Portable fruit tree seedling group transplanting equipment

Abstract

The invention relates to the technical field of agriculture, in particular to portable fruit tree seedling group transplanting equipment which comprises a moving assembly, a fixing assembly is arranged on the moving assembly and comprises two groups of fixing parts, the fixing parts are arranged in a crossed mode to form a plurality of lantern rings, fixing rods are arranged at the two ends of each fixing part, and the fixing rods are slidably connected with the moving assembly. Any fixing rod is provided with a stretching assembly, the stretching assembly is used for changing the size of the lantern ring by changing the length of the fixing piece, and the control system is used for collecting curvature information of the fixing piece and the height between the bottom wall of the planting hole and the ground and obtaining the trunk diameter of the fruit tree seedling according to the curvature information. The root diameter of the fruit tree seedling is calculated according to the trunk diameter of the fruit tree seedling, the planting depth of the fruit tree seedling is calculated according to the root diameter of the fruit tree seedling, the transplanting equipment is suitable for fruit tree seedlings of different specifications, and the adaptability and universality of a clamping part in the cultivation process in the prior art are improved.

Description

Technical Field

[0001] The invention relates to the technical field of agriculture, and in particular to a convenient device for transplanting fruit tree seedlings in groups. Background Art

[0002] The transplanting and planting of fruit tree seedlings is a key link in the fruit tree planting process. The transplanting quality and operation efficiency directly affect the growth and yield of fruit trees. With the continuous development of modern agricultural technology, the transplanting and planting technology of fruit tree seedlings is also constantly innovating and improving.

[0003] In the transplanting of fruit tree seedlings, the purchase of high-quality seedlings is the first step to a successful transplant. High-quality seedlings should have strong growth, full buds, well-developed root systems, no pests and diseases and mechanical damage, and the height and thickness should meet the transplanting and out-of-garden standards. Before transplanting, the land to be transplanted needs to be deep-turned and aired to loosen the soil and kill the pathogens and eggs in the soil. At the same time, soaking and disinfecting the roots of the seedlings is also an indispensable step, which can allow the roots to absorb enough water and effectively eliminate pathogens, thereby improving the survival rate of transplanting. When transplanting, the reasonable planting density should be determined according to factors such as the fruit tree species, variety, cultivated tree shape, and management methods, and the roots should be flattened in the planting holes on all sides, and the roots should be buried and compacted with fine soil. After transplanting and planting, after irrigating with enough water 2-3 times, cover the ground with mulch or horticultural ground cloth to increase the ground temperature and moisture retention, promote the survival and growth of seedlings, and provide a more suitable soil environment for growth, which helps the healthy growth of fruit trees. This is mainly reflected in the following aspects: First, planting can replace the original soil with weak root system, providing a more fertile and healthier soil environment for fruit trees; second, during the planting process, fruit trees can be pruned and arranged to promote the regeneration ability of fruit trees, increase the leaf area and the number of branches, and improve the number and quality of fruits; in addition, planting can also effectively prevent fruit tree diseases and insect pests, kill disease and insect eggs through comprehensive prevention and treatment, reduce the number of pests, and thus ensure the healthy growth of fruit trees. At the same time, fruit tree planting can also alleviate the contradiction of agricultural and fruit production to a certain extent, improve the quality of garden construction, and ensure that the garden preserves seedlings in advance, so that fruit trees can benefit from early production.

[0004] Planting technology includes multiple links and is a systematic agricultural technology. Before planting, the soil needs to be fully prepared and treated. Choosing a soil environment suitable for the growth of fruit trees is the basis, such as soil pH, groundwater level, soil organic matter, soil salinity, etc., which need to meet the conditions for the normal growth of fruit trees. At the same time, improving and fertilizing the soil is also an important means to improve soil fertility and permeability. During the planting process, a reasonable planting density should be determined according to the fruit tree species, varieties and cultivation patterns, and deep planting holes should be dug, and straw, mature soil and decomposed farmyard manure should be backfilled. At the same time, a good soil environment is provided for root growth. Planting depth is also a key factor affecting the survival rate. Too deep or too shallow may lead to poor growth.

[0005] Although the transplanting and planting technology of fruit tree seedlings has made some progress in recent years, which has significantly improved the survival rate and growth efficiency of fruit trees, we still face some problems and challenges in the actual operation. New orchards usually use one-year-old seedlings without branches, which are easy to manage and relatively low in cost. However, when it comes to seedlings with branches, the situation becomes much more complicated, because the age and crown width of these seedlings may have reached 0.8 to 1 meter, which brings considerable difficulty to the transplanting work.

