Shrub planting device used under sand photovoltaic panel

Abstract

The invention belongs to the technical field of sand shrub planting, particularly relates to a shrub planting device used under a sand photovoltaic panel, and aims to solve the problems that an existing device is low in planting efficiency and has large limitation in shrub planting, the following scheme is provided, and the shrub planting device comprises a driving walking assembly, a pit digging assembly, a planting assembly and a soil filling assembly; the planting device can advance in the set direction under a sand photovoltaic panel by driving the walking assembly, shrub planting is conducted on the two sides of the device after the walking assembly is driven to advance by a certain distance, the one-time planting hole site digging process and the planting process are synchronously conducted, and the planting efficiency is improved. The planting efficiency of the shrubs under the sand photovoltaic panel is improved, after the shrub saplings are planted in the holes, the dug planting holes can be filled and leveled up through the soil filling assembly, the whole planting process of the shrubs is achieved, and due to the fact that the planting areas are located on the two sides of the driving walking assembly, planting cannot be affected by the heights of the shrub saplings.

Description

Technical Field

[0001] The present invention relates to a planting device, specifically a shrub planting device for under a sandy photovoltaic panel, belonging to the technical field of sandy shrub planting. Background Art

[0002] In recent years, with the increase in sandy land treatment models, in order to improve the land use efficiency and enhance the wind prevention and sand fixation functions, many sandy lands have carried out the desert photovoltaic treatment model of "generating electricity on the panel, repairing under the panel, and planting between the panels". However, during the long-term dune movement, it is easy to cause wind erosion on the photovoltaic panel supports, and high temperatures can easily lead to the "hot spot effect", which affects the service life of the components, resulting in high construction and operation and maintenance costs. Extreme and harsh weather also poses challenges to the physical strength, endurance and technical capabilities of construction personnel. Therefore, while preventing wind and fixing sand, planting shrub plants under the existing photovoltaic panels can, on the one hand, effectively hold the soil and water, reduce dune movement, and reduce the loss of the photovoltaic panel supports caused by wind erosion; on the other hand, it can effectively utilize land resources and increase land productivity. When planting shrub plants, in order to improve the planting efficiency, a special planting device is needed to assist in planting.

[0003] In the prior art, there is a multifunctional desert shrub planting device disclosed in announcement number CN114514866B, which includes a walking device and a spiral drilling device, a seedling planting device, and a sand covering, straightening and compacting device arranged on the walking device; the sand covering, straightening and compacting device includes a top disc bracket, a linear drive mechanism, a plurality of hinged four-bar mechanisms, a plurality of arcuate circular plates, a plurality of gear rack transmission mechanisms, and a plurality of straightening rods; the arcuate circular plates are contracted and spliced ​​into a cylindrical shape to gather the sand around the shrub seedlings into the hole; the hinged four-bar mechanism is contracted to drive the gear to rotate, thereby making multiple groups of straightening rods move closer to each other to complete the straightening operation of the shrub seedlings; a compacting plate is provided on the inner side of the bottom of each arcuate circular plate for compacting the sand around the shrub seedlings downwards. The existing planting device can realize the integrated work of desert shrubs from sending seedlings to planting seedlings, covering with sand, straightening and compacting. However, in actual planting, the existing device needs to dig holes first, then plant seedlings, and finally cover and compact. That is, each planting process can only be carried out once. Therefore, it is necessary to complete the planting of each shrub before the next shrub can be planted. After each shrub is planted, the device needs to be moved a certain distance before the next shrub can be planted, resulting in low actual planting efficiency. If the synchronous planting is carried out in the direction of the device forward, the integrated work from sending seedlings to planting seedlings, covering with sand, straightening and compacting will be carried out in sequence, the distance between adjacent planted shrubs will be small, and It is impossible to make corresponding adjustments according to actual planting needs, so there are also large planting limitations. Secondly, for the planting of shrubs under photovoltaic panels, since the photovoltaic panels are arranged in an inclined shape, if different types of shrub seedlings cannot be planted according to different positions under the photovoltaic panels during the planting process, the space under the photovoltaic panels cannot be well utilized, which is not only not conducive to the smooth growth of the shrub seedlings planted under the photovoltaic panels, but also unable to maximize the carbon fixation and sand fixation effects. In addition, during the planting process, the existing device digs holes, plants seedlings and covers the soil in sequence from the top of the walking device. Therefore, only shrub seedlings with lower heights can be planted, which also has large planting limitations. Summary of the invention

[0004] The present invention provides a shrub planting device for use under photovoltaic panels on sandy land in order to solve the problems that the existing device has low planting efficiency and has great limitations in shrub planting.

[0005] The present invention achieves the above-mentioned purpose through the following technical solutions: a shrub planting device for use under a photovoltaic panel on a sandy land, comprising a driving walking component, a hole digging component, a planting component and a filling component, wherein the hole digging component, the planting component and the filling component are all integrated and installed on the driving walking component, the hole digging component and the planting component are connected above the driving walking component, and the hole digging component and the planting component are arranged in a counterposition, the filling components are movably connected to both sides of the driving walking component in the direction of travel, and a retractable and adjustable component is connected between the two filling components; The pit-digging component includes a lifting and adjusting component, a hydraulic telescopic connecting rod, a pit-digging motor, and a screw drill rod. The lifting and adjusting component is vertically connected to the driving and traveling component. One end of the hydraulic telescopic connecting rod is fixedly connected to the lifting and adjusting component, and the other end of the hydraulic telescopic connecting rod is fixedly connected to the body of the pit-digging motor. The rotating shaft of the pit-digging motor is fixedly connected coaxially with the screw drill rod; The planting component includes a clamping robotic arm and a shrub storage box. The shrub storage box stores shrub saplings to be planted. The clamping robotic arm is in signal transmission connection with an external control terminal; The soil-filling component includes a notched ring, a soil-filling plate, and an arc-shaped support seat. The soil-filling plates are symmetrically arranged inside the notched ring. The arc-shaped support seat is movably connected to the outer ring body of the notched ring. A hydraulic push rod is fixedly connected to the outer wall of the ring body of the notched ring. The movable end of the hydraulic push rod penetrates through the ring body of the notched ring, and the movable end of the hydraulic push rod is fixedly connected to the back surface of the soil-filling plate.

