A cutting robot and cutting method suitable for desert planting

Abstract

The application discloses a cutting robot suitable for desert planting and a cutting method. The cutting robot comprises a rack, a cutting unit, a vertical cutting sliding power unit and a horizontal cutting sliding power unit. The cutting unit is used for seedling cutting along a corresponding path. The vertical sliding drive of the vertical cutting sliding power unit is used for driving a vertical sliding block to move along a vertical cutting path relative to the rack, so as to perform vertical cutting. The horizontal sliding drive of the horizontal cutting sliding power unit is used for driving a horizontal sliding block to move along a horizontal cutting path relative to the vertical sliding block, so as to perform horizontal cutting. The application has the advantages of ingenious structure, light structure and low manufacturing cost, and solves the problem of low efficiency of existing artificial cutting of desert willow square. The device has high function integration, improves the device mobility level, guarantees the planting efficiency, can realize long-time high-intensity work in complex environment, can cope with various complex geographical environments, and is suitable for planting in multiple scenes. The cutting method can realize automatic right-angle cutting.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, and relates to cutting propagation equipment suitable for ecological restoration planting, and in particular to a cutting propagation robot and cutting propagation method suitable for desert planting. Background Technology

[0002] Existing methods for propagating plants by cuttings, such as desert willow, mostly involve manual single-plant cuttings or manual grid cuttings. However, the harsh desert environment leads to high labor costs, low efficiency, and inconsistent propagation results. There is a lack of specialized equipment and methods for grid cutting of desert willow. Therefore, this invention proposes a novel automated cutting device for grid cutting of desert willow to meet the current needs of desert willow grid cutting. Summary of the Invention

[0003] The purpose of this invention is to provide a cutting propagation robot and method suitable for desert planting. It can not only replace manual cutting for automated cutting, reduce labor costs and improve cutting efficiency, but also ensure cutting results, thereby solving the problems existing in the prior art and meeting the current demand for sand willow grid cutting.

[0004] To achieve the above objectives, the present invention provides the following solution:

[0005] This invention provides a cutting propagation robot suitable for desert planting, comprising:

[0006] The frame is used to connect to the mobile equipment;

[0007] The cutting unit is used for inserting cuttings along the corresponding path;

[0008] The vertical sliding power unit includes a vertical sliding block and a vertical sliding drive. The vertical sliding block is slidably engaged with the frame. The cutting unit is provided on the vertical sliding block. The vertical sliding drive is used to drive the vertical sliding block to move relative to the frame along the vertical cutting path to perform vertical cutting.

[0009] A horizontal sliding power unit includes a horizontal sliding block and a horizontal sliding drive. The horizontal sliding block slides in conjunction with the vertical sliding block. The cutting unit is provided on the horizontal sliding block. The horizontal sliding drive is used to drive the horizontal sliding block to move relative to the vertical sliding block along a horizontal cutting path to perform horizontal cutting. The horizontal cutting path is perpendicular to the vertical cutting path.

[0010] In some embodiments, the frame is a rectangular outer frame, the vertical sliding block is disposed inside the rectangular outer frame, and the two sides of the vertical sliding block are respectively slidably engaged with the two long side frames of the rectangular outer frame; at least one of the long side frames is provided with the vertical sliding drive between it and the vertical sliding block.

[0011] In some embodiments, the vertical sliding drive is a rack and pinion drive assembly, which includes:

[0012] A rack is disposed above the long side border of the rectangular frame;

[0013] The gear assembly includes a drive shaft, a drive unit, and a gear meshing with the rack. The two ends of the drive shaft are supported on the vertical sliding block by bearing seats, and the drive shaft is rotatably connected to the bearing seats. The gear is coaxially fixed to the end of the drive shaft. The drive unit is disposed on the vertical sliding block and is used to drive the drive shaft to rotate, thereby driving the vertical sliding block to slide along the long side frame.

[0014] In some embodiments, the vertical sliding drive is provided between the two long side frames and the corresponding sides of the vertical sliding block, and the gears of the two sets of vertical sliding drives are coaxially fixed at both ends of the same driving transmission shaft.

[0015] In some embodiments, the vertical sliding block is a rectangular inner frame, one set of opposite sides of which slides with the rectangular outer frame, and at least one side of the other set of opposite sides is slidably fitted with the horizontal sliding block.

[0016] In some embodiments, the lateral sliding drive is a linear telescopic cylinder, an electric slide, a hydraulic cylinder, or a sprocket and chain drive assembly.

[0017] In some embodiments, the cutting propagation robot suitable for desert planting further includes a lifting and standing unit, which comprises:

[0018] An external lifting and stopping assembly includes an external lifting cylinder and an external support. The external lifting cylinder is mounted on the rectangular outer frame with its piston rod facing downwards. The external support is connected to the end of the piston rod of the external lifting cylinder. Multiple sets of the external lifting and stopping assemblies are spaced apart on the outer periphery of the rectangular outer frame. The external lifting and stopping assemblies can support the rectangular outer frame on the ground.

[0019] An internal lifting and stopping assembly includes an internal lifting cylinder and an internal support. The internal lifting cylinder is disposed on the vertical sliding block with its piston rod facing downward. The internal support is connected to the end of the piston rod of the internal lifting cylinder. Multiple sets of the internal lifting and stopping assemblies are disposed on the vertical sliding block. The internal lifting and stopping assemblies can support the vertical sliding block on the ground or remove the support for the vertical sliding block, allowing the vertical sliding block to slide relative to the rectangular outer frame.

[0020] In some embodiments, the cutting unit includes a frame, a seedling delivery mechanism, a trenching mechanism, and a cutting mechanism, wherein:

[0021] The cutting unit is fixed to the vertical sliding block or the horizontal sliding block by the frame;

[0022] The trenching mechanism and the cutting mechanism are mounted on the frame and are arranged from front to back along the walking direction. The trenching mechanism is used to dig trenches downward to form planting pits, and the cutting mechanism is used to insert seedlings into the planting pits.

[0023] The seedling delivery mechanism is mounted on the frame and located above the cutting mechanism. The seedling delivery mechanism is used to deliver seedlings to the cutting mechanism. The seedling delivery mechanism includes a seedling storage tray and a seedling conveying mechanism. The seedling storage tray is connected to the frame and has seedling dropping holes that allow seedlings to fall from the tray. The seedling conveying mechanism is mounted on the seedling storage tray or the frame and located below the seedling dropping holes. The seedling conveying mechanism receives seedlings falling from the dropping holes and conveys them downwards to the cutting mechanism.