[0006] In this context, the transplanting equipment used in existing transplanting technologies is particularly critical. Unfortunately, these devices can only be used for fruit tree seedlings of specific types or specifications, and their adaptability is obviously insufficient and their versatility is relatively low. This means that when faced with fruit tree seedlings of different types and specifications, we may need to replace different transplanting equipment, which undoubtedly increases the cost and time cost of transplanting.

[0007] Therefore, how to develop a more adaptable and versatile transplanting equipment to meet the needs of transplanting fruit tree seedlings of different types and specifications has become an urgent problem to be solved in the current fruit tree transplanting technology. At the same time, we also need to continuously explore and optimize transplanting technology to ensure that fruit tree seedlings can be minimally damaged during the transplanting process, thereby improving their survival rate and growth efficiency. Summary of the invention

[0008] In order to solve the above problems, the present invention provides a convenient fruit tree seedling group transplanting equipment, which is used to make the transplanting equipment suitable for fruit tree seedlings of different specifications, thereby improving the adaptability and versatility of the existing technology.

[0009] In order to achieve the above-mentioned purpose, the technical scheme of the present invention is as follows: a portable fruit tree seedling group transplanting device comprises a moving component, a fixing component is arranged on the moving component, the fixing component is used to fix the fruit tree seedling, the moving component is used to drive the fixing component to move and change the height of the fixing component and the ground, the fixing component comprises two groups of fixing parts, the fixing parts are cross-arranged to form a plurality of collars, both ends of the fixing parts are provided with fixing rods, the fixing rods are slidably connected to the moving component, any one of the fixing rods is provided with a stretching component, the stretching component is used to change the size of the collar by changing the length of the fixing part, and the moving component is also provided with a backfilling component, the backfilling component is used to backfill the planting hole;

[0010] It also includes a control system, which is used to collect curvature information of the fixing parts and the height between the bottom wall of the planting hole and the ground, and obtain the trunk diameter of the fruit tree seedling according to the curvature information, calculate the root diameter of the fruit tree seedling according to the trunk diameter of the fruit tree seedling, and calculate the planting depth of the fruit tree seedling according to the root diameter of the fruit tree seedling, and control the moving component to adjust the height of the fixed component according to the planting depth, and control the backfill component to work according to the planting depth and the height between the bottom wall of the planting hole and the ground.

[0011] Furthermore, the mobile component includes a frame, on which a crawler chassis and a driving member are provided, the driving member is used to drive the crawler chassis to work, and the frame is also provided with a plurality of first cylinders, the first cylinders are located below the fixed member, and the first cylinders are used to drive the fixed component to move vertically.

[0012] Furthermore, the fixing parts are provided with a plurality of fixing plates, and the fixing plates are all made of plastic material.

[0013] Further, the control system includes a controller, a plurality of distance sensors and a plurality of curvature sensors;

[0014] The distance sensor is used to collect the height information between the bottom wall of the planting hole and the ground;

[0015] The curvature sensors are used to collect curvature information of the fixture;

[0016] The controller is used to calculate the trunk diameter of the fruit tree seedlings according to the curvature information, calculate the root diameter of the fruit tree seedlings according to the trunk diameter of the fruit tree seedlings, calculate the planting depth of the fruit tree seedlings according to the root diameter of the fruit tree seedlings, adjust the height of the fixed component according to the planting depth, and control the operation of the backfill component according to the planting depth and height information.

[0017] Furthermore, the backfill assembly includes a plurality of backfill plates, each of which is connected to a storage box, each of which is fixedly connected to a frame, and each of which is higher than the backfill plate in a horizontal position. The storage box is used to store backfill materials, and a first solenoid valve is provided at the connection between the backfill plate and the storage box. Each of the backfill plates is provided with a first cylinder, and the first cylinder is used to push the backfill plate to move. The controller controls the operation of the first cylinder and the first solenoid valve according to the planting depth of the fruit seedlings.

[0018] Furthermore, it also includes an excavation component, which includes a plurality of second cylinders, each of which is hinged to the frame ball, and each of which has an output end hinged to an adjacent backfill plate ball.

[0019] Furthermore, the excavation assembly also includes a recovery box, the backfill plates are connected to the recovery box, the recovery box is connected to a vacuum pump, and a second solenoid valve is provided at the connection point between the backfill plates and the recovery box.