[0006] As a further solution of the present invention: The driving and traveling component includes a crawler driving base and a rotating bottom plate. The rotating bottom plate is movably arranged above the crawler driving base. A rotating motor and a rotating ring assembly are arranged between the crawler driving base and the rotating bottom plate. The rotating motor and the rotating ring assembly are concentrically arranged. The bottom end of the rotating motor is fixedly connected to the center of the upper end surface of the crawler driving base. The rotating shaft of the rotating motor is fixedly connected to the center of the lower plate surface of the rotating bottom plate.

[0007] As a further solution of the present invention: The rotating ring assembly includes an upper movable ring, a ball, and a lower fixed ring. The upper movable ring is fixedly connected to the lower plate surface of the rotating bottom plate. The lower fixed ring is fixedly connected to the upper end surface of the crawler driving base. The upper movable ring and the lower fixed ring are connected in cooperation, and a number of balls are movably placed between the upper movable ring and the lower fixed ring.

[0008] As a further solution of the present invention: The shrub storage box is fixedly connected to the upper plate surface of the rotating bottom plate. The shrub storage boxes are symmetrically arranged on both sides of the lifting and adjusting component, and the two shrub storage boxes respectively store shrub trees of different height varieties.

[0009] As a further solution of the present invention: A number of groups of lower limiting inclined plates and upper limiting inclined plates are fixedly connected inside the shrub storage box. The lower limiting inclined plates and the upper limiting inclined plates are arranged in one-to-one correspondence. The lower limiting inclined plates and the upper limiting inclined plates are both suspended and connected inside the shrub storage box, and the upper limiting inclined plate in the same group is located obliquely above the lower limiting inclined plate; A number of shrub limiting grooves are evenly formed on the front plate surface of each upper limiting inclined plate.

[0010] As a further solution of the present invention: The lifting and adjusting assembly includes a U-shaped frame, a lifting slider, a lifting motor and a lifting threaded rod. The U-shaped frame is vertically and fixedly connected to the center of the upper plate surface of the rotating bottom plate. The lifting slider is movably clamped inside the U-shaped frame. The lifting threaded rod threadedly penetrates through the lifting slider. The body of the lifting motor is fixedly connected to the upper end of the U-shaped frame, and the rotating shaft of the lifting motor is fixedly connected coaxially with the lifting threaded rod; On both sides of the lifting slider close to the inner side wall of the U-shaped frame, limiting sliders are integrally connected. The inner side wall of the U-shaped frame is provided with vertically-shaped limiting chutes, and the limiting sliders are movably clamped inside the limiting chutes.

[0011] As a further solution of the present invention: A limiting rod is fixedly connected to the back side of the filling plate, and the rod body of the limiting rod movably penetrates through the notched ring. A soil pushing inclined surface is arranged on the inner side surface of the filling plate, and a soil pressing inclined plate is integrally connected to the lower end of the filling plate. The soil pressing inclined plate is arranged in an outwardly inclined shape.

[0012] As a further solution of the present invention: A moving slide rail is integrally connected to the outer ring body of the notched ring, and the arc-shaped support seat is movably clamped on the moving slide rail.

[0013] As a further solution of the present invention: A moving chute is opened inside the moving slide rail, an arc-shaped rack is fixedly connected inside the moving chute, a gear cavity is opened inside the arc-shaped support seat, and a steering gear is arranged inside the gear cavity. A steering motor is fixedly connected to the arc-shaped support seat, the rotating shaft of the steering motor is fixedly connected coaxially with the steering gear, and the steering gear is meshed and connected with the arc-shaped rack.

[0014] As a further solution of the present invention: The retracting and adjusting assembly includes a square push rod, a positioning round rod and a C-shaped clamp. A square push rod and a positioning round rod are fixedly connected to the back side of each arc-shaped support seat, and the square push rods and positioning round rods connected to the back sides of the two arc-shaped support seats are arranged in a staggered manner. A through hole is opened inside the rod of the square push rod, and the positioning round rod connected to one arc-shaped support seat is inserted into the through hole opened in the square push rod connected to the other arc-shaped support seat. The C-shaped clamps are respectively clamped on the outer side of the rod body of the square push rod, and the C-shaped clamps are fixedly connected to the lower surface of the crawler driving base; Retracting racks are fixedly connected to the inner side surfaces of the two square push rods. A retracting gear and a retracting motor are arranged between the two retracting racks. The retracting gear is meshed and connected with the retracting racks on both sides. The retracting gear is fixedly connected coaxially with the rotating shaft of the retracting motor, and a motor fixing frame is installed on the body of the retracting motor. The retracting motor is fixedly connected to the lower surface of the crawler driving base through the motor fixing frame.

