Vegetation transplanting device and method for mine environment restoration

Abstract

The invention discloses a vegetation transplanting device and method for mine environment restoration, and the device comprises a vehicle body, a vegetation loading and storing assembly, a grabbing assembly, a drilling assembly and a digging assembly. According to the device, automation of a series of vegetation transplanting operations such as vegetation sapling grabbing, drilling and soil covering is achieved, the grabbing assembly can accurately grab vegetation saplings, the digging assembly is used for soil covering, the survival rate of vegetation transplanting is ensured, the device can flexibly switch the grabbing assembly, the drilling assembly and the digging assembly for operation through the rotating base plate at the bottom, and the device is convenient to use. The vegetation transplanting efficiency is greatly improved, the efficient operation mode is particularly suitable for the mine environment restoration scene where a large number of vegetation transplanting needs to be completed within a short time, the vegetation restoration period can be remarkably shortened, and the overall efficiency of mine environment restoration is improved.

Description

Technical Field

[0001] The invention relates to the technical field of mine environment restoration application, in particular to a vegetation transplanting device for mine environment restoration, and also to a vegetation transplanting method for mine environment restoration. Background Art

[0002] With the acceleration of industrialization, mining has become an important support for economic development. However, mining activities have inevitably caused serious damage to the ecological environment. Vegetation has been uprooted, soil structure has been destroyed, soil erosion has intensified, and biodiversity has dropped sharply. The ecological restoration of abandoned mines is not only an ecological responsibility, but also an inevitable requirement for sustainable development. Vegetation, as the core component of the ecosystem, is the key to mine ecological restoration. Vegetation can fix the soil through its roots, reduce soil erosion, improve soil structure, and provide habitats and food sources for various organisms. However, the harsh environment of abandoned mines - poor soil, complex terrain, and extreme climatic conditions - makes the natural recovery process of vegetation extremely slow. Traditional vegetation restoration methods, such as direct sowing or natural succession, often face problems such as low seed germination rate and poor seedling survival rate, making it difficult to achieve effective reconstruction of the ecosystem in a short period of time. Against this background, a vegetation transplantation device for mine environmental restoration came into being.

[0003] The existing vegetation transplanting devices for mine environmental restoration have great defects during use. Most of the existing vegetation transplanting devices for mine environmental restoration rely on manual operations such as vegetation grabbing, drilling and covering, which are inefficient and difficult to meet the needs of completing a large number of vegetation transplants in a short period of time during mine environmental restoration. The existing vegetation transplanting devices for mine environmental restoration have limited adaptability to the complex terrain of mines and cannot flexibly adjust the operating angle and depth, resulting in serious impact on the survival rate and operating efficiency of vegetation transplantation. The existing vegetation transplanting devices for mine environmental restoration do not have the function of planting while moving, and need to frequently stop for transplanting operations, resulting in low operating efficiency and difficulty in adapting to the complex terrain and large area of ​​mines. Summary of the invention

[0004] The purpose of the present invention is to provide a vegetation transplanting device for mine environment restoration, which solves the problem that most of the existing vegetation transplanting devices for mine environment restoration rely on manual labor and are inefficient.

[0005] The present invention also aims to provide a vegetation transplantation method for mine environment restoration.

[0006] The first technical solution adopted by the present invention is: a vegetation transplanting device for mine environment restoration, including a vehicle body, a vegetation storage component, a grabbing component, a drilling component and a digging component, a bottom plate is horizontally arranged on the top of the vehicle body, one end of the top of the bottom plate is horizontally rotated to cooperate with a rotating chassis, a rotating drive motor for driving the rotating chassis to rotate is installed at the bottom of the bottom plate, the grabbing component, the drilling component and the digging component are all installed on the top of the rotating chassis, and the vegetation storage component is installed on the end of the top of the bottom plate away from the rotating chassis. The vegetation transplanting device for mine environment restoration is realized through the cooperation of the grabbing component, the drilling component and the digging component. It automates a series of vegetation transplanting operations such as grabbing vegetation seedlings, drilling holes, and covering soil. The grabbing component can accurately grab vegetation seedlings, the drilling component can quickly drill holes and ensure the planting depth, and the digging component is used to cover the soil to ensure the survival rate of vegetation transplanting. Through the rotating chassis at the bottom, the device can flexibly switch the grabbing component, drilling component and digging component to operate, which greatly improves the efficiency of vegetation transplanting. The vehicle body is equipped with a crawler travel system, which can stably travel on the rugged terrain of the mine. The vegetation storage component is used to store the transplanted vegetation, and the grabbing component, drilling component and digging component work together to complete the vegetation planting work; Among them, the vegetation storage component includes a supporting table and a storage box, a plurality of supporting legs are fixed to the bottom of the supporting table, the supporting table is fixed to the top of the bottom plate by the plurality of supporting legs, and the upper part of the interior of the storage box is divided into a plurality of limited grids by partitions. The vegetation storage component of the device has a unique optimized design, and limited grids are arranged in the storage box, which can store vegetation separately to avoid mutual squeezing of vegetation. At the same time, the design of the storage box facilitates the grabbing component to grab vegetation.

[0007] Preferably, two transmission boxes are provided on both sides of the vehicle body, each transmission box is installed with a track wheel, each transmission box is equipped with a chain for transmission, and travel drive motors are installed at the four corners inside the vehicle body. The four travel drive motors respectively drive a track wheel to rotate through a chain in a transmission box, and the two track wheels on each side of the vehicle body are equipped with travel tracks for transmission.

