Alpine meadow turf stripping and storage system and method

Abstract

The present invention discloses a system and method for stripping and storing alpine meadow turf, which belongs to the technical field of water and soil conservation and restoration in alpine areas. The alpine meadow turf stripping and storage system comprises: a track base, with multiple groups arranged side by side; the track base comprises a bottom plate and slide rails located on both sides of the bottom plate, and a meadow turf planting area is formed above the bottom plate between the slide rails on both sides; a track-type meadow turf stripping and storage vehicle, which slides on the slide rails and can slide along the track base, and is used to shovel, cut and store the meadow turf in the meadow turf planting area during the sliding process; and a transfer vehicle, which is arranged on the outer side of the end of any group of track bases, and is used to carry the track-type meadow turf stripping and storage vehicle so that it can be transferred to any group of track bases. The method is implemented based on the system. The present invention can cultivate meadow turf in different areas, is convenient for drafting, has good protection for meadow turf, and can ensure the integrity and flat state of meadow turf after drafting.

Description

Technical Field

[0001] The invention relates to the technical field of soil and water conservation and restoration in alpine areas, and relates to a meadow transplantation technology, in particular to a turf stripping and storage system for an alpine meadow. Background Art

[0002] Alpine meadow is a type of grassland developed on plateaus and mountains under cold environmental conditions. The soil is mainly alpine meadow soil, and its vegetation composition is mainly cold-mesophytic perennial herbaceous plants, often accompanied by mesophytic perennial forbs.

[0003] Because alpine meadows are difficult to repair once damaged, construction work in alpine areas requires stripping and conservation of the meadows, which are then re-laid after construction is complete. Furthermore, to maintain soil and water conservation and remediate the environment, it is sometimes necessary to cultivate alpine meadows for paving. When necessary, turfing equipment or turf stripping equipment is typically used to strip and collect the turf from the alpine meadows for subsequent turf laying.

[0004] In the prior art, when conserving or cultivating meadow turf, it is mostly set up as a whole in a certain area. There is no clear boundary when stripping the meadow turf, and the stripping is basically based on human judgment, which makes the final turf size specifications vary greatly, and the area of ​​meadow turf damaged is large, reducing the utilization rate of meadow turf; secondly, the existing turfing equipment or turf stripping equipment moves directly in the cultivation site, which will squeeze and damage part of the meadow turf, and after drafting, the meadow turf is easy to disperse or overlap, and cannot maintain a good flat and complete state, affecting subsequent paving. All of these affect the overall utilization rate of meadow turf and increase the difficulty of subsequent paving.

[0005] Based on this, in order to improve the protection and utilization rate of meadow turf and ensure the integrity and condition of the meadow turf after drafting, the present invention specially proposes a high-altitude meadow turf stripping and storage system. Summary of the Invention

[0006] The present invention aims to provide an alpine meadow turf stripping and storage system that can cultivate meadow turf in zones, facilitates weeding, provides good protection for the meadow turf, and ensures the integrity and flatness of the meadow turf after weeding. Furthermore, based on the alpine meadow turf stripping and storage system, the present invention also provides an alpine meadow turf stripping and storage method.

[0007] One of the objectives of the present invention is mainly achieved through the following technical solutions: a high-altitude meadow turf stripping and storage system, comprising: a rail base, multiple groups of which are arranged side by side; the rail base comprises a base plate and slide rails located on both sides of the base plate, and a meadow turf planting area is formed above the base plate between the slide rails on both sides; a rail-type meadow turf stripping and storage vehicle, which slides on the slide rails and can slide along the rail base, and is used to shovel, cut and store the meadow turf in the meadow turf planting area during the sliding process; and a transfer vehicle, which is arranged on the outside of the end of any group of rail bases, and is used to carry the rail-type meadow turf stripping and storage vehicle so that it can be transferred to any group of rail bases.

[0008] Based on the above technical solution, the rail-type meadow turf stripping and storage vehicle includes a rail-type base paired with a slide rail, and an operating box and a cutting box connected to each other are sequentially arranged on the upper part of the rail-type base. A turf shoveling device is arranged at the front end of the rail-type base, and a conveying device is connected to the end of the turf shoveling device. The conveying device is arranged at an angle and partially extends into the cutting box; a meadow turf cache device is arranged in the cutting box, and the meadow turf cache device is arranged at intervals at the end of the conveying device. The cutting box is also provided with a turf cutting device at the interval between the meadow turf cache device and the conveying device; a pallet rack and a multi-axis pallet transfer device are provided in the operating box, and the multi-axis pallet transfer device is used to obtain the pallet in the pallet rack to the bottom of the meadow turf cache device to receive the meadow turf cached on the meadow turf cache device after cutting.

[0009] Based on the above technical solution, the meadow turf cache device includes a rotating motor fixed in the cutting box, the output end of the rotating motor is connected to a mounting plate, a first telescopic part is fixed on the mounting plate, the telescopic end of the first telescopic part is connected to an automatic winder, the automatic winder is connected to a second telescopic part, the telescopic end of the second telescopic part is connected to a supporting plate, a cache belt is wound in the automatic winder, and the cache belt extends horizontally from the automatic winder and is connected to the supporting plate; the mounting plate, the first telescopic part, the second telescopic part and the supporting plate are all horizontally arranged, and the first telescopic part and the second telescopic part are horizontally staggered and relatively arranged.

[0010] Based on the above technical solution, the multi-axis pallet transfer device includes a multi-axis robotic arm, the moving end of the multi-axis robotic arm is connected to an electromagnetic suction cup, and both sides of the electromagnetic suction cup are connected to parallel mini conveyor belts, and the suction cup surface of the electromagnetic suction cup and the conveying surface of the mini conveyor belt are both located in the same plane; the pallet rack is arranged within the moving end trajectory range of the multi-axis robotic arm, and a number of pallet storage compartments are formed in the pallet rack, and a row of partitions is provided at the bottom of the left and right opposite sides of each pallet storage compartment, and each row of partitions is spaced apart along the depth direction of the pallet storage compartment. Multiple pallets are stacked in the pallet storage compartment along the depth direction of the pallet storage compartment and can be positioned and separated by the partitions on the left and right opposite sides, and an offset gap is left between the pallet and the top of the pallet storage compartment for the pallet to be taken out; the pallet is made of ferromagnetic metal.

[0011] Based on the above technical solution, a miniature industrial camera is also provided in the middle of the electromagnetic suction cup, and the height of the miniature industrial camera is lower than the suction cup surface of the electromagnetic suction cup; the multiple trays are arranged vertically and the outer bottom of the tray faces the multi-axis robotic arm, and a positioning mark is provided at the center position of the outer bottom of the tray.

[0012] Based on the above technical solution, the rail-type meadow turf stripping storage vehicle also includes a pallet storage assembly arranged inside and / or outside the operation box. The pallet storage assembly is a rail trolley connected to the rail-type base, and the rail trolley is slidably paired with the slide rail to slide with the rail-type base. The side wall of the operation box is provided with a pallet conveying channel, one end of the pallet conveying channel is located at the upper opening position of the rail trolley, and the other end of the pallet conveying channel is connected to the interior of the operation box and is located within the track range of the multi-axis pallet transfer device; and / or, the pallet storage assembly is a storage rack arranged in the operation box, and the storage rack is located within the track range of the multi-axis pallet transfer device; the storage rack forms a plurality of storage spaces, and each of the two opposite vertical side walls of the storage space is provided with a positioning plate, and the positioning plates on each side are arranged in multiple intervals along the height direction of the storage space.