[0020] Furthermore, a rotating rod is rotatably connected in the recovery box, a plurality of fan blades are fixedly connected to the side wall of the rotating rod, and a transmission motor is provided at any end of the rotating rod, and the transmission motor is used to drive the rotating rod to move.

[0021] Furthermore, the control system also includes a plurality of strain gauges, which are fixedly connected to the fixing parts and are used to collect deformation information of the fixing parts. The controller determines whether the fixing parts are in contact with the trunk of the fruit tree seedling based on the deformation information, and controls the pull rope assembly to stop working when the fixing parts are in contact with the trunk of the fruit tree seedling.

[0022] Furthermore, the controller is also used to obtain a planting plan for the fruit tree seedlings and the type of backfill material in the storage box, obtain the type of fruit tree seedlings, the trunk diameters of different types of fruit tree seedlings, and the backfill soil requirements of different types of fruit tree seedlings according to the planting plan of the fruit tree seedlings, and after obtaining the trunk diameter of the fruit tree seedlings according to the strain information, obtain the backfill soil requirements of the fruit tree seedlings, and control the operation of the vacuum pump, the first solenoid valve, the second solenoid valve, the first cylinder, and the second cylinder according to the backfill soil requirements of the fruit tree seedlings.

[0023] Technical principles and beneficial effects of the above scheme:

[0024] 1. The design of the fixings in this solution is to fix the fruit tree seedlings through the rings formed by the cross arrangement of two groups of fixings. Compared with the prior art, the number and size of the rings in this solution can be adjusted accordingly according to the specific needs of the user, and the design of the fixings enables the fixing components of this solution to adapt to fruit tree seedlings of different specifications, fully broadening the scope of application of this solution. At the same time, compared with the solution using scissor-type connecting rods, the contact area between the fixings and the surface of the fruit tree seedlings in this solution is larger, and the pressure applied to the surface of the fruit tree seedlings is smaller, which is not easy to cause damage to the fruit tree seedlings. And due to the design of the fixings, in the process of moving the fruit tree seedlings, this solution can stretch the fixings so that the fruit tree seedlings are roughly on the same axis, which is helpful for the subsequent management after transplantation.

[0025] 2. The design of the control system in this scheme obtains the degree of bending of the fixing parts, calculates the trunk diameter of the fruit tree seedlings, and then determines the planting depth of the fruit tree seedlings. Compared with the existing technology, this scheme can autonomously realize the synchronous planting of different fruit tree seedlings, reduce the workload of operators during the transplanting of fruit tree seedlings, and at the same time reduce the operational difficulty of the process.

[0026] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is an axonometric diagram of an embodiment of the portable fruit tree seedling group transplanting device of the present invention;

[0028] Figure 2 It is a schematic diagram of an embodiment of the portable fruit tree seedling group transplanting equipment of the present invention;

[0029] Figure 3 It is a front view of an embodiment of the portable fruit tree seedling group transplanting equipment of the present invention;

[0030] Figure 4 A top view of an embodiment of the portable fruit tree seedling group transplanting device of the present invention;

[0031] Figure 5 for Figure 4 Middle AA section;

[0032] Figure 6 The present invention is a circuit diagram of an embodiment of the portable fruit tree seedling group transplanting equipment.

[0033] The figure marks in the drawings of the specification include: 1. moving component; 11. crawler chassis; 12. frame; 13. first cylinder; 2. fixed component; 21. fixed rod; 22. fixing piece; 23. fixing plate; 3. second cylinder; 4. backfill component; 41. backfill plate; 42. first cylinder; 43. storage box; 5. excavation component; 51. second cylinder; 52. recovery box; 53. rotating rod; 54. fan blade. DETAILED DESCRIPTION

[0034] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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.

[0035] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0036] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] The following is further described in detail through specific implementation methods:

[0038] Embodiment 1:

[0039] As attached Figure 1 -Attached Figure 6 As shown: a portable fruit tree seedling group transplanting equipment, including a moving component 1, a fixed component 2 is provided on the moving component 1, the fixed component 2 is used to fix the fruit tree seedlings, the moving component 1 is used to drive the fixed component 2 to move and change the height of the fixed component 2 and the ground, the moving component 1 includes a frame 12, the frame 12 is provided with a crawler chassis 11 and a driving member, the driving member is used to drive the crawler chassis 11 to work, in this embodiment, the driving member is a diesel engine, the driving member and the frame 12 are fixedly connected by bolts, the frame 12 is also fixedly connected with a first oil cylinder 13 by bolts, the first oil cylinder 13 is used to drive the fixed component 2 to move vertically.