[0015] The beneficial effects of the present invention are: 1. The present invention is provided with a driving and walking component, a pit-digging component, a planting component, and a soil-filling component. The pit-digging component, the planting component, and the soil-filling component are all integrally installed on the driving and walking component. The planting device can be made to travel along a set direction under the sand photovoltaic panel through the driving and walking component. After traveling a certain distance, the retracting and adjusting component extends the soil-filling component, and then the pit-digging component extends to directly above the soil-filling component. The pit-digging component digs planting holes on one side of the traveling direction of the planting device. Then, while the pit-digging component turns to the other side of the traveling direction of the planting device to dig planting holes, the planting component plants the shrub trees in the previously dug planting holes. Then, when the digging of the planting holes on the other side is completed, the pit-digging component is rotated back to the initial position. At this time, the planting component can plant the shrub trees in the later-dug planting holes. That is, after the driving and walking component travels a certain distance, it can realize the planting of shrubs on both sides of the device, and can synchronize the process of digging the planting holes with the planting process once, which can greatly improve the planting efficiency of shrubs under the sand photovoltaic panel. And after the shrub saplings are planted in the holes, the soil-filling component can fill the dug planting holes, that is, it can realize the entire planting process of the shrubs. And because the planting area is on both sides of the driving and walking component, in the actual planting process, it will not be affected by the height of the shrub saplings, that is, it can greatly improve the scope of application of the device; 2. The pit-digging component provided by the present invention includes a lifting and adjusting component, a hydraulic telescopic link, a pit-digging motor, and a screw drill rod. The hydraulic telescopic link can drive the pit-digging motor and the screw drill rod to move horizontally. That is, when the planting device is not working, the pit-digging motor and the screw drill rod can be retracted and placed directly above the driving and walking component. When it is necessary to dig planting holes, the pit-digging motor drives the screw drill rod to rotate, and at the same time, it cooperates with the up and down movement of the lifting and adjusting component to make the screw drill rod dig planting holes of a certain depth in the sand; 3. The planting component provided by the present invention includes a clamping manipulator and a shrub storage box. The shrub storage box stores the shrub saplings to be planted. The clamping manipulator can be controlled to clamp the shrub trees in the shrub storage box, and then after adjusting the angle, the shrub trees are put into the dug planting holes to realize the remote control and placement of the shrub trees, without the need for the planting personnel to plant the shrub trees under the photovoltaic panel in person; 4. The soil-filling component provided by the present invention includes a notched ring, a soil-filling plate, and an arc-shaped support seat. The hydraulic push rod can be used to push the two soil-filling plates to move towards each other, and then the sand dug out when digging the planting holes can be filled back into the holes. Then, the notched ring is rotated so that the soil-filling plates can fill the sand back from different directions to ensure that the sand is completely filled back into the holes. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 Schematic diagram of the connection structure between the driving walking component and the pit-digging component of the present invention; Figure 3 Schematic diagram of the sectional structure of the driving walking component of the present invention; Figure 4 Schematic diagram of the split state structure of the rotating ring component of the present invention; Figure 5 Schematic diagram of the sectional structure of the shrub storage box of the present invention; Figure 6 Schematic diagram of the sectional split structure of the lifting and adjusting component of the present invention; Figure 7 Schematic diagram of the filling component of the present invention; Figure 8 Schematic diagram of the connection structure between the retracting and adjusting component and the crawler driving base of the present invention; Figure 9 Schematic diagram of the retracting and adjusting component of the present invention; Figure 10 Schematic diagram of the sectional structure of the connection part between the notched ring and the arc-shaped support seat of the present invention; Figure 11 Schematic diagram of the state of the notched ring without rotating for filling soil of the present invention; Figure 12 Schematic diagram of the state of the notched ring rotating for filling soil of the present invention; Figure 13 Schematic diagram of the filling plate of the present invention.

[0017] In the figure: 1. Crawler driving base, 2. Rotating bottom plate, 21. Rotating motor, 3. Shrub storage box, 31. Lower limit inclined plate, 32. Upper limit inclined plate, 33. Shrub limit groove, 4. Pit-digging component, 41. U-shaped frame, 42. Hydraulic telescopic connecting rod, 43. Pit-digging motor, 44. Spiral drill rod, 45. Lifting slider, 46. Limit slider, 47. Limit chute, 48. Lifting motor, 49. Lifting threaded rotating rod, 5. Clamping manipulator, 6. Filling component, 61. Notched ring, 62. Filling plate, 621. Earth-pushing inclined surface, 622. Soil-pressing inclined plate, 63. Limit rod, 64. Hydraulic push rod, 65. Arc-shaped support seat, 66. Moving slide rail, 67. Moving chute, 68. Arc-shaped rack, 69. Gear cavity, 610. Steering gear, 611. Steering motor, 612. Square push rod, 613. Positioning round rod, 614. C-shaped clamping plate, 615. Retracting and releasing rack, 616. Retracting and releasing motor, 617. Motor fixing frame, 618. Retracting and releasing gear, 619. Perforation, 7. Rotating ring component, 71. Upper movable ring, 72. Ball, 73. Lower fixed ring. Detailed implementation manners