[0013] Based on the above technical solution, a positioning slide rail and a pull-out slide slidably connected to the positioning slide rail are also provided at the bottom of the operation box, and the storage rack, pallet rack and multi-axis pallet transfer device are all arranged on the pull-out slide; at least one side wall of the operation box is an openable and closable side wall, and the pull-out slide can be pulled out of the operation box through the openable and closable side wall.

[0014] Based on the above technical solution, the transfer vehicle includes a wheeled frame and a pair of guide rails arranged on the wheeled frame, and inclined guide surfaces are formed at both ends of the guide rails; two positioning columns are arranged at intervals at both ends of one side of the wheeled frame, and positioning holes are provided at both ends of the bottom plate of the rail base for docking with the positioning columns. When the positioning columns are plugged into the positioning holes, the guide rails and slide rails on the same side are located on the same straight line.

[0015] The second object of the present invention is mainly achieved through the following technical solutions, which can be achieved based on the above-mentioned alpine meadow turf stripping system, specifically: a method for stripping and storing alpine meadow turf, comprising the following steps:

[0016] S1 places the track-mounted meadow sod stripping storage cart on a track base and mates it with the rail slides;

[0017] S2 drives the track-type meadow turf stripping and storage vehicle to slide forward along the slide rails, and the turf shoveling device shovels the meadow turf, which is then spread along the turf shoveling device to the conveying device, which then transports the meadow turf to the cutting box;

[0018] S3 starts the rotating motor to set the mounting plate horizontally, and the second telescopic member retracts so that the buffer belt is wound back to the automatic reel. After the meadow turf is conveyed to the automatic reel, the second telescopic member extends to pull the buffer belt out. The extension rate of the second telescopic member is synchronized with the conveying rate of the conveying device, so that the meadow turf is spread flat on the buffer belt. After the designed time or the meadow turf on the buffer belt meets the designed size, the track-type meadow turf stripping storage vehicle stops moving, the second telescopic member and the conveying device stop working, and the turf cutting device starts to cut the meadow turf on the buffer belt.

[0019] S4: The multi-axis robotic arm activates and drives the electromagnetic suction cup to the center of the bottom of the pallet in the corresponding pallet storage compartment of the pallet rack, with the electromagnetic suction cup in contact with the bottom of the pallet or with a distance of 0.1-0.5 mm. The electromagnetic suction cup is energized to absorb and grasp the pallet. The multi-axis robotic arm drives the pallet upward and removes it based on the offset gap. The pallet is then lifted horizontally to the bottom of the meadow turf cache device.

[0020] S5 starts the rotary motor to tilt the mounting plate so that the automatic reel is located above one end of the lower pallet, with the lowest end of the mounting plate 1 to 2 cm away from the upper end surface of the pallet. The rotary motor is turned off, and the first telescopic member is started to retract to drive the automatic reel to translate. At this time, the buffer belt automatically retracts so that the meadow turf at one end of the automatic reel loses its support and falls into the lower pallet. The multi-axis robotic arm is synchronously started to drive the pallet to translate in the opposite direction of the retraction direction of the first telescopic member until the meadow turf completely falls into the pallet. At this time, the rotary motor is started to rotate the mounting plate to reset to the horizontal position, and the first telescopic member and the second telescopic member are extended and reset.

[0021] S6 starts the multi-axis robotic arm to move the pallet to the pallet storage assembly for storage;

[0022] S7: Repeat steps S2 to S6 until the meadow turf on the track base is completely stripped and stored;

[0023] S8 pushes the transfer vehicle to the end of the track base, transfers the track-type meadow turf stripping storage vehicle into the transfer vehicle and pushes it to the adjacent or other required track base end, places the track-type meadow turf stripping storage vehicle on the corresponding track base and slides it into alignment with the slide rail;

[0024] S9 Repeat steps S1 to S8 until the meadow turf in all track bases is stripped and stored.

[0025] The step S6 is specifically as follows:

[0026] When the pallet storage assembly is a rail trolley, the multi-axis robotic arm drives the pallet to move to the pallet conveying channel, the electromagnetic suction cup is powered off, and the mini conveyor belts on both sides are started to convey the pallet to the pallet conveying channel and slide along the pallet conveying channel to the rail trolley for storage;

[0027] and / or,

[0028] When the pallet storage assembly is a storage rack, the multi-axis robotic arm drives the pallet to move to the corresponding storage space and keeps the pallet horizontally advanced into the storage space. The pallet is horizontally positioned and maintained in a horizontal state by the positioning plate. When the pallet cannot be advanced further due to storage space limitations, the electromagnetic suction cup is powered off and the mini conveyor belts on both sides are started to continue advancing until the pallet reaches the preset position.

[0029] In step S4, the multi-axis robotic arm is activated to drive the electromagnetic chuck to the center position of the bottom of the tray in the corresponding tray storage compartment of the tray rack, which specifically includes:

[0030] The multi-axis robotic arm moves the electromagnetic chuck to the center of the bottom of the pallet in the corresponding pallet storage compartment based on the coordinate information of the pallet, and keeps the chuck surface of the electromagnetic chuck vertical and pointing toward the pallet;

[0031] The miniature industrial camera obtains image information of the positioning mark on the bottom of the corresponding tray, and based on the image information, obtains the coordinate difference between the center coordinate of the electromagnetic chuck and the coordinate of the positioning mark;

[0032] The coordinate information is corrected based on the acquired coordinate difference, and the multi-axis robotic arm controls the electromagnetic chuck to move to the modified coordinate position.

[0033] Compared with the prior art, the alpine meadow turf stripping and storage system and method of the present invention have the following beneficial effects:

[0034] 1. The present invention utilizes the meadow turf planting area on the track base to plant meadow turf, so that the meadow turf can be cultivated in different areas. When the track-type meadow turf stripping and storage vehicle is stripping the turf, it moves on the slide rail, which will not cause damage to the meadow turf, thereby increasing the protection of the meadow turf; and the boundary of the meadow turf is clear, and the track-type meadow turf stripping and storage vehicle has a unique travel direction. When stripping, the meadow turf in the area can be completely drafted and stripped, the utilization rate of the meadow turf is high, and the specifications and sizes of the meadow turf can be better controlled, thereby improving the cultivation and drafting and stripping effects of the meadow turf.

[0035] 2. The present invention utilizes a meadow turf caching device to cache the meadow turf flatly, and drives the cache belt to expand and contract before and after caching according to different needs through the action of the first telescopic member and the second telescopic member, so that when the meadow turf enters the meadow turf caching device, it can be well guided to avoid the meadow turf from stacking up and down, and at the same time, it is kept in a flat state under the action of the cache belt. When transferred to the pallet, the cache belt is tilted by rotating the motor. Combined with the action of the first telescopic member, it can be ensured that the meadow turf can be naturally transferred to the pallet in a flat state, thereby ensuring the integrity and flat state of the meadow turf.