[0040] The fixing assembly 2 includes two groups of fixing parts 22, which are all made of flexible materials. A plurality of fixing plates 23 are embedded in the fixing parts 22, which are all made of plastic materials. The two groups of fixing parts 22 are connected end to end, and the fixing parts 22 are cross-arranged to form a plurality of rings. Any end of the fixing part 22 is bonded and fixed to the frame 12. Both ends of the fixing part 22 are provided with fixing rods 21, which are slidably connected to the frame 12. A stretching assembly is provided on any one of the fixing rods 21, and the stretching assembly is used to change the size of the ring by changing the length of the fixing part 22. In this embodiment, the stretching assembly is the second oil cylinder 3, and the second oil cylinder 3 is fixedly connected to the fixing rod 21 by bolts, and the fixing parts 22 are bonded and fixed to the output end of the second oil cylinder 3.

[0041] A backfill assembly 4 is also provided on the frame 12, and the backfill assembly 4 is used to backfill the planting holes. The backfill assembly 4 includes a plurality of backfill plates 41, and the backfill plates 41 are all connected to a storage box 43, and the storage box 43 is higher than the backfill plate 41 in the horizontal position. The storage box 43 is welded and fixed to the frame 12, and the storage box 43 is used to store backfill materials. The backfill materials include natural soil, humus, perlite, sawdust and other materials. The user can adjust them according to the transplanting environment, the type of fruit seedlings and the climate during transplanting. A first solenoid valve is provided at the connection between the backfill plate 41 and the storage box 43, and a first cylinder 42 is provided on the backfill plate 41. The bottom end of the first cylinder 42 is fixedly connected to the frame 12 by bolts, and the output end of the first cylinder 42 is fixedly connected to the side wall of the backfill plate 41 by bolts, and the first cylinder 42 is used to push the backfill plate 41 to move.

[0042] The control system also includes a controller, a plurality of distance sensors and a plurality of curvature sensors. In this embodiment, the curvature sensor is a Flex4.5 curvature sensor. The controller is fixedly connected to the frame 12 by bolts, and the curvature sensors are all bonded and fixed to the fixing members 22. Any curvature sensor is set at the position where the two sets of fixing members 22 are connected, and the curvature sensors are evenly arranged. The distance sensors are all fixedly connected to the upper side wall of the backfill plate 41 by bolts, and any distance sensor is fixedly connected to the outer side wall of the frame 12 by bolts. The distance sensors are used The height information between the bottom wall of the planting hole and the ground is collected, and the curvature sensors are used to collect the curvature information of the fixing member 22; the curvature sensor, the second oil cylinder 3, the first air cylinder 42 and the first solenoid valve are all electrically connected to the controller, and the controller is used to calculate the trunk diameter of the fruit tree seedling according to the curvature information, calculate the root diameter of the fruit tree seedling according to the trunk diameter of the fruit tree seedling, and calculate the planting depth of the fruit tree seedling according to the root diameter of the fruit tree seedling, and control the first oil cylinder 13 to adjust the height of the fixing component 2 according to the planting depth, and control the backfill component 4 to work according to the planting depth and height information.

[0043] The specific implementation process is as follows: When using this equipment, the operator selects a row of highly similar fruit tree seedlings for synchronous transplanting according to the transplanting plan. When in use, the fixing plate 23 is bent and the number and circumference of the rings formed by the fixing part 22 are adjusted. The design of the fixing plate 23 can help the operator to perform basic fixation on the shape of the fixing part 22, reduce the operator's fixing steps for the fixing part 22, and help simplify the operating process of this equipment. Subsequently, the first cylinder 13 is controlled to work and the fixing belt is adjusted to the position for measuring the trunk diameter.

[0044] Put the fruit tree seedlings into the ring at one time, start the device, and the controller controls the second cylinder 3 to work. The second cylinder 3 shortens and stretches the fixing part 22. At this time, the length of the ring becomes longer and the width becomes narrower. At the same time, the fixing part 22 drives the fixing plate 23 to undergo plastic deformation, so that the fixing plate 23 moves with the movement of the fixing part 22, and then the inner wall of the fixing part 22 and the trunk of the fruit tree seedling are affected by the trunk, and the width of the ring no longer changes.

