapping screw 49, a cylindrical fixing screw 50, a type II all-metal hexagonal locking nut 51, a third hexagonal flange tapping screw 52, ​​a high-precision 42 stepping motor 53, a short transmission belt 54, a hexagonal flange tapping screw 55, a right short slide rail left sliding wheel 56, a right short slide rail right sliding wheel 57, a right short slide rail 58, a fifth hexagon socket head screw 59 and a second hexagon head tapping locking screw 60;

[0063] The high-precision 42-stepping motor 44 provides transmission force for the rotation of the left short transmission belt 46; the left short slide rail 45 is fixed to the long slide rail 10 and is used for the longitudinal movement of the long slide rail 10; the left short transmission belt 46 is used to transmit the force required for the movement of the long slide rail 10; the left short slide rail left sliding wheel 47 is used to transmit the force of the high-precision 42-stepping motor 44 to the left short transmission belt 46, and cooperates with the left short slide rail right sliding wheel 48 to fix the left short transmission belt 46; the left short slide rail right sliding wheel 48 is fixed on the left short slide rail 45, and is used to cooperate with the left short slide rail left slide wheel 47 to fix the left short transmission belt 46; the second hexagonal flange self-tapping screw 49 is used to fix the high-precision 42 stepping motor 44 on the body frame; the cylindrical fixing screw 50 is used to fix the left short slide rail right slide wheel 48 on the left short slide rail 45; the type II all-metal hexagonal locking nut 51 is used to cooperate with the cylindrical fixing screw 50 to fix the left short slide rail right slide wheel 48; the third hexagonal flange self-tapping screw The tapping screw 52 is used to fix the high-precision 42 stepper motor 44 on the body frame; the high-precision 42 stepper motor 53 is used to provide transmission force for the short transmission belt 54 on the right short slide rail 58; the short transmission belt 54 is used to transmit the force required for the long slide rail 10 to move; the hexagonal flange self-tapping screw 55 is used to fix the high-precision 42 stepper motor 53 on the body frame; the right short slide rail left sliding wheel 56 is used to transmit the force of the high-precision 42 stepper motor 53 to the short transmission belt 54, The short transmission belt 54 is fixed in cooperation with the right sliding wheel 57 of the right short slide rail; the right sliding wheel 57 of the right short slide rail is fixed on the right short slide rail 58, and is used to cooperate with the left sliding wheel 56 of the right short slide rail to fix the short transmission belt 54; the right short slide rail 58 is fixed to the long slide rail 10, and is used as the longitudinal moving platform of the long slide rail 10; the fifth hexagon socket head screw 59 is used to fix the right sliding wheel 57 of the right short slide rail on the right short slide rail 58; the second hexagon head self-tapping locking screw 60 is used to fix the right short slide rail 58.

[0064] Specific implementation method six: Combination Fig. 9 and Fig.10The present embodiment is described. The wind cyclone landfill mechanism of the present embodiment includes a lifting drive mechanism, a fan box 72, a ducted fan 73, an air pressure pipe 74, a seedling conveying pipe 75, a discharge port 76, a nutrient solution valve 77, a nozzle valve 78, a fixed wind cover 409 and a sliding wheel 79; the fixed wind cover 409 is provided with a plurality of air pressure pipes 74 in the circumferential direction, each air pressure pipe 74 is provided with a fan box 72, a ducted fan 73 is provided in the fan box 72, and the ducted fan 74 is provided with a plurality of air pressure pipes 74 in the circumferential direction. 3 generates wind force for landfill; the seedling conveying pipe 75 is vertically installed at the center of the fixed wind cover 409, and the lower part of the seedling conveying pipe 75 is provided with a discharge port 76, the nutrient solution valve 77 and the nozzle valve 78 are installed on the fixed wind cover 409, and the nutrient solution valve 77 is connected to the copper water pipe 86 of the second discharge port of the water storage mechanism, the sliding wheel 79 is installed on the side wall of the fixed wind cover 409, and the lifting drive mechanism is fixedly connected to the fixed wind cover 409 and drives the fixed wind cover 409 to realize lifting as a whole;

[0065] The lifting drive mechanism includes a rack 62, a rack gear 63, a worm gear 64, a worm 65, a transmission wheel 66, a transmission belt 69, a rotating wheel 70 and a first stepping motor 71.

[0066] The first stepper motor 71 is installed in the machine frame, and the output shaft of the first stepper motor 71 is connected to the rotating wheel 70. The transmission wheel 66 and the worm 65 are coaxially arranged, and the transmission wheel 66 and the rotating wheel 70 are connected by a transmission belt 69.