[0036] 3. The present invention uses a multi-axis robotic arm to adsorb the pallet and control the position of the pallet, so that the pallet can be synchronously translated when receiving the meadow turf, and then the meadow turf can be sequentially spread into the pallet, further ensuring the integrity and flat state of the meadow turf, and a corresponding mini conveyor belt is arranged on the adsorption pallet, which not only increases the bearing area and bearing capacity of the pallet, but also can be started to drive the pallet to actively move to the pallet storage assembly when moving the pallet to the pallet storage assembly, thereby achieving a good transfer effect.

[0037] 4. The present invention can store pallets carrying meadow turf by providing a rail trolley and / or a storage rack, thereby meeting long-term operation requirements and improving the efficiency of turfing and stripping. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0039] Figure 1 Schematic diagram of the structure of the alpine meadow turf stripping and storage system in some embodiments;

[0040] Figure 2 Schematic diagram of the structural pairing of a track-type meadow turf stripping and storage vehicle and a track base in some embodiments;

[0041] Figure 3A schematic side view of the structure of a track-type meadow turf stripping and storage vehicle in some embodiments;

[0042] Figure 4 A side structural cross-sectional view of a track-type meadow turf stripping and storage vehicle in some embodiments;

[0043] Figure 5 A schematic diagram of a partial cross-sectional structure of a track-type meadow turf stripping and storage vehicle in some embodiments;

[0044] Figure 6 Schematic diagram of the structure of the meadow turf caching device in the first direction in some embodiments;

[0045] Figure 7 Schematic diagram of the structure of the meadow turf caching device in the second direction in some embodiments;

[0046] Figure 8 Schematic diagram of the structure of the electromagnetic chuck and the mini conveyor belt in a top view in some embodiments;

[0047] Figure 9 Schematic diagram of the structure of the electromagnetic chuck and the mini conveyor belt in a side view in some embodiments;

[0048] Figure 10 Schematic diagram of the three-dimensional structure of the tray rack in some embodiments;

[0049] Figure 11 is a front view of a tray rack in some embodiments;

[0050] Figure 12 is a front view of a storage rack in some embodiments;

[0051] Figure 13 Schematic diagram of the structure in which the pallet storage component of the alpine meadow turf stripping and storage system in some embodiments is a rail trolley;

[0052] Figure 14 Schematic diagram of the structure of the transfer vehicle in some embodiments;

[0053] Figure 15 A schematic diagram of the structure of a transfer vehicle loaded with a track-type meadow turf stripping storage vehicle in some embodiments;

[0054] The numbers in the figure represent:

[0055] 1. Track base; 2. Bottom plate; 3. Slide rail; 4. Track-mounted meadow turf stripping and storage vehicle; 5. Transfer vehicle; 6. Track-mounted base; 7. Operation box; 8. Cutting box; 9. Turf scooping device; 10. Conveying device; 11. Meadow turf buffer device; 12. Turf cutting device; 13. Pallet rack; 14. Rotating motor; 15. Mounting plate; 16. First telescopic member; 17. Automatic retractor; 18. Second telescopic member; 19. Carrying plate; 20. Buffer Belt; 21. Multi-axis robotic arm; 22. Electromagnetic suction cup; 23. Mini conveyor belt; 24. Pallet storage compartment; 25. Partition; 26. Miniature industrial camera; 27. Positioning mark; 28. Rail trolley; 29. ​​Pallet conveyor channel; 30. Storage rack; 31. Storage space; 32. Positioning plate; 33. Positioning slide; 34. Pull-out slide; 35. Wheeled frame; 36. Guide rail; 37. Positioning column; 38. Positioning hole; 39. Spring lifting positioning block. DETAILED DESCRIPTION

[0056] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with examples and drawings. The exemplary embodiments of the present invention and their descriptions are only used to explain the present invention and are not intended to limit the present invention.

[0057] like Figures 1-15 As shown, the first embodiment of the present invention is a system for stripping and storing alpine meadow turf, comprising:

[0058] The track base 1 is arranged in multiple groups side by side; the track base 1 includes a bottom plate 2 and slide rails 3 located on both sides of the bottom plate 2, and a meadow turf planting area a is formed above the bottom plate 2 between the slide rails 3 on both sides;

[0059] A track-type meadow turf stripping and storage vehicle 4 is slidably mounted on a slide rail 3 and can slide along a track base 1, and is used for shoveling, cutting, and storing meadow turf in a meadow turf planting area a during the sliding process;

[0060] as well as,

[0061] The transfer vehicle 5 is arranged outside the end of any group of track bases 1 and is used to carry the track-type meadow turf stripping storage vehicle 4 so as to transfer it to any group of track bases 1.

[0062] In specific applications, multiple groups of track bases 1 are arranged side by side to form a large area of ​​meadow turf planting site, and the slide rails 3 of each group of track bases 1 are used to separate each other to form several small areas of meadow turf planting areas a, and the meadow turf planting areas a are used to plant and cultivate meadow turf; when the meadow turf needs to be drafted and stripped, the track-type meadow turf stripping storage vehicle 4 (using the transfer vehicle 5) moves to any end position of the track base 1 and pairs it with the slide rail 3, starts the track-type meadow turf stripping storage vehicle 4 to slide along the track base 1, and can shovel, cut and store the meadow turf in the meadow turf planting area a below it. When all the meadow turfs of the track base 1 are drafted, the transfer vehicle 5 can be docked with the track base 1 to carry the track-type meadow turf stripping storage vehicle 4 to the remaining track bases 1, thereby completing the drafting and stripping operations of the meadow turf on all meadow turf planting areas a.

[0063] Based on this, this embodiment uses the track base 1 to carry out regional planting and cultivation of meadow turf. The area and boundary of the meadow turf are controllable, which is conducive to the subsequent drafting and stripping and ensures the integrity and utilization rate of the meadow turf. During the drafting and stripping, the track-type meadow turf stripping and storage vehicle 4 moves along the slide rail 3 as a whole. Its trajectory is controllable, which can ensure the accuracy and operability of its operation, so that the size of the meadow turf after the drafting and stripping is more regular, and the track-type meadow turf stripping and storage vehicle 4 will not squeeze and damage the meadow turf during operation, and it will better protect it, thereby improving the cultivation and drafting and stripping effects of the meadow turf. In addition, when crossing the track base 1, the track-type meadow turf stripping and storage vehicle 4 can also be transported by the transfer vehicle 5, which reduces the difficulty of drafting and stripping, increases the convenience of the overall system, and can greatly improve work efficiency.

[0064] As one of the specific implementations, the rail base 1 is entirely made of stainless steel. Specifically, adjacent rail bases 1 on the same side can share a slide rail 3 to reduce the manufacturing cost of the rail base 1.