[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0019] Embodiment 1 As Figure 1 , Figure 2 , Figure 6 and Figure 7As shown in the figure, a shrub planting device for under a sandy photovoltaic panel includes a driving and walking assembly, a hole-digging assembly 4, a planting assembly, and a soil-filling assembly 6. The hole-digging assembly 4, the planting assembly, and the soil-filling assembly are all integrally installed on the driving and walking assembly. The hole-digging assembly 4 and the planting assembly are connected above the driving and walking assembly, and the hole-digging assembly 4 and the planting assembly are arranged in a corresponding position. The soil-filling assemblies are respectively movably connected to both sides of the advancing direction of the driving and walking assembly, and a retracting and adjusting assembly is connected between the two soil-filling assemblies. The planting device can be made to advance along a set direction under the sandy photovoltaic panel through the driving and walking assembly. After advancing a certain distance, the retracting and adjusting assembly extends the soil-filling assembly 6, and then the hole-digging assembly 4 extends to directly above the soil-filling assembly 6. The hole-digging assembly 4 digs a planting hole position on one side of the advancing direction of the planting device. Then, while the hole-digging assembly 4 turns to the other side of the advancing direction of the planting device to dig a planting hole position, the planting assembly plants the shrub trees in the previously dug planting hole position. Then, when the planting hole position on the other side is dug, the hole-digging assembly 4 is rotated back to the initial position. At this time, the planting assembly can plant the shrub trees in the later-dug planting hole position. That is, after the driving and walking assembly advances a certain distance, shrub planting on both sides of the device can be achieved, and the process of digging a planting hole position and the planting process can be synchronized for one of them, which can greatly improve the planting efficiency of shrubs under the sandy photovoltaic panel. After the shrub saplings are planted in the hole positions, the dug planting hole positions can be filled by the soil-filling assembly 6, that is, the entire planting process of the shrubs can be completed. And because the planting area is on both sides of the driving and walking assembly, during the actual planting process, it will not be affected by the height of the shrub saplings, that is, the applicable range of this device can be greatly improved. It should be noted that the driving and walking assembly, the hole-digging assembly 4, the planting assembly, and the soil-filling assembly 6 are integrated with a PLC control system. Among them, the PLC control system can adopt the PLC control system and the walking encoder mentioned in a walking mechanism control system and its control method disclosed in the publication number CN113958543A. The PLC control system sets a traveling azimuth instruction, a traveling distance instruction, and a rotation instruction for the driving and walking assembly. The PLC control system sets a hole-digging depth instruction for the hole-digging assembly 4, and the PLC control system sets a backfilling instruction for the soil-filling assembly 6. During specific operation, according to the laying azimuth of the photovoltaic panels and the laying length of the photovoltaic panels, after setting the traveling azimuth and the distance of each advance through the control system, the driving and walking assembly can be made to drive the shrub planting device to advance along the laying azimuth of the photovoltaic panels;The control process of the PLC control system is as follows: First, a moving instruction is sent to the driving walking component to drive the walking component to move along a specific direction, and the traveling distance of the driving walking component is the moving distance set by the PLC control system. When the driving walking component moves in place, the PLC control system sends a digging depth instruction to the digging component 4. The digging component 4 digs a planting hole position on one side of the device according to the set digging depth and then returns to its original position. Then, the PLC control system sends a rotation instruction to the driving walking component to swap the positions of the digging component 4 and the planting component. At this time, a digging depth instruction can be sent to the digging component 4 again. The digging component 4 digs a planting hole position on the other side of the device according to the set digging depth and then returns to its original position. At the same time, the planting component also plants shrub seedlings in the first dug planting hole position. The PLC control system sends a backfilling instruction to the filling component 6 to backfill the soil. The PLC control system sends a rotation instruction to the driving walking component again to restore the digging component 4 and the planting component to their initial positions. At this time, shrub seedlings can be planted in the second dug planting hole position; The digging component 4 includes a lifting and adjusting component, a hydraulic telescopic link 42, a digging motor 43, and a screw drill rod 44. The lifting and adjusting component is vertically connected to the driving walking component. One end of the hydraulic telescopic link 42 is fixedly connected to the lifting and adjusting component, and the other end of the hydraulic telescopic link 42 is fixedly connected to the body of the digging motor 43. The rotating shaft of the digging motor 43 is coaxially and fixedly connected to the screw drill rod 44. The hydraulic telescopic link 42 can drive the digging motor 43 and the screw drill rod 44 to move horizontally. That is, when the planting device is not working, the digging motor 43 and the screw drill rod 44 can be retracted and placed directly above the driving walking component. When it is necessary to dig a planting hole position, the digging motor 43 drives the screw drill rod 44 to rotate, and at the same time, it cooperates with the up and down movement of the lifting and adjusting component to enable the screw drill rod 44 to dig a planting hole position with a certain depth in the sandy land; The planting component includes a clamping manipulator 5 and a shrub storage box 3. The shrub storage box 3 stores shrub saplings to be planted. The clamping manipulator 5 is in signal transmission connection with an external control terminal, and can control the clamping manipulator 5 to clamp the shrub trees in the shrub storage box 3, and then adjust the angle and place the shrub trees in the dug planting hole positions to achieve remote control and placement of the shrub trees. There is no need for planting personnel to plant the shrub trees under the photovoltaic panels in person. It should be noted that for the stability of the signal transmission from the external control terminal to the clamping manipulator 5, the following tests on the signal transmission stability are carried out in this embodiment: I. Main Environmental Challenges and Test Parameters 1. Influence of Wind and Sand Test indicators: signal attenuation rate, bit error rate (BER), delay fluctuation.

[0020] Typical data: When the wind speed > 15 m / s, the signal strength of 2.4 GHz decreases by about 20 - 30% (dust concentration > 200 μg / m³).

[0021] When the antenna is covered with dust, the bit error rate of the 5 GHz band rises to 10 -3 (in a normal environment it is 10 -6 ).