[0045] At the same time, the controller controls the first oil cylinder 13 to work, and the first oil cylinder 13 drives the fixing part 22 to move upward, thereby lifting the fruit tree seedling from the ground. As the fruit tree seedling leaves the ground, the roots of the fruit tree seedling are no longer affected by the friction of the ground, and follow the deformation movement of the fixing part 22. When the fixing part 22 is stretched by the second oil cylinder 3, the fixing component 2 drives the fruit tree seedling to move. Since the force applied by the fixing part 22 to the fruit tree seedling acts on the diameter of the fruit tree, and the magnitude and direction of the force applied by the two groups of fixing parts 22 to the trunk of the same fruit tree seedling are roughly symmetrical, under the action of the fixing part 22, the fruit tree seedling is gradually moved to the same axis.

[0046] The controller then controls the diesel engine to work, which drives the crawler chassis to move, thereby moving the fruit tree seedlings to the transplanting position.

[0047] During this process, the curvature sensor continuously collects curvature information at various positions of the fixing part 22. According to the curvature at various positions on the fixing part 22, since the distribution positions of each curvature sensor on the fixing part 22 and the general direction of the fixing part 22 are known information, the specific shapes of the two groups of fixing parts 22 are obtained according to the above information. At the same time, since the size of the fixing part 22 is known, the distance from the symmetry axis of the two groups of fixing parts 22 to the highest point and the lowest point of each undulation can be obtained. At the same time, the two groups of fixing parts 22 are connected end to end, and their relative positions can be simulated through their two endpoints to calculate the width of each ring, thereby obtaining the trunk diameter of each fruit tree seedling, calculating the root diameter according to the correlation between the trunk diameter and the root diameter, and calculating the cultivation depth required for the corresponding fruit tree seedling according to the root diameter.

[0048] During the cultivation process, the controller controls the first solenoid valve and the first cylinder 42 at the corresponding position to work according to the position of the collar. The first cylinder 42 extends to allow the backfill plate 41 to enter the planting hole. As the first solenoid valve works, the backfill material reaches the side wall of the backfill plate 41 under the action of gravity and enters the planting hole along the side wall of the backfill plate 41. At the same time, the controller controls the first cylinder 42 to contract to gradually withdraw the backfill plate 41 from the planting hole. During this process, the distance sensor fixed to the frame 12 continuously collects its own height from the ground, while the remaining distance sensors collect the height of the bottom wall of the planting hole (i.e., the soil at the lowest point of the bottom wall of the planting hole or the backfill material at the lowest point of the planting hole) from the ground, thereby obtaining the height information of the ground from the bottom wall of the planting hole. The controller controls the first solenoid valve to work according to the cultivation depth required for the fruit tree seedlings. When the height of the top wall of the backfill material in a certain planting hole and the ground is equal to the cultivation depth, the controller closes the first solenoid valve corresponding to the planting hole. The controller continuously monitors the amount of backfill material in each planting hole to control the opening and closing of the first solenoid valve until all the first solenoid valves are closed.

[0049] Then the controller controls the first cylinder 13 to work, and the first cylinder 13 drives the fixing part 22 to move downward through the fixing rod 21, so that the roots of the fruit tree seedlings enter the corresponding planting holes. The controller controls the second cylinder 3 to extend, and the force of the second cylinder 3 acting on the fixing part 22 decreases accordingly. The radial force applied by the fixing part 22 to the trunk of the fruit tree seedlings also decreases accordingly. The friction between the fixing part 22 and the trunk of the fruit tree seedlings decreases accordingly. The fruit tree seedlings move downward under the action of gravity. After entering the planting hole, the controller controls the first solenoid valve to open again, so that the backfill material enters the planting hole again. When the height of the top wall of the backfill material and the ground quality inspection drops to half of the cultivation depth, the controller closes the first solenoid valve. When all the first solenoid valves are closed, the first solenoid valves are closed. After the solenoid valve is closed again, the controller controls the second oil cylinder 3 to extend. As the second oil cylinder 3 extends, the fixing piece 22 clamps the trunk of the fruit tree seedling again. Then the controller controls the first oil cylinder 13 to work, so that the first oil cylinder 13 drives the fixing belt to move upward in a short time and then resets. In this process, the root system of the fruit tree seedling is stretched. Then the controller opens the first solenoid valve again, and the backfill material enters the corresponding planting hole again to backfill the planting hole until the top wall of the backfill material reaches the ground. At this time, the controller controls the second oil cylinder 3 to contract, so that the fixing piece 22 is completely relaxed. Then the first oil cylinder 13 is controlled to work, and the fixing piece 22 is removed from the top of the fruit tree seedling to complete the planting of the fruit tree seedling.