[0067] The first stepper motor 71 transmits the rotational power to the rotating wheel 70, and the rotating wheel 70 drives the transmission wheel 66 to rotate through the transmission belt 69. The transmission wheel 66 transmits power to the worm 65, the worm 65 engages with the worm gear 64, the worm gear 64 engages with the rack gear 63, and the rack gear 63 engages with the rack 62, thereby driving the fixed wind hood 409 to rise and fall as a whole.

[0068] This arrangement makes it easy to cover the planted plants with sand to complete the planting. The wind vortex landfill generates rotating wind through the four diagonal duct fans 73 to blow the sand into the pit to bury the seedlings. At the same time, the nozzle valve 78 sprays water mist to reduce the spread of dust. After the burial is completed, the nutrient solution valve 77 is filled. The first stepper motor 71 drives the worm gear to reset the wind vortex system, and then the photo is uploaded for testing to enter the next process. The other components and connection relationships are the same as any one of the specific embodiments one to five.

[0069] The wind vortex filling mechanism of this embodiment includes: a bearing 67, a fourth hexagonal flange self-tapping screw 68 and a cross groove head self-tapping locking screw 80. The rack 62 is meshed with the rack gear 63 to fix the up and down movement of the wind hood 409; the worm gear 64 is meshed with the worm 65 and transmits the force to the rack gear 63; the transmission wheel 66 is used for transmission by the transmission belt 69; the inner hole of the bearing 67 is used to fix the worm 65; the fourth hexagonal flange self-tapping screw 68 mainly plays a fixing role; the transmission belt 69 is used to transmit the force of the rotating wheel 70 to the transmission wheel 66; the rotating wheel 70 is connected to the output shaft of the high-precision 42 stepper motor 71 to transmit the force to the transmission belt 69; the high-precision 42 stepper motor The motor 71 provides power for the lifting and lowering of the entire wind cyclone landfill mechanism; the fan box 72 contains a ducted fan 73, which is connected to an air pressure pipe 74; the rotation of the ducted fan 73 can generate wind for landfilling; the air pressure pipe 74 is used to directional transport the wind generated by the ducted fan 73; the seedling transport pipe 75 is used to transport the seedlings to the discharge port 76; the nutrient solution valve 77 is connected to the copper water pipe 86 of the second discharge port for spraying nutrient solution on the seedlings during planting; the nozzle valve 78 is connected to the discharge port of the copper water pipe 85 of the first discharge port for watering during the seedling planting process; the sliding wheel 79 is used to assist the lifting and lowering of the wind hood 409; the cross-slot self-tapping locking screw 80 is used to fix the sliding wheel 79.

[0070] Specific implementation method seven: Combination Fig.11 and Fig.12 To illustrate this embodiment, the water storage mechanism of this embodiment includes a water tank wall 81, a water suction pump 82, a filter port 83, a bottom copper water pipe 84, a first outlet copper water pipe 85, a second outlet copper water pipe 86 and a water tank pull-out sliding assembly;

[0071] The water suction pump 82 is installed on the water tank wall 81, the filter port 83 is installed on the water suction side of the water suction pump 82, and the bottom copper water pipe 84 is horizontally arranged in the water tank wall 81 and supplies water to the plant bin 61 of the seedling storage mechanism to maintain the activity of the plants;

[0072] One end of the first discharge port copper water pipe 85 and the second discharge port copper water pipe 86 are connected to the water tank wall 81, and the other ends of the first discharge port copper water pipe 85 and the second discharge port copper water pipe 86 are respectively connected to the nutrient solution valve 77 and the nozzle valve 78 for spraying water and nutrient solution to the plants. The water tank pull-out sliding assembly is slidably inserted in the body frame;

[0073] The water tank pull-out sliding assembly includes a water tank base 87, a water tank bottom cylinder push rod 88, a guide wheel 89 and a guide wheel connecting rod 90; the water tank bottom cylinder push rod 88 is installed in the machine frame, the water tank base 87 is installed on the lower end of the water tank wall 81, and the guide wheel 89 is installed on the two side end surfaces of the water tank base 87 through the guide wheel connecting rod 90. The water tank base 87 and the water tank wall 81 are slidably installed in the machine frame under the telescopic action of the water tank bottom cylinder push rod 88. Other components and connection relationships are the same as any one of the specific embodiments one to six.