[0022] 2. High temperature and temperature difference Test indicators: Equipment operating temperature range, signal stability Typical data: When the equipment temperature > 60 °C, the transmission rate of the WiFi module decreases by 40%; when the day - night temperature difference > 30 °C, the probability of poor contact due to thermal expansion and contraction of the metal joint increases by 50%.

[0023] 3. Terrain and multipath interference Test indicators: Signal coverage range, multipath fading depth; Typical data: In a flat desert, the 5G signal coverage distance can reach 23 km (unobstructed); the dune terrain causes the multipath delay spread to reach 50 - 100 ns, and the peak bit error rate increases by 3 times.

[0024] Communication technology comparative test

[0025] III. Key test conclusions Adopting dual - mode communication (LoRa + satellite) reduces the signal interruption risk to < 1%; the dynamic power adjustment technology can extend the battery life by 30%, ensuring the signal transmission stability of the peripheral control terminal to the clamping robotic arm 5.

[0026] The filling component 6 includes a notched ring 61, filling plates 62 and an arc - shaped support seat 65. The filling plates 62 are symmetrically arranged inside the notched ring 61. The arc - shaped support seat 65 is movably connected to the outer ring body of the notched ring 61. A hydraulic push rod 64 is fixedly connected to the outer wall of the ring body of the notched ring 61. The movable end of the hydraulic push rod 64 penetrates through the ring body of the notched ring 61, and the movable end of the hydraulic push rod 64 is fixedly connected to the back surface of the filling plate 62. It can push the two filling plates 62 to move towards each other through the hydraulic push rod 64, and then the sandy soil dug out when digging the planting hole can be filled back into the hole. Then rotate the notched ring 61 so that the filling plates 62 can fill the sandy soil from different directions to ensure that the sandy soil is completely filled back into the hole.

[0027] Embodiment 2 Improved on the basis of Embodiment 1: Such as Figures 1 to 5As shown in the figure, the driving and walking assembly includes a crawler driving base 1 and a rotating bottom plate 2. The rotating bottom plate 2 is movably arranged above the crawler driving base 1. A rotating motor 21 and a rotating ring assembly 7 are arranged between the crawler driving base 1 and the rotating bottom plate 2. The rotating motor 21 and the rotating ring assembly 7 are concentrically arranged. The bottom end of the rotating motor 21 is fixedly connected to the center of the upper end surface of the crawler driving base 1, and the rotating shaft of the rotating motor 21 is fixedly connected to the center of the lower plate surface of the rotating bottom plate 2. The rotating ring assembly 7 provides a ring-shaped stable support for the rotating bottom plate 2, and the crawler driving base 1 drives the planting device to move along a set direction. Moreover, the rotating motor 21 can drive the rotating bottom plate 2 to rotate, so as to realize the adjustment of the positions of the digging component 4 and the planting component, that is, it can realize that after the planting device moves to the corresponding position, shrub planting operations can be carried out on both sides of the planting device, enabling the planting device to have the function of double-row planting to improve the planting efficiency.

[0028] Furthermore, the rotating ring assembly 7 includes an upper movable ring 71, rolling balls 72 and a lower fixed ring 73. The upper movable ring 71 is fixedly connected to the lower plate surface of the rotating bottom plate 2, and the lower fixed ring 73 is fixedly connected to the upper end surface of the crawler driving base 1. The upper movable ring 71 and the lower fixed ring 73 are connected in cooperation, and a number of rolling balls 72 are movably placed between the upper movable ring 71 and the lower fixed ring 73. When the rotating bottom plate 2 rotates, the upper movable ring 71 and the lower fixed ring 73 can rotate more easily through the action of the rolling balls 72, that is, it can ensure that while the rotating ring assembly 7 provides stable support for the rotating bottom plate 2, the rotating bottom plate 2 can rotate more smoothly.

[0029] Furthermore, the shrub storage box 3 is fixedly connected to the upper plate surface of the rotating bottom plate 2. The shrub storage box 3 is symmetrically arranged on both sides of the lifting and adjusting assembly, and the two shrub storage boxes 3 contain shrub trees of different height varieties respectively. Since this planting device is used for planting shrubs under the photovoltaic panel, and the photovoltaic panel is mainly installed in an inclined manner, during the planting process, low-growing shrub varieties can be planted in the planting holes near the bottom end of the photovoltaic panel, and high-growing shrub varieties can be planted in the planting holes far from the bottom end of the photovoltaic panel, so as to make more reasonable planting allocation by making rational use of the space under the photovoltaic panel. It should be noted that the overall structural height of the shrub planting device is lower than the inclined lower end height of the photovoltaic panel, and the planted shrubs are Artemisia desertorum ( Artemisia desertorum ), Agriophyllum squarrosum ( Agriophyllum squarrosum ), Agropyron cristatum ( Agropyron cristatum ), Leymus chinensis ( Leymus chinensis ), etc. with strong carbon sequestration ability and cold tolerance, and Hedysarum gmelinii ( Hedysarum gmelinii ), Glycyrrhiza uralensis ( Glycyrrhiza uralensis), low-growing, easy-to-survive, cold-resistant and carbon-fixing semi-shrubs can be paired with Caragana microphylla ( Caragana microphylla ), Caragana stenophylla ( Caragana stenophylla ), and Ceratoides arborescens ( Krascheninnikovia arborescens ). The specific planting methods of the plants are shown in the following table.