[0008] Preferably, a through hole is provided at the center of the support table, and the storage box is a frame structure with openings at both ends. The bottom opening of the storage box is aligned with the through hole, and a jacking assembly is vertically installed on the top of the bottom plate below the support table. The jacking assembly includes a jacking plate that can be raised and lowered and adjusted. The cross-sectional size of the jacking plate is adapted to the internal cross-sectional size of the storage box, and the jacking plate is raised and lowered to fit in the storage box.

[0009] Preferably, the jacking assembly also includes a support tube and a jacking rod, the support tube is vertically fixed on the top of the base plate, the jacking rod is telescopically fitted at one end of the top of the support tube, and the jacking plate is horizontally fixed on the top of the jacking rod. The device is also provided with a jacking assembly, and the jacking plate is equivalent to the bottom support plate of the storage box and can be moved up and down for adjustment. During the movement of the device, the jacking plate is adjusted downward to make the interior of the storage box deeper, so that vegetation can be stored as much as possible and the risk of vegetation being scratched by the outside world is reduced. During the planting process, the jacking plate is adjusted upward to push out the vegetation in the storage box, making it convenient for the grabbing assembly to grab it.

[0010] Preferably, a toothed plate is vertically fixed on one side of the lifting rod, a lifting drive motor is horizontally installed on the bottom of the supporting platform, one end of the lifting drive motor is driven by a gear through a rotating shaft, and the gear is meshed with the toothed plate.

[0011] Preferably, the grabbing assembly includes a grabbing base, a grabbing arm and a grabbing small arm, the grabbing base is fixed on the top of the rotating chassis, the grabbing arm is hinged to the grabbing base, the grabbing small arm is hinged to the end of the grabbing arm away from the grabbing base, the grabbing small arm is hinged to the end of the grabbing arm away from the grabbing base, and the grabbing small arm is hinged to the grabbing mounting head at the end of the grabbing small arm away from the grabbing arm. A first motor for driving the grabbing arm to rotate is horizontally installed on one side of the grabbing base, a first guide plate is hinged in the grabbing base, a second guide plate is hinged at one end of the first guide plate away from the grabbing base, and an end of the second guide plate away from the first guide plate is hinged to one end of the grabbing small arm, a second motor for driving the first guide plate to rotate is horizontally installed in the grabbing base, a third guide plate is hinged in the grabbing base, and the grabbing arm is far away from the grabbing base. A triangular plate is hinged at one end away from the grabbing base, the third guide plate is hinged to one corner of the triangular plate at one end away from the grabbing base, a fourth guide plate is hinged to the other corner of the triangular plate, the fourth guide plate is hinged to the grabbing mounting head at one end away from the triangular plate, a third motor for driving the third guide plate to rotate is installed on one side of the grabbing base, an electric clamp is provided for rotation on the grabbing mounting head, and a fourth motor for driving the electric clamp to rotate is installed on the grabbing mounting head. The structural settings of the grabbing component, drilling component and digging component of the device are very flexible and can adapt to the complex environment of rugged, inclined or steep mines. The grabbing component can flexibly grab vegetation saplings of different heights and positions through multi-joint design and electric clamps.

[0012] Preferably, the drilling assembly includes a drilling base, a first drilling joint and a second drilling joint, the drilling base is installed on the top of the rotating chassis, the first drilling joint is hinged on the drilling base, a fifth motor for driving the first drilling joint to rotate is installed on one side of the drilling base, the second drilling joint is hinged at the end of the first drilling joint away from the drilling base, a sixth motor for driving the second drilling joint to rotate is installed on the end of the first drilling joint away from the drilling base, a third drilling joint is hinged on the end of the second drilling joint away from the first drilling joint, a seventh motor for driving the third drilling joint to rotate is installed on the end of the second drilling joint away from the first drilling joint, a drilling mounting head is hinged on the end of the third drilling joint away from the second drilling joint, an eighth motor for driving the drilling mounting head to rotate is installed on the end of the third drilling joint away from the second drilling joint, and a drilling head is installed on the drilling mounting head. The drilling assembly can flexibly adjust the drilling angle and depth according to the terrain of the mine through the multi-joint design and adjustable drilling head.

[0013] Preferably, the drilling head includes a mounting plate, a lifting plate and a drill rod with spiral blades, the mounting plate is fixed at one end of the drilling mounting head, a sliding rod and a vertically rotating screw rod are vertically fixed to one side of the mounting plate, a ninth motor for driving the screw rod to rotate is vertically installed on the top of one side of the mounting plate, a sliding block is welded on the side of the lifting plate close to the mounting plate, the sliding block is sleeved and slidably engaged on the sliding rod, a nut is passed through and fixed on the sliding block, the sliding block is engaged with the screw rod through the nut thread, the drill rod vertically rotates and is engaged on the side of the lifting plate away from the mounting plate, and a tenth motor for driving the drill rod to rotate is vertically installed on the top of the side of the lifting plate away from the mounting plate.