[0074] The water tank wall 81 of this embodiment is inside the body frame, which is convenient for carrying when traveling and working; the water suction pump 82 is used to pump out water from the water tank wall 81 for use in the planting process; the filter port 83 is used to filter sand and dust particles that accidentally enter the water tank; the bottom of the copper water pipe 84 storage device is used to maintain the activity of the plants in the plant bin 61; the water tank base 87 is used to fix the water tank; the water tank bottom cylinder push rod 88 can push the water tank base 87 to move below the water inlet; the guide wheel 89 is used to move the water tank base 87; the guide wheel connecting rod 90 is used to fix the guide wheel 89; the first flange self-tapping screw 92 and the second first flange self-tapping screw 94 fix the water tank bottom cylinder push rod 88 to the water tank base 87; the first hexagonal locking nut 91 and the first hexagonal locking nut 93 are used to fix the first flange self-tapping screw 92 and the second first flange self-tapping screw 94; the fixed wind cover 409 is mainly used to form a wind vortex space for easy landfill.

[0075] Specific implementation method eight: Combination Fig.13 and Fig.14 To explain this embodiment, the drilling mechanism of this embodiment includes a ground drill lifting drive unit, a ground drill frame 100, a ground drill 95 and a ground drill rotation drive unit;

[0076] The ground drill lifting drive unit is installed on the body frame, the ground drill frame 100 is installed on the ground drill lifting drive unit, and is lifted and lowered under the action of the ground drill lifting drive unit. The ground drill 95 is vertically installed on the ground drill frame 100, and the ground drill 95 is driven to rotate to complete drilling under the action of the drill rotation drive unit installed on the ground drill frame 100 at the bottom;

[0077] The ground drill lifting drive unit includes a DC reduction servo motor 104, a motor fixing base 105, a drilling conveyor belt 103 and a pulley with a bearing 106. The DC reduction servo motor 104 is installed on the body frame through the motor fixing base 105. The output shaft of the DC reduction servo motor 104 is connected to the pulley, and the pulley and the pulley with a bearing 106 are connected through the drilling conveyor belt 103. The ground drill rotation drive unit includes a spindle motor 98, a rotating pulley 96, a rotating conveyor belt 97, a rotating sliding bearing 99, a pulley fixing rod 109, a left lifting pulley 107 and a right lifting pulley Wheel 108, the pulley fixing rod 109 passes through the center bearings of the left lifting pulley 107 and the right lifting pulley 108, and both ends are fixed on the ground drilling frame, and the left lifting pulley 107 and the right lifting pulley 108 are located in the ground drilling frame 100, the pulley fixing rod 109 is connected to the drilling pit conveyor belt 103, the spindle motor 98 is installed on the ground drilling frame 100, and the output shaft of the spindle motor 98 passes through the ground drilling frame 100 upward and is connected to the rotating sliding bearing 99, and a rotating pulley 96 is installed on the upper end of the ground drilling 95, and the rotating pulley 96 is connected to the rotating sliding bearing 99 through a rotating conveyor belt 97.

[0078] The drilling mechanism of this embodiment also includes: a fifth hexagonal flange self-tapping screw 101, a metal-inlaid hexagonal thin nut 102, a hexagonal head nut 200 and a bearing fixing rod 201; the ground drill 95 is used to drill a hole for planting seedlings; the rotating pulley 96 is connected to one end of the ground drill 95 to transmit the force transmitted by the rotating transmission belt 97 to the ground drill 95; the rotating transmission belt 97 is used to transmit the torque of the spindle motor 98 to the rotating pulley 96; the spindle motor 98 is used to provide the power required by the drilling mechanism; the rotating sliding bearing 99 is connected to the drilling transmission belt 103 to control the ground drill frame 100 to rise and fall along the body frame; the ground drill frame 100 is used to install the spindle motor 98, the rotating pulley 96, the ground drill 95, the rotating transmission belt 97 and the rotating sliding bearing 99 together; the fifth hexagonal flange self-tapping screw 101 is used to fix the spindle motor 98 on the ground drill frame 100; The metal inlaid hexagonal thin nut 102 cooperates with the fifth hexagonal flange self-tapping screw 101 to fix the spindle motor 98; the drilling transmission belt 103 is used to transmit the power of the DC reduction servo motor 104 to the rotating sliding bearing 99; the DC reduction servo motor 104 provides lifting power for controlling the drilling mechanism; the motor fixing base 105 is used to fix the DC reduction servo motor 104 on the body frame to make it work stably; the bearing pulley 106 is connected to the drilling transmission belt 103; the left lifting pulley 107 and the right lifting pulley 108 are located in the ground drilling frame 100, and are used for the up and down movement of the ground drill 95; the pulley fixing rod 109 is used to fix the left lifting pulley 107 and the right lifting pulley 108 on the ground drilling frame 100; the hexagonal head nut 200 cooperates with the pulley fixing rod 109 to play a fixing role; the bearing fixing rod 201 is used to fix the rotating sliding bearing 99.