[0024] In some embodiments, the seedling dropping hole is elongated, and the length of the seedling dropping hole is less than the length of the seedling on the seedling storage tray. The seedling dropping hole allows the seedling to be turned to an upright position before falling through the seedling dropping hole.

[0025] In some embodiments, the seedling storage tray is a rectangular flat plate, and the seedling dropping hole is located at one end of the length direction of the rectangular flat plate. The length direction of the seedling dropping hole is parallel to the width direction of the rectangular flat plate, and the length of the seedling dropping hole is less than the width direction of the rectangular flat plate. The first end of the seedling dropping hole abuts against one long side of the rectangular flat plate, and the second end of the seedling dropping hole is spaced apart from the other long side of the rectangular flat plate. The seedlings on the rectangular flat plate are arranged along the width direction of the rectangular flat plate so that when the seedlings reach the seedling dropping hole, they can be flipped to a vertical state with the second end of the seedling dropping hole as a fulcrum.

[0026] In some embodiments, downward-extending anti-deviation limiting baffles are provided below the two long sides of the seedling dropping hole, and a guide channel for the seedling to fall vertically is formed between the two anti-deviation limiting baffles. The guide channel is located above the seedling conveying mechanism.

[0027] In some embodiments, the seedling conveying mechanism includes:

[0028] Conveying gear one and conveying gear two, at least one of which is connected to the frame via a moving mechanism, the moving mechanism being able to drive conveying gear one and conveying gear two to move closer to each other to clamp the sapling, or to move further apart to wait for the sapling to fall;

[0029] A gear drive is mounted on the frame. The gear drive can drive the first conveying gear and the second conveying gear to rotate synchronously and in opposite directions, so that when the first conveying gear and the second conveying gear clamp the seedling, the seedling is vertically transported downward to the cutting mechanism.

[0030] In some embodiments, the gear drive includes a first drive motor and a second drive motor;

[0031] The first conveying gear is rotatably mounted on the frame, and the first drive motor is disposed on the frame and connected to the first conveying gear. The first drive motor is used to drive the first conveying gear to rotate.

[0032] The moving mechanism includes a sliding drive, a sliding track, and a slider that slides along the sliding track. The sliding track is mounted on the frame. The second conveying gear is connected to the slider via a mounting bracket. The second conveying gear is rotatably connected to the mounting bracket and is located on one side of the first conveying gear. The second drive motor is mounted on the mounting bracket and connected to the second conveying gear. The second drive motor is used to drive the second conveying gear to rotate. The sliding drive is mounted on the frame and is used to drive the slider to move along the sliding track so that the first conveying gear and the second conveying gear move closer to or further away from each other.

[0033] In some embodiments, the cutting unit further includes a seedling drop sensor and a control system. The seedling drop sensor is disposed on at least one of the frame, the seedling delivery mechanism, the trenching mechanism, and the cutting mechanism. Both the seedling conveying mechanism and the seedling drop sensor are communicatively connected to the control system. The seedling drop sensor is used to monitor whether a seedling is falling from the seedling drop hole. When the seedling drop sensor detects that a seedling is falling from the seedling drop hole, the control system can control the seedling conveying mechanism to receive the seedling falling from the seedling drop hole and convey the seedling downward to the cutting mechanism.

[0034] In some embodiments, the cutting mechanism includes:

[0035] A seedling guide pipe is installed on the frame, with the inlet facing upwards and the outlet facing downwards;

[0036] The second seedling conveying mechanism includes a third conveying gear, a fourth conveying gear, and a second gear drive. The third and fourth conveying gears are arranged side by side on the seedling guide pipe and are rotatably connected to the seedling guide pipe. The third and fourth conveying gears are located between the inlet and outlet of the seedling guide pipe. The second gear drive is arranged on the seedling guide pipe and can drive the third and fourth conveying gears to rotate synchronously and in opposite directions to convey the seedlings entering the seedling guide pipe downwards into the planting pit to complete the seedling propagation.

[0037] In some embodiments, the trenching mechanism includes a lifting drive and a digging auger configured with a rotary drive, wherein:

[0038] The drilling auger is connected to the lifting drive and is vertically downward;

[0039] The lifting drive is mounted on the frame and is used to drive the digging auger to descend relative to the frame to dig a trench to form the planting pit, or to rise to wait for the next trenching operation.

[0040] In some embodiments, the cutting propagation robot suitable for desert planting also includes a control unit, and at least one of the cutting propagation unit, the vertical planting sliding power unit, and the horizontal planting sliding power unit is communicatively connected to the control unit.

[0041] This invention also proposes a cutting propagation method based on any one of the above-described cutting propagation robots suitable for desert planting, comprising the following steps:

[0042] S1. The cutting unit on the vertical sliding block is driven by the vertical sliding power unit to move along the vertical cutting path to perform vertical cutting and form a vertical cutting row.

[0043] S2. After the vertical cutting is inserted to a preset length, the frame position remains unchanged, and the cutting unit on the horizontal sliding block is driven by the horizontal sliding power unit to move along the horizontal cutting path to perform horizontal cutting and form a horizontal cutting row arranged at a right angle to the vertical cutting row.

[0044] S3. Move the frame a preset length along the vertical insertion path, and repeat steps S1 and S2 above.

[0045] The present invention achieves the following technical effects compared to the prior art:

[0046] This invention discloses a cutting propagation robot suitable for desert planting. It features an ingenious and lightweight design, resulting in low manufacturing costs and solving the problem of low efficiency in existing manual cutting propagation methods for sand willow in desert control. The device boasts high functional integration, improving its mobility and ensuring planting efficiency. It can operate intensively in complex environments for extended periods, adapting to various challenging geographical conditions and suitable for diverse planting scenarios.

[0047] In some of the technical solutions disclosed in this invention, by setting up a lifting and stopping unit, the robot as a whole adopts leg-type support, which is suitable for desert willow checkerboard driving and cutting propagation.