[0014] Preferably, the digging assembly includes a digging base, a first digging force arm and a second digging force arm, the digging base is fixed on the top of the rotating chassis, the first digging force arm is hingedly matched to the top of the digging base, a first cylinder for driving the first digging force arm to rotate is hingedly connected to the digging base, the second digging force arm is hingedly matched to the end of the first digging force arm away from the digging base, a second cylinder for driving the second digging force arm to rotate is hingedly connected to the first digging force arm, a digging installation head is hingedly connected to the end of the second digging force arm away from the first digging force arm, and a third cylinder for driving the digging installation head to rotate is hingedly connected to the second digging force arm Cylinder, a bucket is installed on the digging mounting head. The digging component is designed with a multi-arm and driven by a cylinder. The position and angle of the bucket can be flexibly adjusted. It is used for various operations such as covering soil, leveling terrain, and removing dangerous rocks. The digging component of the device has multiple functions. It is not only used for covering soil, but also for leveling the local terrain of the mine, and digging soil to cover the exposed stones in the mine to create conditions for vegetation transplanting. In addition, the digging component can also break up dangerous stones that endanger the growth of vegetation and ensure the subsequent growth of vegetation. When transplanting vegetation from other places, the digging component can also perform digging operations.

[0015] The second technical solution adopted by the present invention is a vegetation transplantation method for mine environment restoration, and the specific operation steps are as follows: Step 1: Place the plant seedlings in the storage box of the plant storage assembly, adjust the lifting plate of the lifting assembly according to the height of the plant, and adjust the lifting plate downward during the loading stage; Step 2: After loading is completed, the transplanting operation phase begins. The vehicle body is started and moved on the mine terrain through the crawler wheels and the traveling crawler drive device. After moving to the predetermined transplanting position, the rotating chassis rotates under the drive of the rotating drive motor, and the grabbing assembly is adjusted to the top of the storage box, so that the grabbing installation head is aligned with the vegetation seedlings in the storage box, and the electric gripper opens and grabs the vegetation seedlings. Then the grabbing assembly lifts the vegetation seedlings, and the electric gripper rotates to adjust the angle of the vegetation seedlings, ready for transplanting; Step 3: Rotate the chassis again, adjust the drilling assembly to the transplanting position, and complete the drilling operation after determining the drilling depth; Step 4: The grabbing component moves the grabbed vegetation seedling to the drilling position, the electric gripper puts the seedling into the drilled hole, the rotating chassis rotates again, and the digging component is adjusted to the transplanting position for soil covering.

[0016] Beneficial effects of the present invention: (1) In the present invention, the vegetation transplanting device for mine environmental restoration realizes the automation of a series of vegetation transplanting operations such as grabbing vegetation seedlings, drilling holes, and covering soil through the cooperation of a grabbing component, a drilling component, and a digging component. The grabbing component can accurately grab vegetation seedlings, the drilling component can quickly drill holes and ensure the planting depth, and the digging component is used for covering soil to ensure the survival rate of vegetation transplantation. Through the rotating chassis at the bottom, the device can flexibly switch the grabbing component, the drilling component, and the digging component to perform operations, which greatly improves the efficiency of vegetation transplantation. This efficient operation method is particularly suitable for the scenario of mine environmental restoration, which requires a large amount of vegetation transplantation to be completed in a short period of time. It can significantly shorten the vegetation restoration cycle and improve the overall efficiency of mine environmental restoration.

[0017] (2) In the present invention, the device organically combines a vehicle body, a vegetation storage component, a grabbing component, a drilling component and a digging component to realize an efficient operation mode of planting while moving. The vehicle body is equipped with a crawler travel system, which can stably travel on the rugged terrain of the mine. The vegetation storage component is used to store the transplanted vegetation, and the grabbing component, the drilling component and the digging component work together to complete the vegetation planting work. This mode enables the device to carry out vegetation transplanting operations while moving, without the need for frequent stops, which greatly improves the operation efficiency. At the same time, the crawler travel system can adapt to the complex terrain of the mine, ensure the stability of the device during the movement, and ensure the quality of vegetation transplanting. This mode of planting while moving is particularly suitable for environmental restoration scenarios such as mines with complex terrain and large areas, and can effectively improve the efficiency and quality of mine environmental restoration.

[0018] (3) In the present invention, the structural settings of the grabbing component, drilling component and digging component of the device are very flexible and can adapt to the complex environment of the mine with rugged terrain, inclined angles or steep angles. The grabbing component can flexibly grab vegetation seedlings of different heights and positions through the multi-joint design and electric clamps. The drilling component can flexibly adjust the drilling angle and depth according to the mine terrain through the multi-joint design and adjustable drilling head to ensure the survival rate of vegetation transplantation. The digging component can flexibly adjust the position and angle of the bucket through the multi-arm design and cylinder drive, and is used for various operations such as covering soil, leveling terrain, and breaking dangerous rocks. This flexible structural setting enables the device to efficiently complete vegetation transplantation operations in the complex environment of the mine, which is particularly suitable for environmental restoration scenarios such as mines with complex terrain and harsh environment, and can effectively improve the efficiency and quality of mine environmental restoration.

[0019] (4) In the present invention, the vegetation storage component of the device has a unique optimized design. A limited space is set in the storage box, which can store vegetation separately to avoid squeezing between vegetation and ensure the vitality of vegetation before planting. At the same time, the design of the storage box is convenient for the grabbing component to grab vegetation, thereby improving the efficiency of vegetation transplanting. In addition, the device is also provided with a lifting component. The lifting plate is equivalent to the bottom support plate of the storage box and can be moved up and down for adjustment. During the movement of the device, the lifting plate is adjusted downward to make the interior of the storage box deeper, so that vegetation can be stored as much as possible and the risk of vegetation being scratched by the outside world can be reduced. During the planting process, the lifting plate is adjusted upward to push the vegetation in the storage box out, which is convenient for the grabbing component to grab. This optimized design enables the vegetation storage component to better meet the needs of mine environmental restoration, improve the efficiency and quality of vegetation transplanting, and also protect the vitality of vegetation during the transplanting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0022] Figure 2 It is a schematic diagram of the matching structure of the vehicle body and the bottom plate of the present invention.