[0079] Combination Fig.15 The crawler type mobile walking mechanism of the present invention is described. The crawler type mobile walking mechanism includes a reduction DC servo motor 203, a crawler fixing frame 204, a driving wheel 205, a crawler 206, a transmission wheel 207, a suspension, a shock absorbing spring 301 and a load wheel.

[0080] The reduction DC servo motor 203 is installed on the track bracket 204, the output shaft of the reduction DC servo motor 203 is connected to the driving wheel 205, the transmission wheel 207 is arranged in parallel with the driving wheel 205, the road wheels are installed side by side below between the transmission wheel 207 and the driving wheel 205, the suspension is installed on the track bracket 204, the driving wheel 205, the transmission wheel 207 and the road wheels are connected by the track 206, and the shock-absorbing spring 301 is connected in series to the road wheels and installed on the track bracket 204.

[0081] Such arrangement facilitates walking steadily in the desert. Other components and connection relationships are the same as any one of the specific implementation modes 1 to 7.

[0082] The mobile walking mechanism in this embodiment further includes: a first hexagon socket head spiral screw 202, a second hexagon socket head spiral screw 308, a third hexagon socket head spiral screw 309, a fourth hexagon socket head spiral screw 400, a fifth hexagon socket head spiral screw 401, a sixth hexagon socket head spiral screw 406, a seventh hexagon socket head spiral screw 407, an eighth hexagon socket head spiral screw 408, a reduction DC servo motor 203, a track fixing frame 204, a driving wheel 205, a track 206, a transmission wheel 207, a first suspension 208, a second suspension 209, a third suspension 300, a shock absorbing spring 301, a first load-bearing wheel 302, a second load-bearing wheel 304, a third load-bearing wheel 306, a first auxiliary load-bearing wheel 303, a second auxiliary load-bearing wheel 305, The third auxiliary load-bearing wheel 307, the first hexagonal self-tapping locking screw 402, the second hexagonal self-tapping locking screw 403, the third hexagonal self-tapping locking screw 404 and the fourth hexagonal self-tapping locking screw 405; the first hexagonal screw 202 is used to fix the deceleration DC servo motor 203 and the track fixing frame 204; the deceleration DC servo motor 203 is used to provide power to the driving wheel 205; the track fixing frame 204 provides a supporting and fixing function, which is used to fix the deceleration DC servo motor 203 and the driving wheel 205 transmission wheel 207 and the first suspension 208, the second suspension 209, and the third suspension 300 shock-absorbing spring 301 together; the driving wheel 205 fixes the deceleration DC servo motor 20 The output force of 3 is transmitted to the crawler 206 to realize fast walking on complex terrain; the crawler 206 is used to contact the ground for the walking of the planting vehicle; the transmission wheel 207 is used to transmit power, guide the direction, prevent the crawler from deviating from the track, and keep the tension of the crawler 206; the first suspension 208 is used to fix the first load-bearing wheel 302 and the first auxiliary load-bearing wheel 303; the second suspension 209 is used to fix the second load-bearing wheel 304 and the second auxiliary load-bearing wheel 305; the third suspension 300 is used to fix the third load-bearing wheel 306 and the third auxiliary load-bearing wheel 307; the shock-absorbing spring 301 is used to keep the planting vehicle body balanced, stable and shock-absorbing; The first load-bearing wheel 302 supports the track chain, bears the weight and transmits the power to the track 206; the first auxiliary load-bearing wheel 303, the second auxiliary load-bearing wheel 305 and the third auxiliary load-bearing wheel 307 are used to assist the load-bearing of the load-bearing wheels; the second load-bearing wheel 304 and the third load-bearing wheel 306 support the track chain, bear the weight and transmit the power to the track 206; the second hexagon socket head screw 308 is used to fix the first load-bearing wheel 302 and the first auxiliary load-bearing wheel 303 on the first suspension 208; the third hexagon socket head screw 309 is used to fix the second load-bearing wheel 304 and the second auxiliary load-bearing wheel 305 on the second suspension 209 of the suspension;The fourth hexagon socket head screw 400 is used to fix the third road wheel 306 and the third auxiliary load wheel 307 on the third suspension 300; the fifth hexagon socket head screw 401 is used to fix the deceleration DC servo motor 203 and the track fixing frame 204; the first hexagon head self-tapping locking screw 402 is used to connect the first road wheel 302 with the auxiliary road wheel 303; the second hexagon head self-tapping locking screw 403 is used to fix the second road wheel 30 4 is connected to the second auxiliary load-bearing wheel 305 of the auxiliary road wheel; the third hexagonal self-tapping locking screw 404 is used to connect the third road wheel 306 with the third auxiliary load-bearing wheel 307 of the auxiliary road wheel; the fourth hexagonal self-tapping locking screw 405 is used to fix the transmission wheel 207 on the fixing frame 204; the sixth hexagonal spiral screw 406, the seventh hexagonal spiral screw 407, and the eighth hexagonal spiral screw 408 are used to fix the mobile walking mechanism on the body frame. ;