[0065] like Figure 3 、 Figure 4 and Figure 5As shown, the track-type meadow turf stripping storage vehicle 4 includes a track-type base 6 paired with a slide rail 3, and an operating box 7 and a cutting box 8 are sequentially arranged on the upper part of the track-type base 6. A turf shoveling device 9 is arranged at the front end of the track-type base 6, and a conveying device 10 is connected to the end of the turf shoveling device 9. The conveying device 10 is arranged at an angle and partially extends into the cutting box 8; a meadow turf cache device 11 is arranged in the cutting box 8, and the meadow turf cache device 11 is arranged at intervals at the end of the conveying device 10. The cutting box 8 is also provided with a turf cutting device 12 at the interval between the meadow turf cache device 11 and the conveying device 10; a pallet rack 13 and a multi-axis pallet transfer device are arranged in the operating box 7, and the multi-axis pallet transfer device is used to obtain the pallet b in the pallet rack 13 to the bottom of the meadow turf cache device 11 to receive the meadow turf cached on the meadow turf cache device 11 after cutting.

[0066] When in use, the rail-type base 6 serves as a base for supporting and carrying the remaining structures, and forms a sliding pair with the slide rail 3. When drafting and stripping, the turf shoveling device 9 first contacts the base plate 2, and the rail-type meadow turf stripping storage vehicle 4 can strip the meadow turf on the base plate 2 when it moves forward. When the meadow turf is translated along the turf shoveling device 9 to the conveying device 10, the conveying device 10 transports it into the cutting box 8 and caches it on the meadow turf cache device 11. When the turf on the meadow turf cache device 11 meets the design size, the rail-type meadow turf stripping storage vehicle 4 stops moving forward, the conveying device 10 stops conveying, and the turf cutting device 12 works to cut the meadow turf. After the cutting is completed, the multi-axis pallet transfer device obtains the pallet b from the pallet rack 13 to the bottom of the meadow turf cache device 11, receives the meadow turf cached on the meadow turf cache device 11 after cutting and stores it. At this time, the conveying device 10 and the rail-type meadow turf stripping storage vehicle 4 restart the drafting, and the operation can be continued.

[0067] As one of the specific implementation methods, a plurality of paired pulleys are arranged under the entire rail-type base 6 to pair with the slide rail 3, and the drive system and / or control system involved in the rail-type meadow turf stripping storage vehicle 4 can be arranged inside the rail-type base 6 to drive and control the rail-type meadow turf stripping storage vehicle 4 itself and its internal components (such as the conveying device 10, the multi-axis pallet transfer device) to work.

[0068] As one specific embodiment, the turf scooping device 9 is a plate-shaped structure with a scooping structure such as a blade at the front end and a corresponding roller at the upper end surface of the rear end to assist in sliding the turf, thereby guiding the meadow turf to be flatly laid and transported to prevent it from stacking. Specifically, the roller of the turf scooping device 9 can be connected to a drive system to actively transport the meadow turf, further ensuring the meadow turf is flatly laid and transported.

[0069] As one of the specific embodiments, the turf cutting device 12 includes a vertical lifting assembly fixed to the top of the cutting box 8 and a cutter mechanism connected to the lower end of the vertical lifting assembly. When cutting is required, the vertical lifting assembly can drive the cutter mechanism to descend to cut the meadow turf.

[0070] As one specific embodiment, the track-type base 6 is provided with a drive system for driving the track-type base 6 . The drive system can be connected to the conveyor 10, the multi-axis pallet transfer device, the turf cutting device 12, the meadow turf buffer device 11, the rollers, and other structures to drive the structures to be operated. Specifically, the drive system can be a power supply system, a motor transmission system, etc.

[0071] It should be noted that there are many records and implementation plans for the turf shoveling device 9, the conveying device 10, and the turf cutting device 12 in the prior art. This embodiment will not further limit or explain the specific structure, pairing method, driving working principle, etc. of the three. Those skilled in the art can implement the corresponding technical solutions of the above three based on the existing technology and pair them with the remaining structures of this application. Therefore, the above only briefly describes the relevant contents of the three and will not be further elaborated.

[0072] As one of the specific implementations, the alpine meadow turf stripping and storage system also includes an auxiliary conveying mechanism, which includes a fixed bracket fixedly connected to the rail-type base 6, a rotating wheel rotatably connected to the fixed bracket, and the rotating wheel is horizontally arranged above the intersection between the conveying device 10 and the turf shoveling device 9; the rotating wheel is composed of a rotating shaft body rotatably connected to the fixed bracket and a plurality of auxiliary plates evenly distributed on the rotating shaft body at circumferential intervals. During implementation, when the meadow turf passes under the rotating wheel, the auxiliary plate contacts it and squeezes it to a certain extent, compacting the meadow turf. At the same time, it rotates under the action of the rotating shaft body to assist in the transportation of the meadow turf, and at the same time, the next auxiliary plate is rotated to the upper end of the meadow turf and compacts the meadow turf, thereby not only ensuring the normal transportation of the meadow turf, but also compacting it, ensuring that the meadow turf is transported in blocks, and ensuring the integrity of the meadow turf.

[0073] like Figure 6 、 Figure 7As shown, as one of the core invention points of this embodiment, the meadow turf cache device 11 includes a rotating motor 14 fixed in the cutting box 8, the output end of the rotating motor 14 is connected to a mounting plate 15, a first telescopic member 16 is fixed on the mounting plate 15, the telescopic end of the first telescopic member 16 is connected to an automatic reel 17, the automatic reel 17 is connected to a second telescopic member 18, the telescopic end of the second telescopic member 18 is connected to a supporting plate 19, a cache belt 20 is wound in the automatic reel 17, the cache belt 20 extends horizontally from the automatic reel 17 and is connected to the supporting plate 19; the mounting plate 15, the first telescopic member 16, the second telescopic member 18 and the supporting plate 19 are all horizontally arranged, and the first telescopic member 16 and the second telescopic member 18 are horizontally staggered and relatively arranged.

[0074] During implementation, the automatic reel 17 is located at the end position of the conveying device 10. Initially, the second telescopic member 18 is in a retracted state and the first telescopic member 16 is in an extended state. When the meadow turf is conveyed to the automatic reel 17, the second telescopic member 18 starts to drive the cache belt 20 to extend horizontally from the automatic reel 17, and the meadow turf is laid flat along the cache belt 20 and pulled forward with it. When the meadow turf meets the specifications or design dimensions, the second telescopic member 18 and the conveying device 10 stop, and the track-type meadow turf stripping storage vehicle 4 stops moving synchronously. At this time, the turf cutting device 12 cuts the meadow turf, so that the meadow turf on the cache belt 20 is Independent blocks; when the multi-axis pallet transfer device lifts the pallet into place, the rotating motor 14 starts to drive the mounting plate 15 to tilt to the designed angle. At this time, the cache belt 20 is also in a tilted state, and ensures that the lowest end of the mounting plate 15 is 1~2 cm away from the upper end surface of the pallet. Turn off the rotating motor 14, start the first telescopic part 16 to retract and drive the automatic reel 17 to move horizontally. At this time, the cache belt 20 automatically retracts so that the meadow turf at one end of the automatic reel 17 loses support and falls into the pallet below, and the cached meadow turf can be transferred. After completion, the rotating motor rotates to the level of the mounting plate 15, and the first telescopic part 16 and the second telescopic part 18 return to their initial state.