[0023] Figure 3 It is a schematic diagram of the structure of the vegetation storage component of the present invention.

[0024] Figure 4 It is a schematic diagram of the support platform structure of the present invention.

[0025] Figure 5 It is a cross-sectional view of a storage box of the present invention.

[0026] Figure 6 It is a schematic diagram of the structure of the jacking assembly of the present invention.

[0027] Figure 7 It is a schematic diagram of the coordination structure of the lifting drive motor and the gear of the present invention.

[0028] Figure 8 It is a schematic diagram of the structure of the grabbing component of the present invention.

[0029] Fig. 9 It is a schematic diagram of the structure of the drilling assembly of the present invention.

[0030] Fig.10 It is a schematic diagram of the structure of the drilling head of the present invention.

[0031] Fig.11 It is a schematic diagram of the structure of the excavation component of the present invention.

[0032] In the figure: 1, vehicle body; 101, transmission box; 102, track wheel; 103, travel track; 2, bottom plate; 3, vegetation storage assembly; 4, support table; 401, support leg; 402, through hole; 5, storage box; 501, limit grid; 6, lifting assembly; 601, support cylinder; 602, lifting rod; 603, tooth plate; 604, lifting plate; 7, grabbing assembly; 701, grabbing base; 702, grabbing big arm; 703, grabbing small arm; 704, grabbing installation head; 705, first motor; 706, first guide plate; 707, second guide plate; 708, second motor; 709, third guide plate; 710, triangle plate; 711, fourth guide plate; 712, third motor; 713, fourth motor; 714, electric clamp; 8, drilling assembly; 801, drilling Base; 802, first drilling joint; 803, fifth motor; 804, second drilling joint; 805, sixth motor; 806, third drilling joint; 807, seventh motor; 808, drilling mounting head; 809, eighth motor; 810, drilling head; 811, mounting plate; 812, slide bar; 813, screw rod; 814, ninth motor; 815, lifting plate; 816, slider; 817, tenth motor; 818, drill rod; 9, digging assembly; 901, digging base; 902, first digging arm; 903, first cylinder; 904, second digging arm; 905, second cylinder; 906, digging mounting head; 907, third cylinder; 908, bucket; 10, rotating chassis; 11, rotating drive motor; 12, lifting drive motor; 13, gear. DETAILED DESCRIPTION

[0033] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than 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.

[0034] Example 1 like Figure 1-Figure 11As shown, the vegetation transplanting device for mine environment restoration of the present invention comprises a vehicle body 1, a vegetation storage component 3, a grabbing component 7, a drilling component 8 and a digging component 9. A bottom plate 2 is horizontally arranged on the top of the vehicle body 1, and a rotating chassis 10 is matched with one end of the top of the bottom plate 2 for horizontal rotation. A rotating driving motor 11 for driving the rotating chassis 10 to rotate is installed at the bottom of the bottom plate 2. The grabbing component 7, the drilling component 8 and the digging component 9 are all installed on the top of the rotating chassis 10. The vegetation storage component 3 is installed on the end of the top of the bottom plate 2 away from the rotating chassis 10. The vegetation transplanting device for mine environmental restoration realizes the automation of a series of vegetation transplanting operations such as grabbing vegetation seedlings, drilling holes, and covering soil through the cooperation of the grabbing component 7, the drilling component 8, and the digging component 9. The grabbing component 7 can accurately grab vegetation seedlings, the drilling component 8 can quickly drill holes and ensure the planting depth, and the digging component 9 is used for covering soil to ensure the survival rate of vegetation transplantation. Through the rotating chassis 10 at the bottom, the device can flexibly switch the grabbing component 7, the drilling component 8, and the digging component 9 to operate, which greatly improves the efficiency of vegetation transplantation. Efficiency. This efficient operation mode is particularly suitable for the scenario of mine environmental restoration, which requires a large amount of vegetation transplantation to be completed in a short period of time. It can significantly shorten the vegetation restoration cycle and improve the overall efficiency of mine environmental restoration. The device organically combines the vehicle body 1, the vegetation storage component 3, the grabbing component 7, the drilling component 8 and the digging component 9 to realize an efficient operation mode of planting while moving. The vehicle body 1 is equipped with a crawler travel system, which can stably travel on the rugged terrain of the mine. The vegetation storage component 3 is used to store the transplanted vegetation, and the grabbing component 7, the drilling component 8 and the digging component 9 cooperate to complete the vegetation planting work. This mode enables the device to carry out vegetation transplantation operations while moving, without frequent parking, which greatly improves the operation efficiency. At the same time, the crawler travel system can adapt to the complex terrain of the mine, ensure the stability of the device during the movement, and ensure the quality of vegetation transplantation. This mode of planting while moving is particularly suitable for environmental restoration scenarios such as mines with complex terrain and large areas, and can effectively improve the efficiency and quality of mine environmental restoration.

[0035] Example 2 Based on Example 1, Among them, the vegetation storage component 3 includes a supporting table 4 and a storage box 5. A plurality of supporting legs 401 are fixed to the bottom of the supporting table 4. The supporting table 4 is fixed to the top of the bottom plate 2 by the plurality of supporting legs 401. The upper part of the interior of the storage box 5 is divided into a plurality of limiting grids 501 by partitions. The vegetation storage component 3 of the device has a unique optimized design. The limited grids 501 are arranged in the storage box 5, which can store the vegetation separately to avoid mutual squeezing between the vegetation and ensure the vitality of the vegetation before planting. At the same time, the design of the storage box 5 is convenient for the grabbing component 7 to grab the vegetation, thereby improving the efficiency of vegetation transplanting.