[0030] Specific Planting Methods

[0031] Furthermore, a number of lower limiting inclined plates 31 and upper limiting inclined plates 32 are fixedly connected inside the shrub storage box 3. The lower limiting inclined plates 31 and the upper limiting inclined plates 32 are arranged in one-to-one correspondence. The lower limiting inclined plates 31 and the upper limiting inclined plates 32 are both connected in a suspended state inside the shrub storage box 3, and the upper limiting inclined plate 32 of the same group is located above the lower limiting inclined plate 31 in an inclined manner, so that the shrub saplings can be sequentially arranged between each group of lower limiting inclined plates 31 and upper limiting inclined plates 32, and the shrub trees can be inclinedly supported by the lower limiting inclined plates 31 and the upper limiting inclined plates 32, facilitating the clamping manipulator 5 to clamp and pick up; Furthermore, a number of shrub limiting grooves 33 are evenly opened on the front plate surface of each upper limiting inclined plate 32. The shrub saplings can be clamped in the shrub limiting grooves 33, so that the shrub saplings can be evenly distributed, further improving the accuracy of the clamping manipulator 5 to clamp and pick up the shrub saplings.

[0032] As Figure 1 、 Figure 2 and Figure 6 shown, the lifting and adjusting assembly includes a U-shaped frame 41, a lifting slider 45, a lifting motor 48, and a lifting threaded rod 49. The U-shaped frame 41 is vertically and fixedly connected to the center of the upper plate surface of the rotating bottom plate 2. The lifting slider 45 is movably clamped inside the U-shaped frame 41. The lifting threaded rod 49 is threaded through the lifting slider 45. The body of the lifting motor 48 is fixedly connected to the upper end of the U-shaped frame 41, and the rotating shaft of the lifting motor 48 is fixedly connected to the lifting threaded rod 49 coaxially, so as to be able to drive the lifting threaded rod 49 to rotate through the lifting motor 48, and then control the lifting slider 45 to drive the screw drill 44 to move up and down, so as to realize the operation of drilling planting holes on the sandy land; Furthermore, limiting sliders 46 are integrally connected to both sides of the lifting slider 45 close to the inner side wall of the U-shaped frame 41. A vertical limiting chute 47 is opened on the inner side wall of the U-shaped frame 41, and the limiting sliders 46 are movably clamped inside the limiting chute 47. When the lifting slider 45 moves up and down, through the cooperation of the limiting sliders 46 and the limiting chute 47, it can ensure that the lifting slider 45 can only move in the vertical direction.

[0033] As Figure 1 、 Figure 2 、Figures 7 to 13 As shown, a limiting rod 63 is fixedly connected to the back side of the filling plate 62, and the rod body of the limiting rod 63 movably penetrates through the notch ring 61. A soil pushing inclined surface 621 is arranged on the inner side surface of the filling plate 62, and a soil pressing inclined plate 622 is integrally connected to the lower end of the filling plate 62. The soil pressing inclined plate 622 is arranged to be inclined outward. When the filling plate 62 is pushed towards each other, the limiting rod 63 can ensure that the filling plate 62 can steadily push the sandy soil. And during the pushing process, the soil pushing inclined surface 621 can gather the sandy soil towards the middle. At the same time, when the sandy soil is gathered and backfilled into the planting hole position, the soil pressing inclined plate 622 can press down and compact the sandy soil to ensure a relatively tight planting of the shrub saplings.

[0034] Furthermore, a moving slide rail 66 is integrally connected to the outer ring body of the notch ring 61. The arc-shaped support seat 65 is movably clamped on the moving slide rail 66, enabling the notch ring 61 to rotate relative to the arc-shaped support seat 65. Thus, the filling plate 62 can be adjusted to push the sandy soil towards each other from different directions for backfilling, ensuring that the excavated sandy soil can be completely backfilled into the planting hole position. It should be noted that the connection position of the moving slide rail 66 on the outer ring body of the notch ring 61 is above the limiting rod 63 and the hydraulic push rod 64, ensuring that when the notch ring 61 rotates, the connected limiting rod 63 and hydraulic push rod 64 will not touch the arc-shaped support seat 65, that is, it can avoid movement interference.

[0035] Furthermore, a moving chute 67 is formed in the moving slide rail 66, and an arc-shaped rack 68 is fixedly connected in the moving chute 67. A gear cavity 69 is formed in the arc-shaped support seat 65, and a steering gear 610 is arranged in the gear cavity 69. A steering motor 611 is fixedly connected to the arc-shaped support seat 65. The rotating shaft of the steering motor 611 is fixedly connected to the steering gear 610 coaxially, and the steering gear 610 is meshed with the arc-shaped rack 68. By driving the steering gear 610 to rotate through the steering motor 611, the notch ring 61 can rotate relative to the arc-shaped support seat 65 under the meshing action of the gear and the rack.