[0075] Based on this, the meadow turf cache device 11 of this embodiment can be used to cache the cut meadow turf. Through the cooperation of the first telescopic member 16, the second telescopic member 18 and the cache belt 20, it can not only pull and guide the meadow turf transported by the conveying device 10, but also ensure that the meadow turf is in a flat state after cutting. At the same time, when it is transported to the multi-axis pallet transport device, it can also guide the falling state of the meadow turf very well and ensure that it is flat in the pallet. Therefore, during the whole process, the meadow turf can not only maintain its integrity very well, but also always be in a flat and relaxed state, without problems such as dispersion and stacking, thereby improving the stripping and collection effect of the meadow turf.

[0076] It should be noted that whether the meadow turf meets specifications or design dimensions can be determined or provided with data based on auxiliary electrical components, such as image sensors, infrared sensors, and weight sensors. As a feasible approach, an image sensor can be installed in the cutting box to vertically capture the area dimensions of the meadow turf on the buffer belt 20. The acquired area dimension data can then be compared with preset dimension data. When the preset dimensions are met, the image sensor can transmit the data to the corresponding control system, thereby controlling the start and stop of the corresponding moving parts (such as the second telescopic member 18 and the conveyor device 10), thereby achieving automated control of the meadow turf cutting dimensions.

[0077] like Figure 8 、 Figure 9 、 Figure 10 and Figure 11 As shown, the multi-axis pallet transfer device includes a multi-axis robot arm 21, and the moving end of the multi-axis robot arm 21 is connected to an electromagnetic suction cup 22. Both sides of the electromagnetic suction cup 22 are connected to parallel mini conveyor belts 23, and the suction cup surface of the electromagnetic suction cup 22 and the conveying surface of the mini conveyor belt 23 are both located in the same plane; the pallet rack 13 is arranged within the moving end trajectory range of the multi-axis robot arm 21, and a plurality of pallet storage grids 24 are formed in the pallet rack 13, and a row of partitions 25 are provided at the bottom of the left and right opposite sides of each pallet storage grid 24, and a plurality of partitions 25 in each row are spaced apart along the depth direction of the pallet storage grid 24, and a plurality of the pallets are stacked in the pallet storage grid 24 along the depth direction of the pallet storage grid 24 and can be positioned and separated by the partitions 25 on the left and right opposite sides, and an offset gap c is left between the pallet and the top of the pallet storage grid 24 for the pallet to be taken out; the pallet is made of ferromagnetic metal.

[0078] When in use, the multi-axis robotic arm 21 has multiple degrees of freedom, and can thus grab the pallet to any position and adjust the pallet to any state. When it is necessary to transfer the meadow turf on the meadow turf caching device 11, the moving end of the multi-axis robotic arm 21 moves to the center outer position of the corresponding pallet storage grid 24 based on the preset coordinate information, and horizontally extends into the pallet storage grid 24. After the electromagnetic suction cup 22 is energized to generate magnetism, the pallet is grabbed, and the pallet is driven to be lifted up to a certain height within the offset gap c to offset the partition 25 and then the pallet is taken out. After taking it out, the moving end of the multi-axis robotic arm 21 drives the pallet to the bottom of the meadow turf caching device 11 and adjusts the pallet to a horizontal state to receive the meadow turf; after the belt is received, the multi-axis robotic arm 21 drives the pallet to store or transport the pallet. When the pallet is stored or transported, the mini conveyor belt 23 can be started synchronously to transport the pallet in the same direction, thereby assisting the movement of the pallet to avoid the moving end of the multi-axis robotic arm 21 being unable to reach the pallet storage or transport position due to limited spatial position.

[0079] As one of the specific implementation methods, a miniature industrial camera 26 is also provided in the middle of the electromagnetic suction cup 22, and the height of the miniature industrial camera 26 is lower than the suction cup surface of the electromagnetic suction cup 22; the multiple trays are vertically arranged and the outer bottom of the tray faces the multi-axis robotic arm 21, and a positioning mark 27 is provided at the center position of the outer bottom of the tray.

[0080] Due to mechanical wear of the moving parts of the multi-axis robot arm 21 itself, displacement of the pallet rack 13 or problems with the angle of the pallet placement position, the multi-axis robot arm 21 may deviate from the positioning coordinate position when grabbing the pallet. The center position of the grabbed pallet cannot be directly opposite the center position of the electromagnetic suction cup 22, resulting in an error in the suction position of the pallet and the electromagnetic suction cup 22. This will lead to the following problems when receiving the meadow turf and storing or transporting the pallet: 1. There is an error in the relative position of the pallet and the meadow turf, and the meadow turf cannot be received in the center, resulting in part of the meadow turf being stacked or located outside the pallet, affecting the integrity or paving effect of the meadow turf; 2. When storing or transporting, the pallet cannot be aligned with the storage position or transportation position, resulting in deviations in the storage or transportation of the pallet. In severe cases, there will be problems with storage or transportation, affecting the operation of the system.

[0081] Furthermore, this embodiment can solve the above-mentioned position by setting a micro industrial camera 26 and a positioning mark 27. When the electromagnetic suction cup 22 moves to the preset position and is aimed at the pallet, the coordinate position of the positioning mark 27 on the corresponding pallet is obtained through the micro industrial camera 26, and compared with the coordinate of the preset position. When the comparison results of the two are within the error range, they can be directly grasped. When the comparison results of the two are outside the error range, the coordinate position of the electromagnetic suction cup 22 is compensated by the corresponding control system based on the coordinate position of the positioning mark 27, and the multi-axis robot arm 21 is re-moved to the corresponding compensated coordinate position, which can achieve good alignment and grasping work.

[0082] It should be noted that the miniature industrial camera 26 can be connected to the motion control system signal of the multi-axis robotic arm 21, thereby facilitating information delivery between the two and realizing coordinate position compensation. Since this part of the content is relatively common in the existing technology, those skilled in the art can realize it based on the existing technology without further creative work, and it will not be repeated in this embodiment.

[0083] like Figure 12 、 Figure 13 As shown, the track-type meadow turf stripping storage vehicle 4 further includes a pallet storage assembly arranged inside the operation box 7 and / or outside the operation box 7 .

[0084] The pallet storage assembly is a rail trolley 28 connected to the rail base 6. The rail trolley 28 is slidably matched with the slide rail 3 to slide along with the rail base 6. The side wall of the operation box 7 is provided with a pallet conveying channel 29. One end of the pallet conveying channel 29 is located at the upper opening of the rail trolley 28. The other end of the pallet conveying channel 29 is connected to the interior of the operation box 7 and is located within the trajectory range of the multi-axis pallet transfer device (i.e., the multi-axis robotic arm 21).

[0085] and / or,

[0086] The pallet storage assembly is a storage rack 30 arranged in the operating box 7, and the storage rack 30 is located within the trajectory range of the multi-axis pallet transfer device (that is, the multi-axis robotic arm 21); the storage rack 30 forms a plurality of storage spaces 31, and each of the two opposite vertical side walls of the storage space 31 is provided with a positioning plate 32, and the positioning plates 32 on each side are arranged in multiple intervals along the height direction of the storage space 31.