[0083] Specific implementation method nine: Combination Fig.16 To describe this embodiment, the visual device of this embodiment includes multiple high-definition wireless cameras and multiple explosion-proof wireless cameras. The multiple high-definition wireless cameras are installed around the body frame of the machine body, and the multiple explosion-proof wireless cameras are installed in the wind-cyclone landfill mechanism and the drilling mechanism.

[0084] The visual device of this embodiment mainly includes a first high-definition wireless camera 501, a second high-definition wireless camera 502, a third high-definition wireless camera 503, a fourth high-definition wireless camera 504 and a first explosion-proof wireless camera 505, a second explosion-proof wireless camera 506; the first high-definition wireless camera 501, the second high-definition wireless camera 502, the third high-definition wireless camera 503, and the fourth high-definition wireless camera 504 are installed around the body frame to observe the surrounding environment; the first explosion-proof wireless camera 505 and the second explosion-proof wireless camera 506 are installed in the drilling mechanism and the wind cyclone landfill mechanism to observe the drilling position and the landfill effect, and transmit data to the server.

[0085] Specific implementation method ten: Combination Fig.17 The present embodiment is described. The planting method of the present embodiment is characterized in that it comprises the following steps:

[0086] Step 1: Start the multifunctional integrated automated desert planting vehicle, and the equipment will conduct self-inspection. If the self-inspection fails, the equipment needs to be repaired manually until it passes the inspection and proceed to the next step;

[0087] Step 2: The multifunctional integrated automated desert planting vehicle is manually controlled to arrive at the designated location in the desert. At this time, the high-definition wireless cameras around the planting vehicle can be used to observe whether the surrounding environment meets the planting conditions;

[0088] Step 3: The equipment will self-check and prepare materials. If one of the three is missing, water, seedlings or nutrient solution, the planting vehicle will send a signal through the antenna, and the drone will carry out directional transportation based on the positioning of the planting vehicle. If the materials are not missing, proceed to the next step;

[0089] Step 4: The explosion-proof wireless camera in the drilling mechanism searches for the drilling position. If no suitable position is found, the planting vehicle moves to complete fine-tuning. When a suitable position is found, drilling begins. After the drilling is completed, the explosion-proof wireless camera records the position.

[0090] Step 5: The planting vehicle is moved horizontally to move the drilling position to the position directly below the wind cyclone landfill mechanism. At this time, the explosion-proof wireless camera in the wind cyclone landfill mechanism is positioned and corrected according to the data of the explosion-proof wireless camera in the drilling mechanism.

[0091] Step 6: After confirming the position, the wind hood moves down, the clamping mechanism clamps the sapling and sends it into the sapling delivery tube, and inserts it into the hole drilled in step 4;

[0092] Step 7: The cyclone landfill mechanism is in operation. After the landfill action is completed, water and nutrient solution are sprayed;

[0093] Step 8: The explosion-proof wireless camera in the wind-cyclone landfill mechanism takes photos, uploads them to the server, and automatically compares them to confirm whether the planted seedlings are qualified. If they are not qualified, they need to be landfilled again, that is, repeat step 7. If they are qualified, the fixed wind hood moves up, and the planting vehicle moves to find the next station;

[0094] Step 9. Repeat steps 3 to 8 to achieve automated planting in the designated desert area.

[0095] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multifunctional integrated automated desert planting vehicle, comprising a body frame, characterized in that: It also includes a solar energy mechanism, a seedling storage mechanism, a clamping mechanism, a wind cyclone landfill mechanism, a water storage mechanism, a drilling mechanism, a crawler mobile walking mechanism and a visual device. The crawler-type mobile walking mechanism is installed at the four corners of the lower end of the machine frame to drive the machine frame to move. The wind cyclone landfill mechanism, water storage mechanism and drilling mechanism are installed at the bottom of the machine frame from left to right, and the visual device is arranged around the lower part of the machine frame. The seedling storage mechanism is located above the drilling mechanism, and the water storage mechanism continuously replenishes water for the roots of the seedling storage mechanism and waters the newly planted plants. The clamping mechanism is installed on the upper part of the body frame, and the clamping mechanism can realize horizontal and vertical movement. The solar energy mechanism is installed outside the body frame, and the upper openable cover of the solar energy mechanism is installed on the upper end surface of the body frame to shade the plants.