[0036] Further, the retractable adjustment assembly includes a square push rod 612, a positioning round rod 613, and a C-shaped clamping plate 614. The back side of each arc-shaped support seat 65 is fixedly connected with a square push rod 612 and a positioning round rod 613, and the square push rods 612 and the positioning round rods 613 connected to the back sides of the two arc-shaped support seats 65 are arranged in a staggered manner. A perforation 619 is formed in the rod of the square push rod 612. The positioning round rod 613 connected to one of the arc-shaped support seats 65 is inserted into the perforation 619 formed in the square push rod 612 connected to the other arc-shaped support seat 65. The C-shaped clamping plates 614 are respectively clamped on the outer side of the rod of the square push rod 612, and the C-shaped clamping plates 614 are fixedly connected with the lower surface of the crawler drive base 1. The retractable adjustment assembly can be combined and connected with the crawler drive base 1 through the C-shaped clamping plates 614. Furthermore, the two soil filling assemblies 6 can be movably connected to the crawler drive base 1, and the two square push rods 612 can move towards or away from each other. During the movement, the soil filling assemblies 6 can be smoothly telescoped and retracted under the limiting action of the positioning round rod 613. Further, retractable racks 615 are fixedly connected to the inner sides of the two square push rods 612. A retractable gear 618 and a retractable motor 616 are arranged between the two retractable racks 615. The retractable gear 618 is meshed with the retractable racks 615 on both sides. The retractable gear 618 is fixedly connected to the rotating shaft of the retractable motor 616 coaxially. A motor fixing frame 617 is installed on the body of the retractable motor 616, and the retractable motor 616 is fixedly connected with the lower surface of the crawler drive base 1 through the motor fixing frame 617. The retractable motor 616 can drive the retractable gear 618 to rotate, and further drive the two square push rods 612 to simultaneously move in opposite directions telescopically, that is, the two soil filling assemblies 6 can be simultaneously extended or retracted from below the crawler drive base 1. When the two soil filling assemblies 6 are extended, the extended amplitudes can be ensured to be consistent. Furthermore, when the screw drill rod 44 is rotated to the other side, it can also be exactly above the other soil filling assembly 6, so as to ensure that shrubs can be successfully planted on both sides of the planting device.

[0037] Working principle: By driving the traveling assembly, the planting device can travel along a set direction under the sand photovoltaic panel. After traveling a certain distance, the retracting and extending motor 616 drives the retracting and extending gear 618 to rotate, thereby driving the two square push rods 612 to simultaneously perform reverse telescopic movements, that is, enabling the two filling components 6 to extend from under the crawler drive base 1 at the same time. Then, the digging component 4 extends to directly above the filling component 6. The digging component 4 digs planting holes on one side of the traveling direction of the planting device. Then, while the digging component 4 turns to the other side of the traveling direction of the planting device to dig planting holes, the clamping robotic arm 5 clamps and picks up shrub saplings of the corresponding height from the shrub storage box 3, and places the shrub saplings into the planting holes through the clamping robotic arm 5. The hydraulic push rod 64 is used to push the two filling plates 62 to move towards each other, thereby filling the sand dug out when digging the planting holes back into the holes. Then, the notched ring 61 is rotated so that the filling plates 62 can fill the sand back from different directions to ensure that the sand is completely filled back into the holes. Then, when the digging of the planting holes on the other side is completed, the digging component 4 is rotated back to the initial position. At this time, the clamping robotic arm 5 can again clamp and pick up shrub saplings of the corresponding height from the shrub storage box 3, and place the shrub saplings into the planting holes through the clamping robotic arm 5. The hydraulic push rod 64 is used to push the two filling plates 62 to move towards each other, thereby filling the sand dug out when digging the planting holes back into the holes. Then, the notched ring 61 is rotated so that the filling plates 62 can fill the sand back from different directions to ensure that the sand is completely filled back into the holes. That is, after the traveling assembly travels a certain distance, shrub planting can be achieved on both sides of the device, and the process of digging planting holes and the planting process can be synchronized during one operation, which can greatly improve the planting efficiency of shrubs under the sand photovoltaic panel. And because the planting area is on both sides of the traveling assembly, during the actual planting process, it will not be affected by the height of the shrub saplings, that is, the applicable range of the device can be greatly improved.

[0038] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claimed rights.

[0039] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A shrub planting device for under a sandy photovoltaic panel, comprising a driving walking assembly, a pit digging assembly (4), a planting assembly, and a soil filling assembly (6), characterized in that: The described pit-digging component (4), planting component, and soil-filling component are all integrally installed on the driving and walking component. The pit-digging component (4) and the planting component are connected above the driving and walking component, and the pit-digging component (4) and the planting component are arranged in a position-aligned manner. The soil-filling components are respectively movably connected to both sides of the advancing direction of the driving and walking component, and a retracting and adjusting component is connected between the two soil-filling components; The pit-digging component (4) includes a lifting and adjusting component, a hydraulic telescopic connecting rod (42), a pit-digging motor (43), and a screw drill rod (44). The lifting and adjusting component is vertically connected to the driving and walking component. One end of the hydraulic telescopic connecting rod (42) is fixedly connected to the lifting and adjusting component, and the other end of the hydraulic telescopic connecting rod (42) is fixedly connected to the body of the pit-digging motor (43). The rotating shaft of the pit-digging motor (43) is coaxially and fixedly connected to the screw drill rod (44); The planting component includes a clamping robotic arm (5) and a shrub storage box (3). The clamping robotic arm (5) is in signal transmission connection with an external control terminal; The soil-filling component (6) includes a notched ring (61), a soil-filling plate (62), and an arc-shaped support base (65). The soil-filling plates (62) are symmetrically arranged inside the notched ring (61). The arc-shaped support base (65) is movably connected to the outer circumferential wall of the notched ring (61). A hydraulic push rod (64) is fixedly connected to the outer circumferential wall of the notched ring (61). The movable end of the hydraulic push rod (64) penetrates through the circumferential wall of the notched ring (61), and the movable end of the hydraulic push rod (64) is fixedly connected to the back surface of the soil-filling plate (62).

2. The shrub planting device for under a sandy photovoltaic panel according to claim 1, characterized in that: The driving and walking component includes a crawler driving base (1) and a rotating bottom plate (2). The rotating bottom plate (2) is movably arranged above the crawler driving base (1). A rotating motor (21) and a rotating ring component (7) are arranged between the crawler driving base (1) and the rotating bottom plate (2). The rotating motor (21) and the rotating ring component (7) are concentrically arranged. The bottom end of the rotating motor (21) is fixedly connected to the center of the upper end surface of the crawler driving base (1). The rotating shaft of the rotating motor (21) is fixedly connected to the center of the lower plate surface of the rotating bottom plate (2).