[0048] In some of the technical solutions disclosed in this invention, the cutting unit, through the integrated design of the seedling delivery mechanism, the trenching mechanism, and the cutting mechanism, can realize a series of continuous automatic cutting operations, including trenching, seedling delivery, and cutting, thus achieving automation of seedling cutting. The entire structure is simple, lightweight, and low in manufacturing cost. It not only has good cutting effect but also high mobility and fast cutting speed, ensuring planting efficiency. It can work under high intensity in complex environments for a long time, thereby solving the problems of complex structure, low cutting efficiency, and poor cutting effect of existing sand willow grid cutting robots.

[0049] The cutting method disclosed in this invention, based on the above-mentioned cutting robot suitable for desert planting, is simple and flexible to operate, realizes an automated right-angle cutting method, and is suitable for grid cutting of sand willow. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0051] Figure 1 This is a front view of a cutting propagation robot suitable for desert planting disclosed in an embodiment of the present invention;

[0052] Figure 2 This is an isometric view of the cutting propagation robot suitable for desert planting disclosed in an embodiment of the present invention;

[0053] Figure 3 This is a partial isometric view of the cutting propagation robot suitable for desert planting disclosed in an embodiment of the present invention;

[0054] Figure 4 This is a schematic diagram of the overall structure of the cutting unit disclosed in an embodiment of the present invention;

[0055] Figure 5 This is a schematic diagram of the seedling placement in the cutting unit disclosed in an embodiment of the present invention;

[0056] Figure 6 This is a schematic diagram of the cutting principle of the cutting unit disclosed in an embodiment of the present invention;

[0057] Figure 7 This is a schematic diagram of the vertical planting operation of the cutting robot disclosed in an embodiment of the present invention;

[0058] Figure 8 This is a schematic diagram of the horizontal planting operation of the cutting robot disclosed in an embodiment of the present invention;

[0059] Figure 9 This is a schematic diagram of the overall insertion sequence of the insertion robot disclosed in an embodiment of the present invention;

[0060] Figure 10 This is a schematic diagram illustrating the cutting effect of the cutting robot disclosed in an embodiment of the present invention.

[0061] In the image, the attached label is: 100, a cutting propagation robot suitable for desert planting;

[0062] 1. Rack; 11. Long side frame;

[0063] 2. Cutting unit; 21. Frame; 22. Seedling delivery mechanism; 221. Seedling storage tray; 222. Seedling dropping hole; 2221. First end in length direction; 2222. Second end in length direction; 223. Seedling conveying mechanism one; 2231. Conveying gear one; 2232. Conveying gear two; 2233. Drive motor two; 2234. Sliding track; 2235. Sliding block; 2236. Sliding drive; 224. Anti-deviation limit baffle; 225. Guide channel; 23. Trenching mechanism; 231. Lifting drive; 232. Hole digging auger; 233. Trenching lifting track; 24. Cutting mechanism; 241. Seedling guide pipe; 2411. Inlet; 2412. Outlet; 242. Conveying gear three; 243. Drive motor three; 244. Drive motor four; 25. Seedling dropping sensor;

[0064] 3. Vertical sliding power unit; 31. Vertical sliding block; 32. Vertical sliding drive; 321. Rack; 322. Travel drive shaft; 323. Travel drive unit; 324. Gear; 325. Bearing housing; 33. Lateral slide rail;

[0065] 4. Lateral sliding power unit; 41. Lateral sliding block; 42. Lateral sliding drive;

[0066] 5. Lifting and stopping unit; 51. External lifting and stopping assembly; 511. External lifting cylinder; 512. External support; 52. Internal lifting and stopping assembly;

[0067] 6. Control unit;

[0068] 7. Energy supply unit;

[0069] 8. Saplings;

[0070] 9. Vertical cuttings;

[0071] 10. Horizontal cuttings. Detailed Implementation

[0072] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0073] One of the objectives of this invention is to provide a cutting propagation robot suitable for desert planting. This robot can not only replace manual labor for automated cutting propagation, reducing labor costs and improving cutting efficiency, but also ensure the cutting effect, thereby solving the problems existing in the prior art and meeting the current needs of sand willow grid cutting propagation.

[0074] Another objective of this invention is to provide a cutting propagation method suitable for desert planting, which is implemented using the aforementioned cutting propagation robot suitable for desert planting. This method can not only replace manual labor for automated cutting propagation, reducing labor costs and improving cutting propagation efficiency, but also ensure the cutting propagation effect.

[0075] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0076] like Figures 1-3 As shown, this embodiment proposes a cutting propagation robot 100 suitable for desert planting, including a frame 1, a cutting propagation unit 2, a vertical planting sliding propulsion unit 3, and a horizontal planting sliding propulsion unit 4. The frame 1 is used to connect to a walking device, which includes, but is not limited to, a tractor. The cutting propagation unit 2 is used to perform seedling planting and cutting along a corresponding path. The vertical planting sliding propulsion unit 3 includes a vertical sliding block 31 and a vertical sliding drive 32. The vertical sliding block 31 slides in cooperation with the frame 1, and is equipped with... The device includes a cutting propagation unit 2 and a vertical sliding drive 32 for moving a vertical sliding block 31 relative to the frame 1 along a vertical cutting propagation path for vertical cutting propagation. A horizontal sliding power unit 4 includes a horizontal sliding block 41 and a horizontal sliding drive 42. The horizontal sliding block 41 slides in conjunction with the vertical sliding block 31. The cutting propagation unit 2 is mounted on the horizontal sliding block 41. The horizontal sliding drive 42 moves the horizontal sliding block 41 relative to the vertical sliding block 31 along a horizontal cutting propagation path for horizontal cutting propagation. The aforementioned horizontal cutting propagation path is perpendicular to the vertical cutting propagation path and is suitable for propagating *Salix matsudana* using a grid-like method.

[0077] In some implementations, such as Figure 2 As shown, the frame 1 is preferably a rectangular outer frame, and the vertical sliding block 31 is disposed within the rectangular outer frame. The two sides of the vertical sliding block 31 are respectively slidably engaged with the two long side frames 11 of the rectangular outer frame. To ensure stable and reliable sliding guidance between the vertical sliding block 31 and the rectangular outer frame, a slide rail slider assembly is preferably provided between them. For example, each of the two long side frames 11 of the rectangular outer frame is provided with a slide rail parallel to the long side frame 11, and the side edge of the vertical sliding block 31 is provided with a slider that is slidably fitted onto the slide rail. A vertical sliding drive 32 is provided between at least one long side frame 11 and the vertical sliding block 31.