[0036] Example 3 Based on Example 2, In an optional implementation of the present embodiment, two transmission boxes 101 are provided on both sides of the vehicle body 1, and each transmission box 101 is installed with a track wheel 102. Each transmission box 101 is equipped with a chain for transmission, and travel drive motors are installed at the four corners inside the vehicle body 1. The four travel drive motors drive a track wheel 102 to rotate through a chain in a transmission box 101 respectively, and the two track wheels 102 on each side of the vehicle body 1 are equipped with a travel track 103 for transmission.

[0037] In an optional implementation of the present embodiment, a through hole 402 is provided at the center of the support table 4, and the storage box 5 is a frame structure with openings at both ends. The bottom opening of the storage box 5 is aligned with the through hole 402, and a lifting assembly 6 is vertically installed on the top of the base plate 2 below the support table 4. The lifting assembly 6 includes a lifting plate 604 that can be raised and lowered and adjusted. The cross-sectional size of the lifting plate 604 is adapted to the internal cross-sectional size of the storage box 5, and the lifting plate 604 is lifted and lowered to fit in the storage box 5.

[0038] Example 4 Based on Example 3, In an optional implementation of the present embodiment, the jacking assembly 6 also includes a support tube 601 and a jacking rod 602. The support tube 601 is vertically fixed on the top of the base plate 2, and the jacking rod 602 is telescopically fitted at one end of the top of the support tube 601. The jacking plate 604 is horizontally fixed on the top of the jacking rod 602. The device is also provided with a jacking assembly 6, and the jacking plate 604 is equivalent to the bottom support plate of the storage box 5, which can be moved up and down for adjustment. During the movement of the device, the jacking plate 604 is adjusted downward to make the interior of the storage box 5 deeper, so that the vegetation can be stored as much as possible and the risk of the vegetation being scratched by the outside world can be reduced. During the planting process, the jacking plate 604 is adjusted upward to push out the vegetation in the storage box 5, which is convenient for the grabbing assembly 7 to grab. This optimized design enables the vegetation storage assembly 3 to better adapt to the needs of mine environmental restoration, improve the efficiency and quality of vegetation transplanting, and also protect the vitality of the vegetation during the transplanting process.

[0039] In an optional implementation of this embodiment, a tooth plate 603 is vertically fixed on one side of the lifting rod 602, and a lifting drive motor 12 is horizontally installed at the bottom of the support platform 4. One end of the lifting drive motor 12 is driven by a gear 13 through a rotating shaft, and the gear 13 is meshed with the tooth plate 603.

[0040] In an optional implementation manner of this embodiment, the grabbing assembly 7 includes a grabbing base 701, a grabbing arm 702 and a grabbing arm 703. The grabbing base 701 is fixed on the top of the rotating chassis 10, the grabbing arm 702 is hingedly matched on the grabbing base 701, and the grabbing arm 703 is hingedly matched at one end of the grabbing arm 702 away from the grabbing base 701. The grabbing arm 703 is hingedly connected to a grabbing mounting head 704 at one end away from the grabbing arm 702. A first motor 705 driving the grabbing arm 702 to rotate is horizontally installed on one side of the base 701, a first guide plate 706 is hinged in the grabbing base 701, a second guide plate 707 is hinged at one end of the first guide plate 706 away from the grabbing base 701, and an end of the second guide plate 707 away from the first guide plate 706 is hinged to one end of the grabbing arm 703, a second motor 708 driving the first guide plate 706 to rotate is horizontally installed in the grabbing base 701, and the grabbing base 701 A third guide plate 709 is hinged inside, and a triangular plate 710 is hinged at one end of the grabbing arm 702 away from the grabbing base 701. The end of the third guide plate 709 away from the grabbing base 701 is hinged to a corner of the triangular plate 710, and the other corner of the triangular plate 710 is hinged to a fourth guide plate 711. The end of the fourth guide plate 711 away from the triangular plate 710 is hinged to the grabbing mounting head 704. A third motor 712 for driving the third guide plate 709 to rotate is installed on one side of the grabbing base 701, and an electric clamp 714 is rotated on the grabbing mounting head 704. A fourth motor 713 for driving the electric clamp 714 to rotate is installed on the grabbing mounting head 704. The structural settings of the grabbing component 7, the drilling component 8 and the digging component 9 of the device are very flexible and can adapt to the complex environment of the rugged, inclined or steep mine. The grabbing component 7 can flexibly grab vegetation saplings of different heights and positions through the multi-joint design and the electric clamp 714.

[0041] Example 5 Based on Example 4, In an optional implementation manner of the present embodiment, the drilling assembly 8 includes a drilling base 801, a first drilling joint 802 and a second drilling joint 804, the drilling base 801 is installed on the top of the rotating chassis 10, the first drilling joint 802 is hingedly matched on the drilling base 801, a fifth motor 803 for driving the first drilling joint 802 to rotate is installed on one side of the drilling base 801, the second drilling joint 804 is hingedly matched at one end of the first drilling joint 802 away from the drilling base 801, a sixth motor 805 for driving the second drilling joint 804 to rotate is installed at one end of the first drilling joint 802 away from the drilling base 801, and the second drilling joint 804 is away from the first drilling joint One end of the section 802 is hinged with a third drilling joint 806, and one end of the second drilling joint 804 away from the first drilling joint 802 is equipped with a seventh motor 807 for driving the third drilling joint 806 to rotate, and one end of the third drilling joint 806 away from the second drilling joint 804 is hinged with a drilling mounting head 808, and one end of the third drilling joint 806 away from the second drilling joint 804 is equipped with an eighth motor 809 for driving the drilling mounting head 808 to rotate, and a drilling head 810 is installed on the drilling mounting head 808. The drilling assembly 8 can flexibly adjust the drilling angle and depth according to the mine terrain through the multi-joint design and the adjustable drilling head 810, so as to ensure the survival rate of vegetation transplanting.