[0050] During this process, when the backfill material reaches the surface of the backfill plate 41, the gas inside the first cylinder 42 is compressed under the action of the gravity of the backfill material, so that the backfill plate 41 moves downward, thereby pressing the soil or backfill material in the planting hole.

[0051] At the same time, before using the device, the operator can adjust the number of rings formed by the fixing member 22 according to the spacing of the planting holes dug in advance to adapt to different application scenarios.

[0052] Embodiment 2:

[0053] As attached Figure 1 As shown, the difference from Example 1 is that it also includes an excavation component 5, which includes a plurality of second cylinders 51, each of which is ball-jointed to the frame 12, and the output ends of the second cylinders 51 are ball-jointed to the adjacent backfill plates 41.

[0054] The excavation assembly 5 also includes a recovery box 52, which is welded and fixed to the frame 12, and the backfill plates 41 are connected to the recovery box 52. The recovery box 52 is connected to a vacuum pump (not shown in the figure), and a second solenoid valve is provided at the connection point between the backfill plates 41 and the recovery box 52.

[0055] A rotating rod 53 is rotatably connected in the recovery box 52, and a plurality of fan blades 54 are welded and fixed on the side wall of the rotating rod 53. A transmission motor is provided at either end of the rotating rod 53, and the transmission motor is fixedly connected to the recovery box 52 by bolts. The transmission motor is used to drive the rotating rod 53 to move.

[0056] The vacuum pump, the first solenoid valve, the second cylinder 51, the second solenoid valve and the transmission motor are all electrically connected to the controller. The controller is also used to obtain the planting plan of the fruit tree seedlings and the type of backfill material in the storage box 43, obtain the type of fruit tree seedlings, the trunk diameters of different types of fruit tree seedlings and the backfill soil requirements of different types of fruit tree seedlings according to the planting plan of the fruit tree seedlings, and after obtaining the trunk diameter of the fruit tree seedlings according to the strain information, obtain the backfill soil requirements of the fruit tree seedlings, and control the vacuum pump, the first solenoid valve, the second solenoid valve, the first cylinder 42 and the second cylinder 51 to work according to the backfill soil requirements of the fruit tree seedlings.

[0057] The specific implementation process is as follows: when using this equipment, after the operator uses the fixing part 22 to fix the fruit tree seedling, the diesel engine is started to drive the crawler chassis 11 to move the fruit tree seedling to the cultivation position, and the first cylinder 42 and the second cylinder 51 are started. The controller calculates the size of the planting hole required for the fruit tree seedling according to the obtained trunk diameter of the fruit tree seedling, and then adjusts the telescopic length of the first cylinder 42 and the second cylinder 51 to push the backfill plate 41 to move, change the distance between the two backfill plates 41, and then adjust the size of the excavated planting hole. Then the controller controls the first cylinder 42 and the second cylinder 51 to work again, drive the backfill plate 41 to move downward, and excavate the soil at the cultivation position. Then the controller controls the first cylinder 42 and the second cylinder 51 to work, drive the backfill plate 41 to move upward, and drive the soil in the planting hole to move upward, thereby completing the excavation of the planting hole.

[0058] During this process, the operator inputs the planting plan of the fruit tree seedlings into the controller. The planting plan includes the types of fruit tree seedlings, the trunk diameters corresponding to different types of fruit tree seedlings during this planting process, and the backfill soil requirements of different fruit tree seedlings. Based on the above content, the controller can locate the types of fruit tree seedlings according to the collected trunk diameters of the fruit tree seedlings, and then obtain the backfill soil requirements required for the fruit tree seedlings. When the fruit tree seedlings can be backfilled with the soil in the planting hole, the controller controls the vacuum pump and the second solenoid valve to work, and the vacuum pump extracts the gas in the recovery box 52. The air pressure in the recovery box 52 drops. Under the action of the air pressure, part of the soil on the side wall of the backfill plate 41 enters the recovery box 52, and the opening and closing of the second solenoid valve is controlled according to the amount of soil in the planting hole required by the fruit tree seedlings.