[0078] In some implementations, such as Figure 2 and Figure 3 As shown, the vertical sliding drive 32 is preferably a rack and pinion drive assembly, which includes a rack 321 and a gear assembly. The rack 321 is disposed above the long side frame 11 of the rectangular frame and extends along the length of the long side frame 11. The gear assembly includes a drive shaft 322, a drive unit 323, and a gear 324 meshing with the rack 321. The two ends of the drive shaft 322 are supported on the upper surface of the vertical sliding block 31 by bearing seats 325, and the drive shaft 322 is rotatably connected to the bearing seats 325. The gear 324 is coaxially fixed to the end of the drive shaft 322. The drive unit 323 is disposed on the vertical sliding block 31 to drive the drive shaft 322 to rotate, thereby driving the gear 324 to rotate synchronously. Thus, the meshing relationship between the gear 324 and the rack 321 is used to drive the vertical sliding block 31 to slide along the long side frame 11. The aforementioned driving unit 323 is a common drive shaft rotation drive mechanism, which includes a motor, a drive gear, and a driven gear. The motor is mounted on the vertical sliding block 31, and its output end is connected to the drive gear. The driven gear is coaxially fixed to the driving drive shaft 322 by a key connection, and the driven gear meshes with the drive gear. Based on this, by driving the drive gear to rotate by the motor, the driving drive shaft 322 can be rotated by the driven gear.

[0079] In some embodiments, the aforementioned rack 321 and gear 324 can be replaced by a chain and a sprocket meshing with the chain, respectively. The drive mechanism of the sprocket is the same as that of the aforementioned gear 324, and will not be described again here.

[0080] In some embodiments, vertical sliding drives 32 are provided between the corresponding sides of the two long side frames 11 and the vertical sliding block 31, and the gears 324 of the two sets of vertical sliding drives 32 are coaxially fixed at both ends of the same driving transmission shaft 322, such as... Figure 2 As shown, this structure simplifies the overall structure of the vertical sliding drive 32 and improves its structural integration.

[0081] In some embodiments, the vertical sliding block 31 is preferably a rectangular inner frame, with one set of opposite sides slidingly engaged with the rectangular outer frame, and at least one side of the other set of opposite sides slidably fitted with a horizontal sliding block 41. Specifically, preferably, only one side of the other set of opposite sides of the vertical sliding block 31 is slidably fitted with the horizontal sliding block 41, and Rui 2 and Figure 3 As shown, the vertical sliding block 31 is generally equipped with a dedicated horizontal sliding rail 33, and the horizontal sliding block 41 slides in cooperation with the horizontal sliding rail 33. The horizontal sliding rail 33 is set parallel to the short side of the aforementioned rectangular outer frame.

[0082] In some embodiments, the lateral sliding drive 42 may be a linear telescopic cylinder, an electric slide, a hydraulic cylinder, or a gear and rack drive assembly as described above, used to drive the lateral sliding block 41 to slide along the lateral slide rail 33.

[0083] In some implementations, such as Figures 4-6 As shown, the cutting unit 2 includes a frame 21, a seedling delivery mechanism 22, a trenching mechanism 23, and a cutting mechanism 24. The entire cutting unit 2 is fixed to a vertical sliding block 31 or a horizontal sliding block 41 via the frame 21. Both the trenching mechanism 23 and the cutting mechanism 24 are mounted on the frame 21 and are arranged from front to back along the walking direction (i.e., the "cutting direction"). The trenching mechanism 23 is used to dig trenches downwards at corresponding positions to form planting pits before cutting, and the cutting mechanism 24 is used to insert seedlings 8 into the prepared planting pits. The seedling delivery mechanism 22 is mounted on the frame 21 and preferably located above the cutting mechanism 24. The seedling delivery mechanism 22 is used to deliver the seedlings 8 to be cut to the cutting mechanism 24. The aforementioned cutting unit 2 has a reasonable structural design. Through the integrated design of the seedling delivery mechanism 22, the trenching mechanism 23, and the cutting mechanism 24, it can realize a series of continuous automatic cutting operations, including trenching, seedling delivery, and cutting. It achieves automation of seedling cutting, and has a simple structure, high cutting efficiency, and good cutting effect. It can be used for rapid seedling cutting of Salix psammophila.

[0084] In some implementations, such as Figures 4-6 As shown, the preferred seedling delivery mechanism 22 is located above the cutting mechanism 24. The seedling delivery mechanism 22 includes a seedling storage tray 221 and a seedling conveying mechanism 223. The seedling storage tray 221 is connected to the frame 21 and is used to store the seedlings 8 to be cut, such as... Figure 5 and Figure 6As shown, the seedlings 8 are generally placed horizontally on the seedling storage tray 221. The seedling storage tray 221 is provided with seedling dropping holes 222, which allow the seedlings 8 on the seedling storage tray 221 to fall down. The seedling conveying mechanism 223 is set on the seedling storage tray 221 or the frame 21, and is located below the seedling dropping holes 222. The seedling conveying mechanism 223 can receive the seedlings 8 falling from the seedling dropping holes 222 and convey the seedlings 8 vertically downward to the cutting mechanism 24. Taking the cutting of *Salix psammophila* as an example, its seedlings are generally planted vertically. Therefore, during the seedling delivery process, the seedlings 8 are kept vertically downward, which makes it easier for the cutting mechanism 24 to quickly complete the cutting after receiving the seedlings, thereby improving the cutting efficiency.

[0085] In some implementations, such as Figure 4 and Figure 5 As shown, the aforementioned seedling dropping hole 222 is preferably elongated, and its length in the longitudinal direction is less than the length of the seedling 8 on the seedling storage tray 221. This means that the seedling 8 must be flipped to an inclined or vertical position at the seedling dropping hole 222 in order to pass through it. The main function of the seedling dropping hole 222 is to ensure that the seedling 8 is flipped to a vertical position before falling through it. In actual operation, the seedling 8 can be manually pushed into the seedling dropping hole 222, and the seedling 8 and the seedling dropping hole 222 are parallel.