[0087] In specific implementation, after the upper pallet of the multi-axis robot arm 21 completes receiving the meadow turf, in order to conveniently reduce the continuous operation time, it is necessary to transfer the upper pallet to storage as soon as possible. Therefore, this embodiment designs a corresponding pallet storage component for pairing with it and storing the pallet, as described above:

[0088] 1. When the pallet storage component is a rail trolley 28, the multi-axis pallet transfer device (i.e., the multi-axis robotic arm 21) can grab the pallet to the channel entrance of the pallet conveying channel 29, and then the electromagnetic suction cup 22 is powered off, and the pallet can slide through the pallet conveying channel 29 to the rail trolley 28 for storage.

[0089] During implementation, the multi-axis pallet transfer device (i.e., the multi-axis robotic arm 21) can tilt the pallet toward the channel opening of the pallet conveying channel 29 to facilitate its better sliding in, and / or, after the electromagnetic suction cup 22 is powered off, the mini conveyor belt 23 can be started synchronously and the pallet can be conveyed toward the channel opening of the pallet conveying channel 29, which can also achieve the effect of pallet conveying and ensure that the pallet can quickly enter the pallet conveying channel 29.

[0090] 2. When the pallet storage assembly is a storage rack 30, the storage rack 30 can be set in the operation box 7 and arranged relative to the pallet rack 13. The multi-axis pallet transfer device (that is, the multi-axis robotic arm 21) is located between the two, so as to facilitate the storage and retrieval of pallets. When storage is required, the multi-axis pallet transfer device (that is, the multi-axis robotic arm 21) can grab the pallet to the corresponding storage space 31 and ensure that the pallet is pushed horizontally into the storage space 31. The pallet can be stuck at the upper ends of the corresponding two side card plates 32. Finally, multiple pallets can be stacked in each storage space 31 based on the card plates 32.

[0091] 3. When the pallet storage components are a rail trolley 28 and a storage rack 30, the pallets can be stored in the storage rack 30 first. When the storage rack 30 is full, the pallets are stored in the rail trolley 28, thereby increasing the pallet storage capacity of the entire system.

[0092] It should be noted that corresponding positioning marks can also be set on the side of the storage rack 30 in this embodiment facing the multi-axis pallet transfer device (that is, the multi-axis robot arm 21), such as setting at least two positioning marks at the opening frame position of each storage space 31, and then the coordinate information of the positioning mark can be obtained based on the micro industrial camera 26 of some embodiments, and then each storage space 31 can be coordinate positioned, which can guide and correct the motion coordinates of the multi-axis pallet transfer device (that is, the multi-axis robot arm 21) to ensure that the pallets can be stacked. This part of the content is also as described above. Those skilled in the art can implement it based on the existing technology, and will not be repeated here.

[0093] like Figure 5 As shown, the bottom of the operation box 7 is also provided with a positioning slide rail 33 and a pull-out slide 34 slidably connected to the positioning slide rail 33, and the storage rack 30, pallet rack 13 and multi-axis pallet transfer device are all arranged on the pull-out slide 34; at least one side wall of the operation box 7 is an openable and closable side wall d, and the pull-out slide 34 can be pulled out of the operation box 7 through the openable and closable side wall d.

[0094] During specific implementation, in order to facilitate the operation and maintenance of the corresponding structure in the operation box 7, or to facilitate the storage of pallets, this embodiment uses a pull-out slide 34 to set the storage rack 30, the pallet rack 13 and the multi-axis pallet transfer device thereon, and can be pulled out to the operation box 7 through the openable and closable side wall d, so that the pallet can be conveniently placed on the pallet rack 13, the pallet on the storage rack 30 can be taken out, and the multi-axis pallet transfer device can be conveniently maintained, and the overall structure is more convenient to use.

[0095] As one specific embodiment, the storage rack 30 and the pallet rack 13 are both movably connected to a pull-out slide 34. Furthermore, when pallets need to be loaded, the entire storage rack 30 can be removed and a new storage rack 30 loaded with pallets can be reconnected. Similarly, when pallets on a storage rack 30 need to be moved after storage, the entire storage rack 30 can be removed and replaced, which can greatly reduce the workload and improve work efficiency.

[0096] like Figure 14 、 Figure 15As shown, the transfer vehicle 5 includes a wheeled frame 35 and a pair of guide rails 36 arranged on the wheeled frame 35, and both ends of the guide rails 36 form inclined guide surfaces; two positioning columns 37 are spaced apart at both ends of one side of the wheeled frame 35, and both ends of the bottom plate of the track base 1 are provided with positioning holes 38 docking with the positioning columns 37. When the positioning columns 37 are plugged into the positioning holes 38, the guide rails 36 and the slide rails 3 on the same side are located in the same straight line.

[0097] When the rail-type meadow turf stripping storage vehicle 4 completes the operation on a certain rail base 1, it can push the wheeled frame 35 to the end of the rail base 1, and make the positioning column 37 and the positioning hole 38 plugged in, so that a pair of guide rails 36 on the wheeled frame 35 and a pair of slide rails 3 on the rail base 1 dock with each other to form a complete rail structure, and the rail-type meadow turf stripping storage vehicle 4 can slide smoothly onto the wheeled frame 35, and can be transferred to the next rail base 1 or any position through the wheeled frame 35. When transferred to the next rail base 1, the positioning column 37 and the positioning hole 38 can also be used for positioning and plugging, so as to realize the alignment of the rail base 1 and the wheeled frame 35, and realize the accurate transfer of the rail-type meadow turf stripping storage vehicle 4.

[0098] In this embodiment, the guide rail 36 can realize the sliding pairing of the track-type meadow turf stripping and storage vehicle 4, so that it can not only be driven for transportation by the wheeled frame 35, but also can be slid onto the track base 1, which makes transportation convenient and fast. At the same time, through the plug-in pairing of the positioning column 37 and the positioning hole 38, it can be ensured that the track-type meadow turf stripping and storage vehicle 4 can smoothly enter the track base 1 and form a sliding pairing with the slide rail 3.

[0099] As a further embodiment, spring-loaded lifting and positioning blocks 39 are spaced apart at the upper end of each guide rail 36. The spring-loaded lifting and positioning blocks 39 can be passively squeezed and lowered into the guide rail 36, or restored to their original position outside the guide rail 36 under the action of their springs. When the track-mounted meadow turf stripping and storage vehicle 4 moves onto the guide rail 36, it squeezes the spring-loaded lifting and positioning blocks 39 to lower it, and when the track-mounted meadow turf stripping and storage vehicle 4 leaves it, it returns to its original position. The two spaced spring-loaded lifting and positioning blocks 39 can then position the track-mounted meadow turf stripping and storage vehicle 4 in the corresponding area at the upper end of the guide rail 36, preventing the track-mounted meadow turf stripping and storage vehicle 4 from sliding on the guide rail 36 during transport, thereby affecting transportation.

[0100] Specifically, the guide rail 36 has an opening at its upper end, within which the spring lift positioning block 39 is disposed. The spring lift positioning block 39 comprises a compression spring with its bottom secured within the opening and a wedge-shaped block secured to the upper end of the compression spring. The inclined surfaces of the two wedge-shaped blocks on the same guide rail 36 are disposed opposite each other.