[0059] Subsequently, the controller controls the first cylinder 42 and the second cylinder 51 to work, and through the coordinated work of the first cylinder 42 and the second cylinder 51, the position of the backfill plate 41 is changed, so that the backfill plate 41 moves to the outside of the planting hole, and the backfill plate 41 is tilted by the first cylinder 42 and the second cylinder 51, so that the remaining soil on the side wall of the backfill plate 41 is dumped to the ground under the action of gravity.

[0060] Subsequently, the controller controls the first oil cylinder 13 and the second oil cylinder 3 to carry out subsequent cultivation work. During the cultivation process, the controller controls the transmission motor to work according to the planting plan of the fruit tree seedlings. When the soil in the original planting hole is needed to be backfilled, the transmission motor drives the rotating shaft 53 to rotate, and then drives the fan blades 54 to rotate. During the rotation of the fan blades 54, the soil in the recovery box 52 is pushed to the connection between the recovery box 52 and the backfill plate 41. As the soil accumulates, the soil gradually reaches the side wall of the backfill plate 41 and returns to the planting hole under the action of gravity.

[0061] Compared with the prior art, the design of the excavation component 5 in this scheme further reduces the workload of operators during the transplanting of fruit tree seedlings through automated excavation and soil collection. At the same time, the design of the fan blades 54 and the like in this scheme can break up the soil entering the recovery box 52 to a certain extent during the rotation of the fan blades 54, thereby ensuring that the backfill soil is loose and breathable.

[0062] Embodiment 3:

[0063] As attached Figure 1 As shown, the difference from Example 2 is that the control system also includes a plurality of strain gauges, which are all bonded and fixed to the fixing member 22, and are all used to collect deformation information of the fixing member 22. The strain gauges are all electrically connected to the controller, and the controller determines whether the fixing member 22 is in contact with the trunk of the fruit tree seedling based on the deformation information, and controls the pull rope assembly to stop working when the fixing member 22 is in contact with the trunk of the fruit tree seedling.

[0064] The specific implementation process is as follows: During the use of the present device, when the controller controls the second oil cylinder 3 to work and drives the fixing part 22 to clamp the fruit tree seedlings, the strain gauge continuously collects the deformation information of the fixing part 22. Since the fixing part 22 is a plastic material, the fixing part 22 only changes in shape during use without obvious deformation. When the fixing part 22 is obviously deformed, it can be judged that the fixing part 22 is about to be damaged. When the deformation amount of the fixing part 22 is greater than the set value, the controller controls the second oil cylinder 3 to stop working. Compared with the prior art, the design of the strain gauge can prevent the second oil cylinder 3 from over-stretching the fixing part 22 and causing damage to the fixing part 22. At the same time, it can also avoid the problem of insufficient friction between the fixing part 22 and the bark of the fruit tree seedling caused by insufficient stretching of the fixing part 22, thereby causing the fruit tree seedling to fall off during movement. The design of the strain gauge can reduce the excessive deformation of the curvature sensor caused by excessive stretching of the fixing part 22, thereby improving the accuracy of subsequent collection of the trunk diameter of the fruit tree seedlings and the service life of the equipment.

[0065] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A portable fruit tree seedling group transplanting device, comprising a moving component (1), a fixing component (2) being arranged on the moving component (1), the fixing component (2) being used to fix the fruit tree seedlings, the moving component (1) being used to drive the fixing component (2) to move and change the height of the fixing component (2) and the ground, characterized in that: The fixing assembly (2) comprises two groups of fixing members (22), the fixing members (22) are cross-arranged to form a plurality of collars, both ends of the fixing members (22) are provided with fixing rods (21), the fixing rods (21) are slidably connected to the moving assembly (1), any one of the fixing rods (21) is provided with a stretching assembly, the stretching assembly is used to change the size of the collar by changing the length of the fixing member (22), and the moving assembly (1) is also provided with a backfilling assembly (4), the backfilling assembly (4) is used to backfill the planting hole; The system also includes a control system, which is used to collect information about the curvature of the fixing member (22) and the height between the bottom wall of the planting hole and the ground, and to obtain the trunk diameter of the fruit tree seedling based on the curvature information, calculate the root diameter of the fruit tree seedling based on the trunk diameter of the fruit tree seedling, and calculate the planting depth of the fruit tree seedling based on the root diameter of the fruit tree seedling, and control the moving component (1) to adjust the height of the fixing component (2) based on the planting depth, and control the backfill component (4) to work based on the planting depth and the height between the bottom wall of the planting hole and the ground.