[0086] In some implementations, such as Figures 4-6 As shown, the aforementioned seedling storage tray 221 is preferably a rectangular flat tray. Seedling holes 222 are located at one end of the rectangular flat tray along its length. The length of the seedling holes 222 is parallel to the width of the rectangular flat tray, and the length of the seedling holes 222 is less than the width of the rectangular flat tray. The first end 2221 of the seedling holes 222 abuts against one long side of the rectangular flat tray, and the second end 2222 of the seedling holes 222 is spaced apart from the other long side of the rectangular flat tray. The seedlings 8 on the rectangular flat tray follow the rectangular... The rectangular plate is arranged along its width so that when the sapling 8 reaches the dropping hole 222, the sapling 8 is parallel or nearly parallel to the dropping hole 222. The length of the sapling 8 is generally adapted to the width of the rectangular plate (i.e., the length of the sapling 8 is equal to or slightly shorter than the width of the rectangular plate). By setting a plate rim around the outer perimeter of the rectangular plate, the sapling 8 can be guided and limited by the plate rim to ensure that the sapling 8 is always parallel or nearly parallel to the dropping hole 222 (i.e., along the width of the rectangular plate) when moving on the rectangular plate. By adapting the length of the sapling 8 to the width of the rectangular plate, and setting the length of the dropping hole 222 to be shorter than the sapling 8, and arranging the first end 2221 of the dropping hole 222 along its length direction close to the long side of the rectangular plate, any sapling 8 on the rectangular plate can, upon reaching the dropping hole 222, first flip to a vertical position using the second end 2222 of the dropping hole 222 as a fulcrum before falling.

[0087] In some embodiments, in order to improve the connectivity between mechanisms and reduce the failure rate of seedling cutting, this embodiment also sets up a seedling drop sensor 25 and a control system in the cutting unit 2. The seedling drop sensor 25 is set on at least one of the frame 21, the seedling delivery mechanism 22, the trenching mechanism 23 and the cutting mechanism 24. The seedling delivery mechanism 223 and the seedling drop sensor 25 are both communicatively connected to the control system. The seedling drop sensor 25 is used to monitor whether a seedling 8 is falling from the seedling drop hole 222. When the seedling drop sensor 25 detects that a seedling 8 is falling from the seedling drop hole 222, the control system can quickly control the seedling delivery mechanism 223 to receive the seedling 8 falling from the seedling drop hole 222 and transport the seedling 8 downward to the cutting mechanism 24, so as to prevent the seedling from falling due to the receiving delay, which would cause seedling waste and reduce the seedling cutting rate.

[0088] In some implementations, the seedling sensor 25 can be an infrared sensor or a camera, and it is generally only installed at the seedling hole 222 to monitor in real time whether a seedling has fallen at the seedling hole 222.

[0089] In some embodiments, to ensure that the sapling 8 falls vertically along a set path and is received by the cutting mechanism 24, downward-extending anti-deviation limiting baffles 224 are provided below the two long sides of the sapling dropping hole 222, such as... Figure 4 and Figure 5 As shown, two anti-deviation limiting baffles 224 are parallel and spaced apart, with the spacing width matching the width of the seedling dropping hole 222. A guide channel 225 is formed between the two anti-deviation limiting baffles 224, allowing the seedling 8 to fall vertically. The guide channel 225 is located above the seedling conveying mechanism 223. It should be noted that the guide channel 225 allows the seedling 8 to flip at the seedling dropping hole 222. When the seedling 8 falls from the seedling dropping hole 222, the two anti-deviation limiting baffles 224 prevent the seedling 8 from deviating towards either side of the seedling dropping hole 222 during its descent. Based on the aforementioned anti-deviation limiting baffle 224 configuration, the seedling dropping sensor 25 is preferably located at the bottom edge of the anti-deviation limiting baffle 224 to promptly detect the falling of a seedling 8 within the guide channel 225.

[0090] In some embodiments, the aforementioned seedling conveying mechanism 223 is preferably a gear clamping transmission mechanism, specifically including a first conveying gear 2231, a second conveying gear 2232, and a first gear drive. At least one of the first conveying gear 2231 and the second conveying gear 2232 is connected to the frame 21 via a moving mechanism. The moving mechanism can drive the first conveying gear 2231 and the second conveying gear 2232 to move closer together to clamp the seedling 8, or to move away from each other to wait for the seedling 8 to fall. The first gear drive is mounted on the frame 21, such as... Figure 4 and Figure 5As shown, conveying gear 1 2231 and conveying gear 2232 are arranged side by side, with their axes parallel. Gear drive 1 can drive conveying gear 1 2231 and conveying gear 2232 to rotate synchronously and in opposite directions, so that when conveying gear 1 2231 and conveying gear 2232 clamp the seedling 8, the seedling 8 is vertically conveyed downward to the cutting mechanism 24.

[0091] In some embodiments, the aforementioned moving mechanism can directly employ a linear telescopic drive mechanism such as a cylinder, hydraulic cylinder, or electric slide, or it can employ a mechanical structure based on a guide rail slider assembly. Specifically, the gear drive includes a drive motor 1 and a drive motor 2233. The first conveying gear 2231 is directly rotatably mounted on the frame 21 via bearings. The first drive motor is also mounted on the frame 21 and connected to the first conveying gear 2231. The first drive motor is used to drive the first conveying gear 2231 to rotate. The second conveying gear 2232 is mounted on the frame 21 via a moving mechanism and is located beside the first conveying gear 2231. The moving mechanism includes a sliding drive 2236, a sliding rail 2234, and a slider 2 that slides with the sliding rail 2234. 235. The sliding track 2234 is mounted on the frame 21. The second conveying gear 2232 is connected to the slider 2235 via a mounting bracket. The second conveying gear 2232 can be rotatably connected to the mounting bracket via bearings. The second drive motor 2233 is mounted on the mounting bracket and connected to the second conveying gear 2232. The second drive motor 2233 drives the second conveying gear 2232 to rotate. By setting the speed and output torque direction of the first drive motor and the second drive motor 2233, the first conveying gear 2231 and the second conveying gear 2232 can be controlled to rotate in opposite directions. Figure 5As shown in the example, conveying gear 2231 needs to rotate clockwise, while conveying gear 2232 needs to rotate counterclockwise. This ensures that the seedling 8 is conveyed vertically downwards. The aforementioned sliding drive 2236 can be a cylinder or a hydraulic cylinder. Its cylinder body is mounted on the frame 21, and the end of the piston rod is connected to the slider 2235. By driving the cylinder or hydraulic cylinder to extend and retract, the slider 2235 can be driven to move along the sliding track 2234, thereby causing the conveying gear 2232 to move closer to or away from the conveying gear 2231 via the mounting frame. Initially, conveyor gear 1 2231 and conveyor gear 2232 are kept far apart, with sufficient gap between them for the sapling 8 to pass through. When the sapling 8 passes through the gap between conveyor gear 1 2231 and conveyor gear 2232, the sliding drive 2236 is activated, causing conveyor gear 2232 to move closer to conveyor gear 1 2231 and clamp the sapling 8 in time. Then, drive motor 1 and drive motor 2233 drive conveyor gear 1 2231 and conveyor gear 2232 to rotate respectively, so as to use the friction between the gears and the sapling 8 to convey the sapling 8 downward until the sapling 8 is separated from conveyor gear 1 2231 and conveyor gear 2232. Then, the sliding drive 2236 drives in the opposite direction, causing conveyor gear 2232 to move away from conveyor gear 1 2231, waiting to clamp the next sapling 8.