2. The multifunctional integrated automated desert planting vehicle according to claim 1, characterized in that: The solar energy mechanism comprises a signal receiving antenna (1), a large solar panel (2), two small solar panels (3), a solar energy connecting rod (4), a linkage rocker (5), a large toothed disc gear (7), a small toothed disc gear (8) and a DC reduction stepping motor (9). One end of the two small solar panels (3) is rotatably mounted on two opposite upper edges of the upper end surface of the machine frame, and the two small solar panels (3) are opened and closed manually; One end of the large solar panel (2) is horizontally slidably mounted on the upper edge of the upper end surface of the machine frame and is located on one side of the two small solar panels (3). The other end of the large solar panel (2) is supported by the machine frame. A DC reduction stepping motor (9) is mounted on the lower outer portion of the machine frame. The output shaft of the DC reduction stepping motor (9) is connected to a small toothed disc gear (8) after being turned. A large toothed disc gear (7) is rotatably mounted on the lower outer portion of the machine frame, and the large toothed disc gear (7) is meshed with the small toothed disc gear (8). One end of the linkage rocker (5) is fixed by a hexagonal head fixing screw (6). The solar energy connecting rod (4) is mounted on the axle of the large toothed disc gear (7), and the lower end of the solar energy connecting rod (4) is rotatably mounted on the machine frame. The middle and lower parts and the upper parts of the solar energy connecting rod (4) are respectively provided with long strip holes. The other end of the linkage rocker (5) is slidably inserted into the long strip hole in the middle and lower part of the solar energy connecting rod (4). The toggle shaft at one end of the large solar panel (2) is inserted into the long strip hole in the upper part of the solar energy connecting rod (4). During the swinging process of the lower part of the solar energy connecting rod (4), the large solar panel (2) is driven to slide horizontally, so as to realize the opening and closing of the large solar panel (2) on the upper end surface of the machine frame.

3. The multifunctional integrated automated desert planting vehicle according to claim 1 or 2, characterized in that: The clamping mechanism includes a lateral moving component, two longitudinal moving components and a clamping unit. The gripping unit is slidably mounted on the transverse moving assembly through a pulley, and the gripping unit moves transversely on the transverse moving assembly driven by a belt drive; both ends of the transverse moving assembly are respectively mounted on a longitudinal moving assembly, and the two longitudinal moving assemblies jointly drive the transverse moving assembly and the gripping unit to move longitudinally; The gripping unit comprises a left gripping jaw (26), a right gripping jaw (27), a linkage rod (28), a gripping jaw plate (29), a main cylinder (32), a gripping pulley (33), an intermediate cylinder shaft (34), a left cylinder shaft (35), a right cylinder shaft (36), a left connecting rod (42) and a right connecting rod (43). The upper part of the main cylinder (32) is mounted on the lower part of the clamping plate, and the clamping plate is slidably mounted on the lateral moving assembly through a clamping pulley (33) mounted on the upper part thereof, and can move laterally on the lateral moving assembly; The lower end of the main cylinder (32) is connected to the upper end of the intermediate cylinder shaft (34), and the lower end of the intermediate cylinder shaft (34) slides through the clamping claw plate (29) and is connected to a linkage rod (28) on the left and right sides respectively. The left cylinder shaft (35) and the right cylinder shaft (36) are respectively located on the left and right sides of the main cylinder (32) and are connected to the clamping claw plate (29) to realize the lifting and lowering drive of the clamping claw plate (29). The upper ends of the left clamping claw (26) and the right clamping claw (27) are both rotatably connected to the clamping claw plate (29), and the middle parts of the left clamping claw (26) and the right clamping claw (27) are driven by the linkage rod (28) to move inward or outward at the same time under the extension and contraction of the main cylinder (32) to realize the grasping action.

4. The multifunctional integrated automated desert planting vehicle according to claim 3, characterized in that: The lateral movement assembly comprises a long slide rail (10), a limit plate (12), a limit switch (13), a fixed plate (14), a first pulley (15), a lateral movement drive motor (23), a second pulley (19), a long slide rail left slide wheel (20), a long transmission belt (21), a long slide rail right pulley (22) and a slide plate (18). The left sliding wheel (20) of the long sliding rail is installed at the left end of the long sliding rail (10) through a sliding plate (18), and the right sliding wheel (22) of the long sliding rail is installed on the output shaft of a lateral movement driving motor (23) located on the right side of the long sliding rail (10). The left sliding wheel (20) of the long sliding rail and the right sliding wheel (22) of the long sliding rail are connected by a long transmission belt (21), and the clamping unit is connected to the long transmission belt (21) and realizes lateral movement under the movement of the long transmission belt (21); The second pulley (19) and the first pulley (15) are respectively installed at the lower left and right parts of the long slide rail (10) for longitudinal movement of the long slide rail (10). The limit plate (12) is fixedly mounted on the right side of the long slide rail (10) through a fixing plate (14), and the limit switch (13) is mounted on the left side of the limit plate (12).