[0042] In an optional implementation of the present embodiment, the drilling head 810 includes a mounting plate 811, a lifting plate 815 and a drill rod 818 with spiral blades. The mounting plate 811 is fixed to one end of the drilling mounting head 808. A sliding rod 812 and a screw rod 813 are vertically fixed to one side of the mounting plate 811. A ninth motor 814 for driving the screw rod 813 to rotate is vertically installed on the top of one side of the mounting plate 811. A slider 816 is welded to the side of the lifting plate 815 close to the mounting plate 811. The slider 816 is sleeved and slidably engaged on the sliding rod 812. A nut is fixed through the slider 816. The slider 816 is threadedly engaged with the screw rod 813 through the nut. The drill rod 818 is vertically rotatably engaged on the side of the lifting plate 815 away from the mounting plate 811. A tenth motor 817 for driving the drill rod 818 to rotate is vertically installed on the top of the side of the lifting plate 815 away from the mounting plate 811.

[0043] In an optional implementation manner of this embodiment, the digging assembly 9 includes a digging base 901, a first digging arm 902 and a second digging arm 904. The digging base 901 is fixed to the top of the rotating chassis 10, the first digging arm 902 is hingedly matched to the top of the digging base 901, and the digging base 901 is hingedly provided with a first cylinder 903 that drives the first digging arm 902 to rotate. The second digging arm 904 is hingedly matched to the end of the first digging arm 902 away from the digging base 901. A second cylinder 905 is hinged on a lever arm 902 for driving a second lever arm 904 for digging to rotate. A digging mounting head 906 is hinged on one end of the second lever arm 904 for digging away from the first lever arm 902. A third cylinder 907 is hinged on the second lever arm 904 for digging to drive the digging mounting head 906 to rotate. A bucket 908 is mounted on the digging mounting head 906. The digging assembly 9 is designed with multiple lever arms and driven by a cylinder, and the position and angle of the bucket 908 can be flexibly adjusted for covering soil, leveling terrain, The device can be used for a variety of operations such as breaking down dangerous rocks, and this flexible structural setting enables the device to efficiently complete vegetation transplanting operations in complex mine environments. It is particularly suitable for environmental restoration scenarios such as mines with complex terrain and harsh environments, and can effectively improve the efficiency and quality of mine environmental restoration. The digging component 9 of the device has multiple functions. It is not only used for covering soil, but also for leveling the local terrain of the mine, and digging soil to cover the exposed stones in the mine to create conditions for vegetation transplanting. In addition, the digging component 9 can also break down dangerous rocks that endanger the growth of vegetation and ensure the subsequent growth of vegetation. When removing vegetation from other places, the digging component 9 can also perform digging operations. This multifunctional digging component 9 enables the device to complete a variety of operations in mine environmental restoration, greatly improving the applicability and practicality of the device. Through the versatility of the digging component 9, the device can create better conditions for vegetation transplanting and improve the survival rate of vegetation transplanting. At the same time, it can also improve the overall environment of the mine and promote the recovery of the mine ecosystem.

[0044] Example 6 When in use, first, place the vegetation seedlings in the storage box 5 of the vegetation storage component 3. The interior of the storage box 5 is separated into several limit grids 501 by partitions. Each limit grid 501 is used to store a vegetation seedling to avoid squeezing between vegetation. According to the height of the vegetation, the lifting plate 604 of the lifting component 6 is adjusted. The lifting plate 604 is driven by the lifting drive motor 12 to drive the gear 13 to engage with the tooth plate 603 to achieve lifting. During the loading stage, the lifting plate 604 is adjusted downward to make the internal space of the storage box 5 deeper to accommodate more vegetation and reduce the risk of vegetation being scratched by the outside world. After loading is completed, the device is ready to enter the transplanting operation stage, and the travel drive motor of the vehicle body 1 is started to drive the device to move on the mine terrain through the track wheels 102 and the travel tracks 103. Check the initial status of each component including the grabbing component 7, the drilling component 8, and the digging component 9 to ensure that each joint and the driving mechanism are working properly. Then, after the vehicle body 1 moves to the predetermined transplanting position, the rotating chassis 10 rotates under the drive of the rotating drive motor 11, and the grabbing component 7 is adjusted to the top of the storage box 5. The grabbing arm 702 of the grabbing component 7 rotates under the drive of the first motor 705, and the grabbing arm 703 and the grabbing mounting head 704 adjust their angles under the drive of the second motor 708 and the third motor 712 to make the grabbing component 7 move to the top of the storage box 5. The installation head 704 is aligned with the plant seedlings in the storage box 5, the electric clamp 714 opens and grabs the plant seedlings, then the grabbing assembly 7 lifts the plant seedlings, the fourth motor 713 drives the electric clamp 714 to rotate, adjusts the angle of the plant seedlings, and prepares for transplanting, the rotating chassis 10 rotates again, adjusts the drilling assembly 8 to the transplanting position, the first drilling joint 802 of the drilling assembly 8 rotates under the drive of the fifth motor 803, and the second drilling joint 804 adjusts the angle under the drive of the sixth motor 805, and the third drilling joint 806 is rotated. The node 806 further adjusts the position of the drilling head 810 under the drive of the seventh motor 807. The lifting plate 815 of the drilling head 810 moves up and down along the slide bar 812 under the drive of the ninth motor 814 to adjust the drilling depth. The tenth motor 817 drives the drill rod 818 to rotate to complete the drilling operation and provide a suitable planting hole for the plant seedling. The grabbing component 7 moves the grabbed plant seedling to the drilling position, and the electric clamp 714 puts the seedling into the drilled hole. The rotating chassis 10 rotates again to adjust the digging component 9 to the transplanting position. The excavating assembly 9 is in position and is ready for soil covering operation. Finally, the excavating first lever arm 902 of the excavating assembly 9 is rotated under the drive of the first cylinder 903, and the excavating second lever arm 904 is adjusted in angle under the drive of the second cylinder 905. The excavating mounting head 906 is further driven by the third cylinder 907 to adjust the position of the bucket 908. The bucket 908 excavates an appropriate amount of soil and moves it above the vegetation seedlings, covering the soil on the roots of the vegetation to complete the soil covering operation. The excavating assembly 9 can not only be used for soil covering, but also can be used to level the local terrain of the mine.By digging and moving soil, the uneven areas on the mine surface can be repaired. If there are dangerous rocks or other obstacles in the transplanting area, the digging component 9 can use the bucket 908 to break or remove them to create better conditions for vegetation transplanting. After completing the covering and terrain preparation, the vehicle body 1 moves to the next transplanting point and repeats the above transplanting process.