[0092] In some embodiments, the cutting mechanism 24 includes a seedling guide pipe 241 and a seedling conveying mechanism 2. The seedling guide pipe 241 is mounted on the frame 21 and located directly below the aforementioned seedling dropping hole 222. A first conveying gear 2231 and a second conveying gear 2232 are arranged between the seedling guide pipe 241 and the seedling dropping hole 222. The seedling guide pipe 241 is vertically arranged with the inlet 2411 facing upward and the outlet 2412 facing downward, which facilitates the smooth passage of the seedling 8 while maintaining the vertical state of the seedling 8. The second seedling conveying mechanism is preferably a gear clamping transmission mechanism, which specifically includes a third conveying gear 242, a fourth conveying gear, and a second gear drive. The third conveying gear 242 and the fourth conveying gear are arranged side by side on the seedling guide pipe 241, and both the third conveying gear 242 and the fourth conveying gear are rotatably connected to the seedling guide pipe 241 through bearings. The third conveying gear 242 and the fourth conveying gear are preferably embedded in the side wall of the seedling guide pipe 241 and located between the inlet 2411 and the outlet 2412 of the seedling guide pipe 241. The close-to-each-other parts of the third conveying gear 242 and the fourth conveying gear are located inside the seedling guide pipe 241, and the space between the third conveying gear 242 and the fourth conveying gear is used to pass through and convey the seedling 8. The second gear drive is arranged on the seedling guide pipe 241, and the second gear drive can drive the third conveying gear 242 and the fourth conveying gear to rotate synchronously and in opposite directions, so as to convey the seedling 8 that has entered the seedling guide pipe 241 downward into the planting pit to complete the seedling cutting. The rotation mode of the aforementioned conveying gear 3 242 and conveying gear 4 is the same as that of the aforementioned conveying gear 1 2231 and conveying gear 2, both of which are used to convey the seedlings 8 downwards. Correspondingly, gear drive 2 is the same as gear drive 1, using a motor assembly, that is, gear drive 2 includes drive motor 3 243 and drive motor 4 244. Drive motor 3 243 and drive motor 4 244 are both mounted on the frame 21 and are respectively connected to conveying gear 3 242 and conveying gear 4 to drive conveying gear 3 242 and conveying gear 4 to rotate.

[0093] In some embodiments, the trenching mechanism 23 includes a lifting drive 231 and a digging auger 232 equipped with a rotary drive. The digging auger 232 is connected to the lifting drive 231 and faces vertically downwards. The lifting drive 231 is mounted on the frame 21 and is used to drive the digging auger 232 to descend relative to the frame 21 to dig a trench downwards to form a planting pit, or to rise to await the next trenching operation. To ensure trenching quality, a guide mechanism is preferably provided between the top non-auger part (such as the outer shell, frame plate, etc.) of the digging auger 232 and the frame 21 to ensure that the digging auger 232 rises and falls vertically, preventing the planting pit from tilting outwards. The guide mechanism is preferably a slider rail assembly, specifically including a guide slider and a trenching lifting rail 233, such as... Figures 4-6As shown, the ditching lifting rail 233 is vertically installed on the frame 21. A guide slider is installed on the top non-auger part (such as the outer shell or frame plate) of the digging auger 232. The top non-auger part (such as the outer shell or frame plate) of the digging auger 232 slides against the ditching lifting rail 233 via the guide slider, guiding and limiting the lifting and lowering of the digging auger 232. The digging auger 232 is a common field digging device, and its auger is generally equipped with its own drive motor. The specific structure and working principle of the digging auger 232 will not be described in detail here.

[0094] When propagating *Salix psammophila* by cuttings, the seedlings are stored in the seedling tray 221 and fall into the seedling dropping hole 222. When the seedling dropping sensor 25 detects the seedling falling, it transmits a signal to the control system. The control system controls the conveying gears 2231 and 2232 of the seedling conveying mechanism 223 to move closer together to clamp the seedling 8 falling from the seedling dropping hole 222. By driving the conveying gears 2231 and 2232 to rotate, the clamped seedling 8 is conveyed downward to the cutting mechanism 24. The seedling 8 enters the seedling guide pipe 241 through the inlet 2411 until it enters between the conveying gears 242 and 4. The seedling 8 can continue to be conveyed downward under the action of the opposing rotation of the conveying gears 242 and 4 until the fallen seedling is inserted into the dug planting hole through the outlet 2412, thus completing the cutting. Before cutting, the lifting drive 231 lowers the digging auger 33 via the trenching lifting rail 233 to complete the trenching operation. After trenching, the lifting drive 231 raises the digging auger 33 via the trenching lifting rail 233, awaiting the next trenching operation. During the cutting operation, if... Figure 6 As shown, the saplings are planted at high speed along the pre-defined cutting path. Taking the cutting of *Salix matsudana* saplings as an example, ... Figure 7 The diagram shows the operation of the driving cutting unit 2 along the vertical cutting path, ultimately forming the vertical cutting row 9 of *Salix matsudana*; as shown... Figure 8 As shown, this is a schematic diagram of the operation of the driving cutting unit 2 along the horizontal cutting path, which ultimately forms the horizontal cutting row 10 of the sand willow. The vertical cutting row 9 intersects the horizontal cutting row 10 perpendicularly to form a right-angle sand willow protective belt.