3. The shrub planting device for under the sandy photovoltaic panel according to claim 2, wherein: The rotating ring component (7) includes an upper movable ring (71), a ball (72), and a lower fixed ring (73). The upper movable ring (71) is fixedly connected to the lower plate surface of the rotating bottom plate (2). The lower fixed ring (73) is fixedly connected to the upper end surface of the crawler driving base (1). The upper movable ring (71) and the lower fixed ring (73) are cooperatively connected, and a number of balls (72) are movably placed between the upper movable ring (71) and the lower fixed ring (73).

4. The shrub planting device for under the sandy photovoltaic panel according to claim 3, characterized in that: The shrub storage box (3) is fixedly connected to the upper plate surface of the rotating bottom plate (2). The shrub storage box (3) is symmetrically arranged on both sides of the lifting and adjusting component.

5. The shrub planting device for under a sandy photovoltaic panel according to claim 4, wherein: A number of lower limiting inclined plates (31) and upper limiting inclined plates (32) are fixedly connected inside the shrub storage box (3). The lower limiting inclined plates (31) and the upper limiting inclined plates (32) are arranged in one-to-one correspondence. The lower limiting inclined plates (31) and the upper limiting inclined plates (32) are both connected in a suspended state inside the shrub storage box (3), and the upper limiting inclined plate (32) of the same group is located above the inclination of the lower limiting inclined plate (31). A number of shrub limiting grooves (33) are evenly formed on the front surface of each upper limiting inclined plate (32).

6. The shrub planting device for under a sandy photovoltaic panel according to claim 1, wherein: The lifting and adjusting assembly includes a U-shaped frame (41), a lifting slider (45), a lifting motor (48) and a lifting threaded rotating rod (49). The U-shaped frame (41) is vertically and fixedly connected to the center of the upper surface of the rotating bottom plate (2). The lifting slider (45) is movably clamped inside the U-shaped frame (41). The lifting threaded rotating rod (49) is threadedly penetrated through the lifting slider (45). The body of the lifting motor (48) is fixedly connected to the upper end of the U-shaped frame (41), and the rotating shaft of the lifting motor (48) is fixedly connected to the lifting threaded rotating rod (49) coaxially. Two sides of the lifting slider (45) close to the inner side wall of the U-shaped frame (41) are integrally connected with limiting sliders (46). A vertically-shaped limiting chute (47) is formed on the inner side wall of the U-shaped frame (41), and the limiting sliders (46) are movably clamped inside the limiting chute (47).

7. The shrub planting device for under the sandy photovoltaic panel according to claim 1, characterized in that: A limiting rod (63) is fixedly connected to the back side of the soil filling plate (62), and the rod body of the limiting rod (63) movably penetrates through the notch ring (61). A soil pushing inclined surface (621) is arranged on the inner side surface of the soil filling plate (62), and a soil pressing inclined plate (622) is integrally connected to the lower end of the soil filling plate (62). The soil pressing inclined plate (622) is arranged in an outward inclined state.

8. The shrub planting device for under a sandy photovoltaic panel according to claim 7, characterized in that: A moving slide rail (66) is integrally connected to the outer ring body of the notch ring (61). The arc-shaped support base (65) is movably clamped on the moving slide rail (66).

9. The shrub planting device for under a sandy photovoltaic panel according to claim 8, characterized in that: A moving chute (67) is formed inside the moving slide rail (66). An arc-shaped rack (68) is fixedly connected inside the moving chute (67). A gear cavity (69) is formed inside the arc-shaped support base (65), and a steering gear (610) is arranged inside the gear cavity (69). A steering motor (611) is fixedly connected to the arc-shaped support base (65). The rotating shaft of the steering motor (611) is fixedly connected to the steering gear (610) coaxially, and the steering gear (610) is meshed and connected with the arc-shaped rack (68).

10. The shrub planting device for under the sandy photovoltaic panel according to claim 9, characterized in that: The retracting and adjusting assembly includes a square push rod (612), a positioning round rod (613), and a C-shaped clamping plate (614). A square push rod (612) and a positioning round rod (613) are fixedly connected to the back side of each of the arc-shaped support seats (65). The square push rods (612) and the positioning round rods (613) connected to the back sides of the two arc-shaped support seats (65) are arranged in a staggered manner. A through hole (619) is formed in the rod of the square push rod (612). The positioning round rod (613) connected to one of the arc-shaped support seats (65) is inserted into the through hole (619) formed in the square push rod (612) connected to the other arc-shaped support seat (65). The C-shaped clamping plates (614) are respectively clamped on the outer side of the rod of the square push rod (612), and the C-shaped clamping plates (614) are fixedly connected to the lower surface of the crawler drive base (1). Retracting and releasing racks (615) are fixedly connected to the inner sides of the two square push rods (612). A retracting and releasing gear (618) and a retracting and releasing motor (616) are arranged between the two retracting and releasing racks (615). The retracting and releasing gear (618) is meshed with the retracting and releasing racks (615) on both sides. The retracting and releasing gear (618) is fixedly connected to the rotating shaft of the retracting and releasing motor (616) coaxially. A motor fixing frame (617) is installed on the body of the retracting and releasing motor (616). The retracting and releasing motor (616) is fixedly connected to the lower surface of the crawler drive base (1) through the motor fixing frame (617).

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