5. The multifunctional integrated automated desert planting vehicle according to claim 4, characterized in that: The two longitudinal moving assemblies have the same structure and are arranged opposite to each other. The longitudinal moving assembly comprises a left longitudinal moving driving motor (44), a left short slide rail (45), a left short transmission belt (46), a left short slide rail left sliding wheel (47) and a left short slide rail right sliding wheel (48). The left longitudinal movement driving motor (44) is installed on the left side of the left short slide rail (45), the left short slide rail left sliding wheel (47) is installed on the output shaft of the left longitudinal movement driving motor (44), and the left short slide rail left sliding wheel (47) and the left short slide rail right sliding wheel (48) located on the right side of the left short slide rail (45) are connected through a left short transmission belt (46).

6. The multifunctional integrated automated desert planting vehicle according to claim 5, characterized in that: The wind cyclone landfill mechanism comprises a lifting drive mechanism, a fan box (72), a ducted fan (73), an air pressure pipe (74), a seedling conveying pipe (75), a discharge port (76), a nutrient solution valve (77), a nozzle valve (78), a wind fixing cover (409) and a sliding wheel (79); The fixed wind cover (409) is provided with a plurality of wind pressure pipes (74) in the circumferential direction, each wind pressure pipe (74) is provided with a fan box (72), and a ducted fan (73) is provided in the fan box (72), and the rotation of the ducted fan (73) generates wind power for landfilling; The seedling conveying pipe (75) is vertically installed at the center of the fixed wind cover (409), and a discharge port (76) is provided at the lower part of the seedling conveying pipe (75). The nutrient solution valve (77) and the nozzle valve (78) are installed on the fixed wind cover (409), and the nutrient solution valve (77) is connected to the copper water pipe (86) of the second discharge port of the water storage mechanism. The sliding wheel (79) is installed on the side wall of the fixed wind cover (409), and the lifting drive mechanism is fixedly connected to the fixed wind cover (409) and drives the fixed wind cover (409) to realize lifting as a whole; The lifting drive mechanism includes a rack (62), a rack gear (63), a worm gear (64), a worm (65), a transmission wheel (66), a transmission belt (69), a rotating wheel (70) and a first stepper motor (71). The first stepper motor (71) is installed in the machine body frame, the output shaft of the first stepper motor (71) is connected to the rotating wheel (70), the transmission wheel (66) and the worm (65) are coaxially arranged, and the transmission wheel (66) and the rotating wheel (70) are connected via a transmission belt (69). The first stepper motor (71) transmits the rotational power to the rotating wheel (70), the rotating wheel (70) drives the transmission wheel (66) to rotate through the transmission belt (69), the transmission wheel (66) transmits power to the worm (65), the worm (65) meshes with the worm gear (64), the worm gear (64) meshes with the rack gear (63), the rack gear (63) meshes with the rack (62), thereby driving the fixed wind cover (409) to rise and fall as a whole.

7. The multifunctional integrated automated desert planting vehicle according to claim 6, characterized in that: The water storage mechanism comprises a water tank wall (81), a water suction pump (82), a filter port (83), a bottom copper water pipe (84), a first outlet copper water pipe (85), a second outlet copper water pipe (86) and a water tank pull-out sliding assembly; A water suction pump (82) is installed on the water tank wall (81), a filter port (83) is installed on the water suction side of the water suction pump (82), and a bottom copper water pipe (84) is horizontally arranged in the water tank wall (81) and supplies water to the plant bin (61) of the seedling storage mechanism to maintain the activity of the plants; One end of the first discharge port copper water pipe (85) and the second discharge port copper water pipe (86) are both connected to the water tank wall (81), and the other ends of the first discharge port copper water pipe (85) and the second discharge port copper water pipe (86) are respectively connected to the nutrient solution valve (77) and the nozzle valve (78) for spraying water and nutrient solution on the plants, and the water tank pull-out sliding assembly is slidably inserted in the body frame; The water tank pull-out sliding assembly comprises a water tank base (87), a water tank bottom cylinder push rod (88), a guide wheel (89) and a guide wheel connecting rod (90); the water tank bottom cylinder push rod (88) is installed in the machine body frame, the water tank base (87) is installed on the lower end of the water tank wall (81), the guide wheel (89) is installed on the two side end surfaces of the water tank base (87) through the guide wheel connecting rod (90), and the water tank base (87) and the water tank wall (81) are slidably installed in the machine body frame under the telescopic action of the water tank bottom cylinder push rod (88).