[0101] The above is a detailed description of the alpine meadow turf stripping and storage system of this embodiment. For better implementation, the present invention also provides a second embodiment based on the above alpine meadow turf stripping and storage system. The second embodiment mainly discloses a method for stripping and storing alpine meadow turf, including the following steps:

[0102] S1: Place the track-type meadow turf stripping storage vehicle 4 on the track base 1 and slide it into engagement with the slide rail 3.

[0103] S2 drives the track-type meadow turf stripping storage vehicle 4 to slide forward along the slide rail 3, and the turf shoveling device 9 shovels the meadow turf, and the meadow turf is spread along the turf shoveling device 9 to the conveying device 10, and the conveying device 10 conveys the meadow turf to the cutting box 8;

[0104] S3 starts the rotary motor 14 to set the mounting plate 15 horizontally, and the second telescopic member 18 retracts so that the buffer belt 20 is wound back to the automatic reel 17. After the meadow turf is conveyed to the automatic reel 17, the second telescopic member 18 extends to pull the buffer belt 20 out. The extension rate of the second telescopic member 18 is synchronized with the conveying rate of the conveying device 10, so that the meadow turf is spread flat on the buffer belt 20. After the designed time or the meadow turf on the buffer belt 20 meets the designed size, the track-type meadow turf stripping storage vehicle 4 stops moving, the second telescopic member 18 and the conveying device 10 stop working, and the turf cutting device 12 starts to cut the meadow turf on the buffer belt 20.

[0105] S4: The multi-axis robotic arm 21 is activated, driving the electromagnetic chuck 22 to the center of the bottom of the pallet in the corresponding pallet storage compartment 24 of the pallet rack 13, with the electromagnetic chuck 22 in contact with the bottom of the pallet or with a distance of 0.1-0.5 mm. The electromagnetic chuck 22 is energized to absorb and grasp the pallet, and the multi-axis robotic arm 21 drives the pallet upward and removes it based on the offset gap c, and lifts the pallet horizontally to the bottom of the meadow turf cache device 11;

[0106] S5 starts the rotary motor 14 to tilt the mounting plate 15 so that the automatic reel 17 is located above one end of the lower tray, with the lowest end of the mounting plate 15 spaced 1 to 2 cm from the upper end surface of the tray. The rotary motor 14 is turned off, and the first telescopic member 16 is started to retract, driving the automatic reel 17 to translate. At this time, the buffer belt 20 automatically retracts, causing the meadow turf at one end of the automatic reel 17 to lose its support and fall into the lower tray. The multi-axis robotic arm 21 is synchronously started to drive the tray to translate in the opposite direction of the retraction direction of the first telescopic member 16 until the meadow turf completely falls into the tray. At this time, the rotary motor 14 is started to rotate the mounting plate 15 to reset to the horizontal position, while the first telescopic member 16 and the second telescopic member 18 are extended and reset.

[0107] S6: Start the multi-axis robot arm 21 to move the pallet to the pallet storage assembly for storage;

[0108] S7: Repeat steps S2 to S6 until the meadow turf on the track base 1 is completely peeled and stored;

[0109] S8: Push the transfer vehicle 5 to the end of the track base 1, transfer the track-type meadow turf stripping storage vehicle 4 into the transfer vehicle 5 and push it to the adjacent or required end of another track base 1, place the track-type meadow turf stripping storage vehicle 4 on the corresponding track base 1 and slide it into the slide rail 3;

[0110] S9 Repeat steps S1 to S8 until the meadow turf in all track bases 1 is stripped and stored.

[0111] As a specific implementation scheme, the step S6 is specifically as follows:

[0112] When the pallet storage component is a rail trolley 28, the multi-axis robotic arm 21 drives the pallet to move to the pallet conveying channel 29, the electromagnetic suction cup 22 is powered off, and the mini conveyor belts 23 on both sides are started to convey the pallet to the pallet conveying channel 29 and slide along the pallet conveying channel 29 to be stored in the rail trolley 28;

[0113] and / or,

[0114] When the pallet storage assembly is a storage rack 30, the multi-axis robotic arm 21 drives the pallet to move into the corresponding storage space 31 and keeps the pallet horizontally advanced into the storage space 31. The pallet is horizontally positioned and maintained in a horizontal state by the positioning plate 32. When the pallet is restricted by the storage space 31 and cannot be advanced further, the electromagnetic suction cup 22 is powered off and the mini conveyor belts 23 on both sides are started to continue advancing until the pallet reaches the preset position.

[0115] As a specific implementation scheme, in step S4, the multi-axis robot arm 21 is started to drive the electromagnetic chuck 22 to the center position of the bottom of the tray in the tray storage compartment 24 of the tray rack 13, which specifically includes:

[0116] The multi-axis robotic arm 21 moves the electromagnetic chuck 22 to the center of the bottom of the pallet in the corresponding pallet storage compartment 24 based on the coordinate information of the pallet, and keeps the chuck surface of the electromagnetic chuck 22 vertical and pointing toward the pallet;

[0117] The micro industrial camera 26 obtains image information of the positioning mark on the bottom of the corresponding tray, and based on the image information, obtains the coordinate difference between the center coordinate of the electromagnetic chuck 22 and the coordinate of the positioning mark;

[0118] The coordinate information is corrected based on the acquired coordinate difference, and the multi-axis robotic arm 21 controls the electromagnetic chuck 22 to move to the corrected coordinate position.

[0119] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A system for stripping and storing alpine meadow turf, characterized in that: include: Track bases, multiple groups of which are arranged side by side; the track bases include a bottom plate and slide rails located on both sides of the bottom plate, and a meadow turf planting area is formed above the bottom plate between the slide rails on both sides; Track-type meadow turf stripping and storage vehicle, which slides on the slide rail and can slide along the track base, and is used for shoveling, cutting and storing the meadow turf in the meadow turf planting area during the sliding process; as well as, A transfer vehicle is arranged outside the end of any group of track bases and is used to carry the track-type meadow turf stripping storage vehicle to transfer it to any group of track bases; in, The track-type meadow turf stripping and storage vehicle includes a track-type base paired with a slide rail, an operating box and a cutting box are sequentially arranged on the upper portion of the track-type base, a turf shoveling device is arranged at the front end of the track-type base, and a conveying device is connected to the end of the turf shoveling device. The conveying device is arranged obliquely and partially extends into the cutting box; A meadow turf buffer device is provided in the cutting box, and the meadow turf buffer device is spaced apart at the end of the conveying device. The cutting box is further provided with a turf cutting device at the interval between the meadow turf buffer device and the conveying device; The operation box is provided with a pallet rack and a multi-axis pallet transfer device, and the multi-axis pallet transfer device is used to obtain the pallet in the pallet rack and move it to the bottom of the meadow turf caching device to receive the meadow turf cached on the meadow turf caching device after cutting; The meadow turf caching device includes a rotating motor fixed in a cutting box, an output end of the rotating motor is connected to a mounting plate, a first telescopic member is fixed to the mounting plate, a telescopic end of the first telescopic member is connected to an automatic retractor, the automatic retractor is connected to a second telescopic member, the telescopic end of the second telescopic member is connected to a carrying plate, a cache belt is wound in the automatic retractor, and the cache belt extends horizontally from the automatic retractor and is connected to the carrying plate; The mounting plate, the first telescopic member, the second telescopic member and the carrying plate are all arranged horizontally, and the first telescopic member and the second telescopic member are horizontally staggered and arranged relatively.