[0095] The aforementioned cutting unit 2 features a simple, novel, and ingeniously designed structure. Its lightweight construction and low manufacturing cost not only ensure excellent cutting results but also provide high mobility and rapid cutting speed, guaranteeing planting efficiency. It can operate under high-intensity conditions in complex environments for extended periods, thus solving the problems of existing sand willow grid cutting robots, such as complex structure, low cutting efficiency, and unsatisfactory cutting results. Furthermore, when performing rapid cutting of sand willow, the aforementioned cutting unit 2 is not limited to the dry or wet state of the sand willow, nor is it limited to any plant species. Other types of cuttings can also be used, making it adaptable to various complex geographical environments and diverse cutting scenarios.

[0096] In the aforementioned cutting unit 2, the seedling conveying mechanism one, seedling conveying mechanism two, and other mechanisms can be powered in various ways, including but not limited to electric, pneumatic, and hydraulic power, and can be adapted to changes in the working environment and method. Cutting unit 2 can achieve high-speed seedling insertion and can be used in unlimited quantities in different scenarios, thereby improving cutting efficiency.

[0097] In some embodiments, the above-mentioned cutting propagation robot 100 suitable for desert planting also includes a lifting and stopping unit 5, which includes an external lifting and stopping assembly 51 and an internal lifting and stopping assembly 52. ​​The external lifting and stopping assembly 51 includes an external lifting cylinder 511 and an external support 512. The external lifting cylinder 511 is disposed on a rectangular outer frame with its piston rod facing downward. The external support 512 is connected to the end of the piston rod of the external lifting cylinder 511. Multiple sets of external lifting and stopping assemblies 51 are spaced apart on the outer periphery of the rectangular outer frame. The external lifting and stopping assembly 51 extends downward from the external support 512, so that it contacts the ground and can support the rectangular outer frame on the ground. At this time, the frame 1 cannot be moved. If it is necessary to move the frame 1, the piston rod of the external lifting cylinder 511 needs to be controlled to retract first, so that the external support 512 is away from the ground. Generally, as Figure 1 and Figure 2 As shown, an external lifting and stopping assembly 51 is provided at each of the four corners of the rectangular outer frame. Similarly, the internal lifting and stopping assembly 52 includes an internal lifting cylinder and an internal support. The internal lifting cylinder is provided on the vertical sliding block 31 with the piston rod facing downward. The internal support is connected to the end of the piston rod of the internal lifting cylinder. The internal lifting and stopping assembly 52 has the same structure as the aforementioned external lifting and stopping assembly 51. Multiple sets of internal lifting and stopping assemblies 52 are provided at intervals on the vertical sliding block 31, for example, a set of internal lifting and stopping assemblies 52 is provided at each of the four corners of the vertical sliding block 31. The internal lifting and stopping assembly 52 can support the vertical sliding block 31 on the ground, or lift the internal support to remove its support for the vertical sliding block 31, so that the vertical sliding block 31 can slide relative to the rectangular outer frame, which is convenient for vertical path insertion.

[0098] In some embodiments, the cutting propagation robot 100 suitable for desert planting also includes a control unit 6, with at least one of the cutting propagation unit 2, the vertical planting sliding propulsion unit 3, and the horizontal planting sliding propulsion unit 4 communicatively connected to the control unit 6. The control unit 6 can control the automated operation of the robot.

[0099] In some embodiments, the cutting propagation robot 100 suitable for desert planting can also be equipped with a power supply unit 7, which is generally preferably a battery pack that can supply power to the various electrical components inside the robot.

[0100] The above-mentioned operation process of the cutting propagation robot 100 suitable for desert planting can be found in [reference needed]. Figures 7-10 :

[0101] When planting vertically, such as Figure 7 As shown, the internal support at the bottom of the internal lifting and stopping assembly 52 is in an elevated state, and the external support 512 at the bottom of the external lifting and stopping assembly 51 is in a lowered support state. At this time, the vertical sliding block 31 and its inserting unit 2 are driven by the vertical sliding power unit 3 to move along the vertical inserting path, allowing for vertical inserting. After the vertical sliding block 31 reaches its vertical position, a row of vertical inserts 9 is formed, after which horizontal inserting is performed. During horizontal inserting operations, as... Figure 8 As shown, the internal support at the bottom of the internal lifting and stopping assembly 52 is in an elevated state, while the external support 512 at the bottom of the external lifting and stopping assembly 51 is in a lowered support state. At this time, the vertical sliding block 31 is stationary relative to the frame 1, while keeping the position of the frame 1 unchanged. The insertion unit 2 on the horizontal sliding block 41 can be driven by the horizontal sliding power unit 4 to move along the horizontal insertion path, allowing for horizontal insertion. After the horizontal sliding block 41 has moved into position, it stops working. At this time, the insertion forms a row of horizontal insertion rows 10 arranged at a right angle to the vertical insertion row 9. This completes one insertion cycle, and the insertion cycle can be repeated. This right-angle insertion method can be adapted to different chassis driving modes to meet different scenario requirements.

[0102] When the aforementioned cutting robot 100, which is suitable for desert planting, is used for grid-based cutting of sand willow, it is not limited to the order of cutting each part of the grid. It can plant the cuttings vertically first or horizontally first, in order to adapt to different operating scenarios.

[0103] During the cutting process, the planting spacing can be adjusted by controlling the driving frequency or the interval of each movement of the vertical planting sliding power unit 3 and the horizontal planting sliding power unit 4 to meet different planting needs.

[0104] Therefore, it is evident that the proposed cutting-propagation robot 100, suitable for desert planting, features an ingenious structural design, lightweight construction, and low manufacturing cost, solving the problem of low efficiency in existing manual cutting-propagation of sand willow grids for desert control. This equipment boasts high functional integration, improving its mobility and ensuring planting efficiency. It can operate under high-intensity conditions in complex environments for extended periods, adapting to various complex geographical environments and suitable for planting in multiple scenarios.

[0105] In addition, by setting up a lifting and parking unit, the robot adopts a leg-type support, which is suitable for driving and propagating cuttings in the desert willow grid.

[0106] Robots can be powered in various ways, including but not limited to pneumatic, electric, and new energy power sources. Their power sources can also be adapted to changes in the operating environment and operating methods.

[0107] It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and objectives of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention's implementation.