2. The portable fruit tree seedling group transplanting equipment according to claim 1 is characterized in that: The moving assembly (1) comprises a frame (12), on which a crawler chassis (11) and a driving member are arranged, the driving member being used to drive the crawler chassis (11) to work, and the frame (12) is also provided with a plurality of first oil cylinders (13), the first oil cylinders being located below the fixing member (2), and the first oil cylinders (13) being used to drive the fixing assembly (2) to move vertically.

3. The portable fruit tree seedling group transplanting equipment according to claim 2 is characterized in that: A plurality of fixing plates (23) are provided on the fixing member (22), and the fixing plates (23) are all made of plastic material.

4. The portable fruit tree seedling group transplanting equipment according to claim 3 is characterized in that: The control system includes a controller, a plurality of distance sensors and a plurality of curvature sensors; The distance sensor is used to collect the height information between the bottom wall of the planting hole and the ground; The curvature sensors are used to collect curvature information of the fixing member (22); The controller is used to calculate the trunk diameter of the fruit tree seedling according to the curvature information, calculate the root diameter of the fruit tree seedling according to the trunk diameter of the fruit tree seedling, calculate the planting depth of the fruit tree seedling according to the root diameter of the fruit tree seedling, adjust the height of the fixing component (2) according to the planting depth and control the first oil cylinder (13), and control the operation of the backfill component (4) according to the planting depth height information.

5. The portable fruit tree seedling group transplanting equipment according to claim 4, characterized in that: The backfilling assembly (4) comprises a plurality of backfilling plates (41), each of the backfilling plates (41) being connected to a storage box (43), each of the storage boxes (43) being fixedly connected to a frame (12); and the height of the storage box (43) in a horizontal position is higher than the height of the backfilling plates (41), the storage box (43) being used to store backfilling materials, a first solenoid valve being provided at a connection point between the backfilling plates (41) and the storage box (43), each of the backfilling plates (41) being provided with a first cylinder (42), the first cylinder (42) being used to push the backfilling plates (41) to move, and a controller controlling the operation of the first cylinder (42) and the first solenoid valve according to the planting depth of the fruit tree seedlings.

6. The portable fruit tree seedling group transplanting equipment according to claim 5, characterized in that: It also includes an excavation assembly (5), which includes a plurality of second cylinders (51), each of which is ball-jointed to the frame (12), and each of which has an output end ball-jointed to an adjacent backfill plate (41).

7. The portable fruit tree seedling group transplanting equipment according to claim 6, characterized in that: The excavation assembly (5) further comprises a recovery box (52), the backfilling plates (41) are connected to the recovery box (52), the recovery box (52) is connected to a vacuum pump, and a second solenoid valve is provided at the connection point between the backfilling plates (41) and the recovery box (52).

8. The portable fruit tree seedling group transplanting equipment according to claim 7, characterized in that: A rotating rod (53) is rotatably connected inside the recovery box (52), a plurality of fan blades (54) are fixedly connected to the side wall of the rotating rod (53), and a transmission motor is provided at any end of the rotating rod (53), and the transmission motor is used to drive the rotating rod (53) to move.

9. The portable fruit tree seedling group transplanting equipment according to claim 8, characterized in that: The control system also includes a plurality of strain gauges, which are fixedly connected to the fixing member (22), and are used to collect deformation information of the fixing member (22). The controller determines whether the fixing member (22) fits the trunk of the fruit tree seedling based on the deformation information, and controls the stretching component to stop working when the fixing member (22) fits the trunk of the fruit tree seedling.

10. The portable fruit tree seedling group transplanting equipment according to claim 9, characterized in that: The controller is also used to obtain a planting plan for the fruit tree seedlings and the type of backfill material in the storage box (43), obtain the type of fruit tree seedlings, the trunk diameters of different types of fruit tree seedlings and the backfill soil requirements of different types of fruit tree seedlings according to the planting plan for the fruit tree seedlings, obtain the backfill soil requirements of the fruit tree seedlings after obtaining the trunk diameter of the fruit tree seedlings according to the strain information, and control the vacuum pump, the first solenoid valve, the second solenoid valve, the first cylinder (42) and the second cylinder (51) to work according to the backfill soil requirements of the fruit tree seedlings.

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