2. The alpine meadow turf stripping and storage system according to claim 1, characterized in that: The multi-axis pallet transfer device includes a multi-axis robotic arm, the moving end of the multi-axis robotic arm is connected to an electromagnetic suction cup, and both sides of the electromagnetic suction cup are connected to parallel mini conveyor belts, and the suction cup surface of the electromagnetic suction cup and the conveying surface of the mini conveyor belt are both located in the same plane; The pallet rack is arranged within the motion end trajectory range of the multi-axis robot arm, and a plurality of pallet storage compartments are formed in the pallet rack. A row of partitions is provided at the bottom of the left and right opposite sides of each pallet storage compartment, and a plurality of partitions in each row are provided at intervals along the depth direction of the pallet storage compartment. A plurality of pallets are stacked in the pallet storage compartment along the depth direction of the pallet storage compartment and can be positioned and separated by the partitions on the left and right opposite sides. An offset gap is left between the pallet and the top of the pallet storage compartment for pallet removal; The tray is made of ferromagnetic metal.

3. The alpine meadow turf stripping and storage system according to claim 2, characterized in that: A miniature industrial camera is also provided in the middle of the electromagnetic chuck, and the height of the miniature industrial camera is lower than the chuck surface of the electromagnetic chuck; The plurality of trays are vertically arranged with the outer bottoms of the trays facing the multi-axis robotic arm, and a positioning mark is provided at the center of the outer bottoms of the trays.

4. The alpine meadow turf stripping and storage system according to claim 1, characterized in that: The track-type meadow turf stripping and storage vehicle further includes a pallet storage assembly disposed within and / or outside the operating box; The pallet storage assembly is a rail trolley connected to a rail-type base. The rail trolley is slidably matched with the slide rail to slide along with the rail-type base. A pallet conveying channel is provided on the side wall of the operation box. One end of the pallet conveying channel is located at the upper opening of the rail trolley, and the other end of the pallet conveying channel is connected to the interior of the operation box and is located within the track range of the multi-axis pallet transfer device. and / or, The pallet storage assembly is a storage rack arranged in the operating box, and the storage rack is located within the trajectory range of the multi-axis pallet transfer device; the storage rack forms a plurality of storage spaces, and each of the two opposite vertical side walls of the storage space is provided with a positioning plate, and the positioning plates on each side are arranged in multiple intervals along the height direction of the storage space.

5. The alpine meadow turf stripping and storage system according to claim 4, characterized in that: The bottom of the operation box is also provided with a positioning slide rail and a pull-out slide slidably connected to the positioning slide rail, and the storage rack, pallet rack and multi-axis pallet transfer device are all arranged on the pull-out slide rail; At least one side wall of the operation box is an openable and closable side wall, and the pull-out slide can be pulled out of the operation box through the openable and closable side wall.

6. The alpine meadow turf stripping and storage system according to claim 1, characterized in that: The transfer vehicle comprises a wheeled frame and a pair of guide rails arranged on the wheeled frame, with inclined guide surfaces formed at both ends of the guide rails; Two positioning columns are spaced apart at both ends of one side of the wheeled frame, and positioning holes are provided at both ends of the bottom plate of the track base for docking with the positioning columns. When the positioning columns are plugged into the positioning holes, the guide rail and the slide rail on the same side are located in the same straight line.

7. A method for stripping and storing alpine meadow turf, implemented based on the alpine meadow turf stripping and storage system according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1 places the track-mounted meadow sod stripping storage cart on a track base and mates it with the rail slides; S2 drives the track-type meadow turf stripping and storage vehicle to slide forward along the slide rails, and the turf shoveling device shovels the meadow turf, which is then spread along the turf shoveling device to the conveying device, which then transports the meadow turf to the cutting box; S3 starts the rotating motor to set the mounting plate horizontally, and the second telescopic member retracts so that the buffer belt is wound back to the automatic reel. After the meadow turf is conveyed to the automatic reel, the second telescopic member extends to pull the buffer belt out. The extension rate of the second telescopic member is synchronized with the conveying rate of the conveying device, so that the meadow turf is spread flat on the buffer belt. After the designed time or the meadow turf on the buffer belt meets the designed size, the track-type meadow turf stripping storage vehicle stops moving, the second telescopic member and the conveying device stop working, and the turf cutting device starts to cut the meadow turf on the buffer belt. S4: The multi-axis robotic arm activates and drives the electromagnetic suction cup to the center of the bottom of the pallet in the corresponding pallet storage compartment of the pallet rack, with the electromagnetic suction cup in contact with the bottom of the pallet or with a distance of 0.1-0.5 mm. The electromagnetic suction cup is energized to absorb and grasp the pallet. The multi-axis robotic arm drives the pallet upward and removes it based on the offset gap. The pallet is then lifted horizontally to the bottom of the meadow turf cache device. S5 starts the rotary motor to tilt the mounting plate so that the automatic reel is located above one end of the lower pallet, with the lowest end of the mounting plate 1 to 2 cm away from the upper end surface of the pallet. The rotary motor is turned off, and the first telescopic member is started to retract to drive the automatic reel to translate. At this time, the buffer belt automatically retracts so that the meadow turf at one end of the automatic reel loses its support and falls into the lower pallet. The multi-axis robotic arm is synchronously started to drive the pallet to translate in the opposite direction of the retraction direction of the first telescopic member until the meadow turf completely falls into the pallet. At this time, the rotary motor is started to rotate the mounting plate to reset to the horizontal position, and the first telescopic member and the second telescopic member are extended and reset. S6 starts the multi-axis robotic arm to move the pallet to the pallet storage assembly for storage; S7: Repeat steps S2 to S6 until the meadow turf on the track base is completely stripped and stored; S8 pushes the transfer vehicle to the end of the track base, transfers the track-type meadow turf stripping storage vehicle into the transfer vehicle and pushes it to the adjacent or other required track base end, places the track-type meadow turf stripping storage vehicle on the corresponding track base and slides it into alignment with the slide rail; S9 Repeat steps S1 to S8 until the meadow turf in all track bases is stripped and stored.

8. The method for peeling and storing alpine meadow turf according to claim 7, characterized in that: The step S6 is specifically as follows: When the pallet storage assembly is a rail trolley, the multi-axis robotic arm drives the pallet to move to the pallet conveying channel, the electromagnetic suction cup is powered off, and the mini conveyor belts on both sides are started to convey the pallet to the pallet conveying channel and slide along the pallet conveying channel to the rail trolley for storage; And / or, when the pallet storage assembly is a storage rack, the multi-axis robotic arm drives the pallet to move into the corresponding storage space and keeps the pallet horizontally advanced into the storage space. The pallet is horizontally positioned and maintained in a horizontal state by the positioning plate. When the pallet cannot be advanced further due to storage space limitations, the electromagnetic suction cup is powered off and the mini conveyor belts on both sides are started to continue advancing until the pallet reaches the preset position.

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