[0108] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A cutting robot suitable for desert planting, characterized in that, The utility model relates to a kind of vertical and horizontal sliding grafting device, including: Rack (1) for being connected with walking equipment; Cutting unit (2) for carrying out seedling cutting along corresponding path; Vertical sliding movement power unit (3), including vertical sliding block (31) and vertical sliding drive (32), the vertical sliding block (31) is slidably matched with the rack (1), the vertical sliding block (31) is provided with the cutting unit (2) on, the vertical sliding drive (32) is used to drive the vertical sliding block (31) relative to the rack (1) moves along vertical cutting path, to carry out vertical cutting; Horizontal sliding movement power unit (4), including horizontal sliding block (41) and horizontal sliding drive (42), the horizontal sliding block (41) is slidably matched with the vertical sliding block (31), the horizontal sliding block (41) is provided with the cutting unit (2) on, the horizontal sliding drive (42) is used to drive the horizontal sliding block (41) relative to the vertical sliding block (31) moves along horizontal cutting path, to carry out horizontal cutting;The horizontal cutting path is perpendicular to the vertical cutting path; The cutting unit (2) includes frame body (21), seedling feeding mechanism (22), ditching mechanism (23) and cutting mechanism (24), wherein: the cutting unit (2) is fixed on the vertical sliding block (31) or the horizontal sliding block (41) by the frame body (21);The ditching mechanism (23) and the cutting mechanism (24) are provided on the frame body (21), and the ditching mechanism (23) and the cutting mechanism (24) are arranged from front to back along the walking direction, the ditching mechanism (23) is used to form planting pit by ditching downward, the cutting mechanism (24) is used for cutting seedling (8) into the planting pit;The seedling feeding mechanism (22) is provided on the frame body (21), and is located above the cutting mechanism (24), the seedling feeding mechanism (22) is used to feed seedling (8) to the cutting mechanism (24), the seedling feeding mechanism (22) includes seedling storage tray (221) and seedling feeding mechanism one (223), the seedling storage tray (221) is connected with the frame body (21), the seedling storage tray (221) is provided with seedling falling hole (222), the seedling falling hole (222) can make the seedling (8) on the seedling storage tray (221) fall;The seedling feeding mechanism one (223) is provided on the seedling storage tray (221) or the frame body (21), and is located below the seedling falling hole (222), the seedling feeding mechanism one (223) can receive the seedling (8) falling from the seedling falling hole (222), and seedling (8) is fed downward to the cutting mechanism (24).

2. The cutting robot suitable for desert plantation as claimed in claim 1 wherein, The rack (1) is rectangular outer frame, the vertical sliding block (31) is arranged in the rectangular outer frame, and the two sides of the vertical sliding block (31) are slidably matched with the two long side frames (11) of the rectangular outer frame;At least one long side frame (11) and the vertical sliding block (31) are provided with the vertical sliding drive (32).

3. The cutting robot suitable for desert plantation as claimed in claim 2 wherein, The vertical sliding drive (32) is a rack and pinion drive assembly, which comprises: a rack (321) arranged above the long side frame (11) of the rectangular outer frame; a gear assembly comprising a driving axle (322), a driving unit (323) and a gear (324) engaged with the rack (321), both ends of the driving axle (322) are supported on the vertical sliding block (31) through a bearing seat (325), and the driving axle (322) is rotatably connected with the bearing seat (325); the gear (324) is coaxially fixed on the end of the driving axle (322); the driving unit (323) is arranged on the vertical sliding block (31) and used to drive the driving axle (322) to rotate, so as to drive the vertical sliding block (31) to slide along the long side frame (11).

4. The cutting robot suitable for desert plantation as claimed in claim 3 wherein, Both of the long side frames (11) and the corresponding sides of the vertical sliding block (31) are provided with the vertical sliding drive (32), and the gears (324) of the two groups of vertical sliding drives (32) are coaxially fixed on both ends of the same driving axle (322).

5. The cutting robot for desert plantation according to any one of claims 2 to 4, characterized in that, The vertical sliding block (31) is a rectangular inner frame, one pair of opposite sides of which is in sliding fit with the rectangular outer frame, and at least one side of the other pair of opposite sides is slidingly assembled with the horizontal sliding block (41).

6. The cutting robot suitable for desert plantation as claimed in claim 5 wherein, The horizontal sliding drive (42) is a linear extension cylinder, an electric sliding table, a hydraulic cylinder or a chain wheel and chain drive assembly.

7. The cutting robot suitable for desert plantation as claimed in claim 5 wherein, Further comprising a lifting and standing unit (5), which comprises: an external lifting and standing assembly (51) comprising an external lifting cylinder (511) and an external support (512), the external lifting cylinder (511) is arranged on the rectangular outer frame with the piston rod downward, and the external support (512) is connected to the end of the piston rod of the external lifting cylinder (511); a plurality of groups of external lifting and standing assemblies (51) are arranged at intervals on the outer periphery of the rectangular outer frame, which can support the rectangular outer frame on the ground; an internal lifting and standing assembly (52) comprising an internal lifting cylinder and an internal support, the internal lifting cylinder is arranged on the vertical sliding block (31) with the piston rod downward, and the internal support is connected to the end of the piston rod of the internal lifting cylinder; a plurality of groups of internal lifting and standing assemblies (52) are arranged on the vertical sliding block (31), which can support the vertical sliding block (31) on the ground, or cancel the support of the vertical sliding block (31), so that the vertical sliding block (31) can slide relative to the rectangular outer frame.

8. The cutting robot for desert plantation according to any one of claims 1 to 4, wherein Further comprising a control unit (6), at least one of the cutting unit (2), the vertical sliding drive unit (3) and the horizontal sliding drive unit (4) is in communication connection with the control unit (6).

9. A cutting method using the cutting robot suitable for desert plantation according to any one of claims 1 to 8, characterized in that, The method comprises the steps of: S1, driving the cutting unit (2) on the vertical sliding block (31) to move along a vertical cutting path by the vertical cutting sliding power unit (3) to perform vertical cutting and form a vertical cutting row (9); S2, after cutting a preset length vertically, keeping the position of the rack (1) unchanged, and driving the cutting unit (2) on the horizontal sliding block (41) to move along a horizontal cutting path by the horizontal cutting sliding power unit (4) to perform horizontal cutting and form a horizontal cutting row (10) arranged at a right angle with the vertical cutting row (9); S3, moving the rack (1) along the vertical cutting path by a preset length, repeating the above steps S1 and S2.

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