8. The multifunctional integrated automated desert planting vehicle according to claim 7, characterized in that: The drilling mechanism comprises a ground drill lifting drive unit, a ground drill frame (100), a ground drill (95) and a ground drill rotation drive unit; The ground drill lifting drive unit is installed on the machine body frame, the ground drill frame (100) is installed on the ground drill lifting drive unit, and is lifted and lowered under the action of the ground drill lifting drive unit, the ground drill (95) is vertically installed on the ground drill frame (100), and the ground drill (95) is driven to rotate under the action of the drill rotation drive unit installed on the ground drill frame (100) to complete drilling; in, The ground drill lifting drive unit comprises a DC reduction servo motor (104), a motor fixing base (105), a drilling conveyor belt (103) and a pulley with a bearing (106). A DC reduction servo motor (104) is mounted on the machine frame via a motor fixing base (105); an output shaft of the DC reduction servo motor (104) is connected to a pulley, and the pulley and the bearing pulley (106) are connected via a drilled conveyor belt (103); The earth drill rotation drive unit comprises a spindle motor (98), a rotating pulley (96), a rotating conveyor belt (97), a rotating sliding bearing (99), a pulley fixing rod (109), a left lifting pulley (107) and a right lifting pulley (108). The pulley fixing rod (109) passes through the central bearings of the left lifting pulley (107) and the right lifting pulley (108), and the two ends are fixed on the ground drilling frame (100), and the left lifting pulley (107) and the right lifting pulley (108) are located in the ground drilling frame (100), the pulley fixing rod (109) is connected to the drilling pit conveyor belt (103), the spindle motor (98) is installed on the ground drilling frame (100), and the output shaft of the spindle motor (98) passes through the ground drilling frame (100) upward and is connected to the rotating sliding bearing (99), and the upper end of the ground drilling (95) is installed with a rotating pulley (96), and the rotating pulley (96) and the rotating sliding bearing (99) are connected through a rotating conveyor belt (97).

9. The multifunctional integrated automated desert planting vehicle according to claim 1 or 8, characterized in that: The visual device includes multiple high-definition wireless cameras and multiple explosion-proof wireless cameras. The multiple high-definition wireless cameras are installed around the body frame of the machine body, and the multiple explosion-proof wireless cameras are installed in the wind-cyclone landfill mechanism and the drilling mechanism.

10. A planting method using a multifunctional integrated automated desert planting vehicle, characterized in that: It includes the following steps: Step 1: Start the multifunctional integrated automated desert planting vehicle, and the equipment will conduct self-inspection. If the self-inspection fails, the equipment needs to be repaired manually until it passes the inspection and proceed to the next step; Step 2: The multifunctional integrated automated desert planting vehicle is manually controlled to arrive at the designated location in the desert. At this time, the high-definition wireless cameras around the planting vehicle can be used to observe whether the surrounding environment meets the planting conditions; Step 3: The equipment will self-check and prepare materials. If one of the three is missing, water, seedlings or nutrient solution, the planting vehicle will send a signal through the antenna, and the drone will carry out directional transportation based on the positioning of the planting vehicle. If the materials are not missing, proceed to the next step; Step 4: The explosion-proof wireless camera in the drilling mechanism searches for the drilling position. If no suitable position is found, the planting vehicle moves to complete fine-tuning. When a suitable position is found, drilling begins. After the drilling is completed, the explosion-proof wireless camera records the position. Step 5: The planting vehicle is moved horizontally to move the drilling position to the position directly below the wind cyclone landfill mechanism. At this time, the explosion-proof wireless camera in the wind cyclone landfill mechanism is positioned and corrected according to the data of the explosion-proof wireless camera in the drilling mechanism. Step 6: After confirming the position, the wind hood moves down, the clamping mechanism clamps the sapling and sends it into the sapling delivery tube, and inserts it into the hole drilled in step 4; Step 7: The cyclone landfill mechanism is in operation. After the landfill action is completed, water and nutrient solution are sprayed. Step 8: The explosion-proof wireless camera in the wind-cyclone landfill mechanism takes photos, uploads them to the server, and automatically compares them to confirm whether the planted seedlings are qualified. If they are not qualified, they need to be landfilled again, that is, repeat step 7. If they are qualified, the fixed wind hood moves up, and the planting vehicle moves to find the next station; Step 9. Repeat steps 3 to 8 to achieve automated planting in the designated desert area.

Images