[0045] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. Vegetation transplanting device for mine environment restoration, characterized by: The invention comprises a vehicle body (1), a vegetation storage component (3), a grabbing component (7), a drilling component (8) and a digging component (9), and is characterized in that: a bottom plate (2) is horizontally arranged on the top of the vehicle body (1), one end of the top of the bottom plate (2) is horizontally rotatably matched with a rotating chassis (10), a rotating drive motor (11) for driving the rotating chassis (10) to rotate is installed at the bottom of the bottom plate (2), the grabbing component (7), the drilling component (8) and the digging component (9) are all installed on the top of the rotating chassis (10), and the vegetation storage component (3) is installed on the top of the bottom plate (2) at one end away from the rotating chassis (10); The vegetation storage assembly (3) comprises a support platform (4) and a storage box (5); a plurality of support legs (401) are fixed to the bottom of the support platform (4); the support platform (4) is fixed to the top of the base plate (2) via the plurality of support legs (401); and a plurality of limiting grids (501) are separated into an upper part of the storage box (5) by partitions.

2. The vegetation transplanting device for mine environment restoration according to claim 1 is characterized in that: Two transmission boxes (101) are arranged on both sides of the vehicle body (1), each transmission box (101) is equipped with a track wheel (102), each transmission box (101) is equipped with a chain for transmission, and travel drive motors are installed at the four corners of the vehicle body (1), and the four travel drive motors respectively drive a track wheel (102) to rotate through a chain in a transmission box (101), and the two track wheels (102) on each side of the vehicle body (1) are equipped with a travel track (103) for transmission.

3. The vegetation transplanting device for mine environment restoration according to claim 1 is characterized in that: A through hole (402) is provided at the center of the support platform (4); the storage box (5) is a frame structure with openings at both ends; the bottom opening of the storage box (5) is aligned with the through hole (402); a lifting assembly (6) is vertically installed on the top of the bottom plate (2) below the support platform (4); the lifting assembly (6) includes a lifting plate (604) that can be raised and lowered and adjusted; the cross-sectional size of the lifting plate (604) is adapted to the cross-sectional size of the interior of the storage box (5); and the lifting plate (604) can be raised and lowered to fit in the storage box (5).

4. The vegetation transplanting device for mine environment restoration according to claim 3 is characterized in that: The lifting assembly (6) further comprises a support tube (601) and a lifting rod (602), wherein the support tube (601) is vertically fixed to the top of the base plate (2), the lifting rod (602) is telescopically fitted to one end of the top of the support tube (601), and the lifting plate (604) is horizontally fixed to the top of the lifting rod (602).

5. The vegetation transplanting device for mine environment restoration according to claim 4 is characterized in that: A toothed plate (603) is vertically fixed to one side of the lifting rod (602), and a lifting drive motor (12) is horizontally installed at the bottom of the support platform (4). One end of the lifting drive motor (12) is connected to a gear (13) through a rotating shaft, and the gear (13) is meshed with the toothed plate (603).

6. The vegetation transplanting device for mine environment restoration according to claim 1 is characterized in that: The grabbing assembly (7) comprises a grabbing base (701), a grabbing arm (702) and a grabbing forearm (703); the grabbing base (701) is fixed to the top of the rotating chassis (10); the grabbing arm (702) is hingedly engaged with the grabbing base (701); the grabbing forearm (703) is hingedly engaged with one end of the grabbing arm (702) away from the grabbing base (701); and the grabbing forearm (703) is hingedly engaged with one end of the grabbing arm (702) away from the grabbing base (701). A grabbing mounting head (704) is hingedly connected to the end of the grabbing base (701); a first motor (705) for driving the grabbing arm (702) to rotate is horizontally installed on one side of the grabbing base (701); a first guide plate (706) is hingedly connected inside the grabbing base (701); an end of the first guide plate (706) away from the grabbing base (701) is hingedly connected to a second guide plate (707); an end of the second guide plate (707) away from the first guide plate (706) is hingedly connected to an end of the grabbing arm (703) The gripping base (701) is hinged, a second motor (708) for driving the first guide plate (706) to rotate is installed horizontally in the gripping base (701), a third guide plate (709) is hinged in the gripping base (701), one end of the gripping arm (702) away from the gripping base (701) is hinged to a triangular plate (710), one end of the third guide plate (709) away from the gripping base (701) is hinged to one corner of the triangular plate (710), and the other corner of the triangular plate (710) is hinged to the gripping base (701). A fourth guide plate (711) is connected, and one end of the fourth guide plate (711) away from the triangular plate (710) is hinged to the grabbing and mounting head (704). A third motor (712) for driving the third guide plate (709) to rotate is installed on one side of the grabbing base (701). An electric clamp (714) is rotatably matched on the grabbing and mounting head (704), and a fourth motor (713) for driving the electric clamp (714) to rotate is installed on the grabbing and mounting head (704).

7. The vegetation transplanting device for mine environment restoration according to claim 1 is characterized in that: The drilling assembly (8) comprises a drilling base (801), a first drilling joint (802) and a second drilling joint (804); the drilling base (801) is mounted on the top of the rotating chassis (10); the first drilling joint (802) is hingedly engaged with the drilling base (801); a fifth motor (803) for driving the first drilling joint (802) to rotate is mounted on one side of the drilling base (801); the second drilling joint (804) is hingedly engaged with an end of the first drilling joint (802) away from the drilling base (801); a sixth motor for driving the second drilling joint (804) to rotate is mounted on an end of the first drilling joint (802) away from the drilling base (801). (805), one end of the second drilling joint (804) away from the first drilling joint (802) is hingedly connected to a third drilling joint (806), one end of the second drilling joint (804) away from the first drilling joint (802) is installed with a seventh motor (807) for driving the third drilling joint (806) to rotate, one end of the third drilling joint (806) away from the second drilling joint (804) is hingedly connected to a drilling installation head (808), one end of the third drilling joint (806) away from the second drilling joint (804) is installed with an eighth motor (809) for driving the drilling installation head (808) to rotate, and a drilling head (810) is installed on the drilling installation head (808).

8. The vegetation transplanting device for mine environment restoration according to claim 7 is characterized in that: The drilling head (810) comprises a mounting plate (811), a lifting plate (815) and a drilling rod (818) with a spiral blade. The mounting plate (811) is fixed to one end of the drilling mounting head (808). A sliding rod (812) and a screw rod (813) are vertically fixed to one side of the mounting plate (811). A ninth motor (814) for driving the screw rod (813) to rotate is vertically installed on the top of one side of the mounting plate (811). The lifting plate (815) is close to the mounting plate (811). A slider (816) is welded on one side, the slider (816) is sleeved and slidably engaged on the slide rod (812), a nut is passed through and fixed on the slider (816), the slider (816) is engaged on the screw rod (813) through the nut thread, the drill rod (818) is vertically rotatably engaged on the side of the lifting plate (815) away from the mounting plate (811), and a tenth motor (817) for driving the drill rod (818) to rotate is vertically installed on the top of the side of the lifting plate (815) away from the mounting plate (811).

9. The vegetation transplanting device for mine environment restoration according to claim 1 is characterized in that: The digging assembly (9) comprises a digging base (901), a first digging force arm (902) and a second digging force arm (904). The digging base (901) is fixed to the top of the rotating chassis (10). The first digging force arm (902) is hingedly matched to the top of the digging base (901). A first cylinder (903) for driving the first digging force arm (902) to rotate is hingedly connected to the digging base (901). The second digging force arm (904) is hingedly matched to the first digging force arm (902). ) is connected to one end of the digging base (901), a second cylinder (905) for driving the second digging arm (904) to rotate is hingedly connected to the first digging arm (902), a digging mounting head (906) is hingedly connected to one end of the second digging arm (904) away from the first digging arm (902), a third cylinder (907) for driving the digging mounting head (906) to rotate is hingedly connected to the second digging arm (904), and a digging bucket (908) is installed on the digging mounting head (906).

10. A vegetation transplantation method for mine environment restoration, characterized in that: The vegetation transplanting device for mine environment restoration according to any one of claims 1 to 9 is used, and the specific operating steps are as follows: Step 1: Place the plant seedlings in the storage box of the plant storage assembly, adjust the lifting plate of the lifting assembly according to the height of the plant, and adjust the lifting plate downward during the loading stage; Step 2: After loading is completed, the transplanting operation phase begins. The vehicle body is started and moved on the mine terrain through the crawler wheels and the traveling crawler drive device. After moving to the predetermined transplanting position, the rotating chassis rotates under the drive of the rotating drive motor, and the grabbing assembly is adjusted to the top of the storage box, so that the grabbing installation head is aligned with the vegetation seedlings in the storage box, and the electric gripper opens and grabs the vegetation seedlings. Then the grabbing assembly lifts the vegetation seedlings, and the electric gripper rotates to adjust the angle of the vegetation seedlings, ready for transplanting; Step 3: Rotate the chassis again, adjust the drilling assembly to the transplanting position, and complete the drilling operation after determining the drilling depth; Step 4: The grabbing component moves the grabbed vegetation seedling to the drilling position, the electric gripper puts the seedling into the drilled hole, the rotating chassis rotates again, and the digging component is adjusted to the transplanting position for soil covering.

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