Seedling storage and delivery structure of desert tree planting robot

Abstract

The invention discloses a seedling storage and delivery structure of a desert tree planting robot, which comprises an outer barrel, an inner barrel is rotatably arranged in the outer barrel, a plurality of seedling pipes for storing seedlings are fixed in the inner barrel, the seedling pipes are arranged into a group along the radius of the inner barrel, a plurality of groups of seedling pipes are arranged on the circumference, and an upper cover is also arranged on the outer barrel; a pushing assembly used for pushing the saplings to rise is arranged below the seedling pipe and drives the door opening assembly to slidably open the sliding cover on the upper cover, a rotating assembly is further arranged beside the pushing assembly, the pushing assembly does not drive the rotating assembly to move when pushing the saplings upwards, and the pushing assembly drives the rotating assembly when descending and resetting. After the rotating assembly drives the inner barrel to rotate for a circle, the rotating assembly drives the transverse moving assembly to move, and the transverse moving assembly drives the pushing assembly to move by the distance of one seedling tube in the radius direction; by arranging one motor, seedling emergence can be achieved, the size and weight of equipment are reduced, the energy consumption requirement is lowered, and the endurance time is prolonged.

Description

Technical Field

[0001] The invention relates to the field of desert tree planting, and in particular to a seedling storage and delivery structure of a desert tree planting robot. Background Art

[0002] While the application of automated equipment in desert tree planting has progressed significantly, the problem of a large number of actuator drive units is common. Existing solutions typically require multiple independent drive units (such as motors and hydraulic cylinders) to perform various operations, such as digging, planting, covering, and compacting. Even just the emergence of a seedling requires the coordination of three or more drive units. This multi-drive unit design increases the overall complexity of the equipment.

[0003] First, the presence of multiple independent drive units inevitably requires more physical space for layout and installation. This not only increases the size and weight of the automated equipment itself but also creates additional difficulties in moving and deploying the equipment in the complex and varied desert terrain. The increased size and weight further exacerbate the energy consumption burden of the equipment when moving on soft sand.

[0004] Secondly, the increase in the number of drive units directly correlates to an increase in the equipment's overall energy demand. Each drive unit consumes energy to perform its specific actions, with a significant cumulative effect. Desert environments are known for their difficulty in resupplying resources, particularly a lack of stable and convenient energy sources (such as grid electricity and refueling points). Therefore, the high energy demand resulting from the large number of drive units directly limits the effective duration of continuous operation of automated tree planting equipment on a single charge or refueling. Frequent energy replenishment is costly to implement in vast desert areas, reducing the equipment's practicality and operational efficiency.

[0005] Furthermore, to achieve coordinated and orderly operation of multiple drive units and complete the tree planting process, existing technologies primarily rely on a central controller (chip) to coordinate control of each drive unit through network communication. However, desert regions are characterized by open terrain and weak infrastructure, resulting in areas with significant communication signal instability, limited coverage, or even complete lack of coverage. These communication limitations make control strategies that rely on real-time network communication for precise multi-unit coordination at risk of failure in actual desert operations, resulting in unreliable equipment operation.

[0006] In addition, if attempts are made to rely on manual operation of multiple drive units when communication is poor, operational errors or interference between actions (such as robotic arm collisions) are very likely to occur due to the complex operating interface and strict action timing requirements. This not only reduces work efficiency but also poses equipment damage and safety hazards.

[0007] In summary, existing automated desert tree planting equipment is bulky and heavy due to the large number of drive units, resulting in high energy consumption, limited battery life, and a high reliance on a stable communication environment for multi-unit coordination. The difficulty of energy supply and unstable communication conditions in desert environments make these technical limitations particularly prominent in practical applications, severely restricting the effective promotion and application of automated tree planting technology in desert management. Summary of the Invention

[0008] The object of the present invention is to provide a seedling storage and delivery structure for a desert tree planting robot to solve the problems raised in the above background technology.

[0009] To achieve the above objectives, the present invention provides the following technical solutions: a seedling storage and delivery structure for a desert tree planting robot, comprising an outer barrel, an inner barrel rotatably disposed within the outer barrel, a plurality of seedling tubes for storing seedlings fixed within the inner barrel, the seedling tubes being arranged in a group along the radius of the inner barrel, and multiple groups being arranged around the circumference, and an upper cover being provided on the outer barrel; A pushing assembly for pushing the saplings up is provided under the seedling tube, and the pushing assembly drives the door opening assembly to slide the sliding cover on the upper cover open. A rotating assembly is also provided next to the pushing assembly. When the pushing assembly pushes the saplings upward, it does not drive the rotating assembly to move. When the pushing assembly descends and resets, it drives the rotating assembly to drive the inner barrel to rotate to the position of the next group of seedling tubes. After the rotating assembly drives the inner barrel to rotate one circle, it drives the transverse moving assembly to move, so that the transverse moving assembly drives the pushing assembly to move along the radial direction by a distance of one seedling tube; The pushing assembly includes a seedling pushing rod that can move up and down, and the upper end of the seedling pushing rod can be inserted into the seedling tube; The rotating assembly includes a ratchet, which drives the rotating gear to rotate through the bevel gear group, and the rotating gear is engaged with the teeth arranged on the outer circumference of the toothed disk, and the toothed disk is fixedly connected to the inner barrel; The transverse shift assembly includes a transverse shift gear, and the lower end surface of the gear plate is provided with a transverse shift tooth. The central angle corresponding to the arc length of the transverse shift tooth is smaller than the central angle corresponding to the two adjacent groups of seedling tubes, and the transverse shift tooth is provided between the two adjacent groups of seedling tubes, and the transverse shift tooth is engaged with the transverse shift gear.

[0010] Preferably, a plurality of positioning rods are fixedly connected to the upper end of the outer barrel, and corresponding holes are provided at the lower end of the upper cover, and the positioning rods are inserted into the holes.

[0011] Preferably, two fan-shaped sliding covers are symmetrically slidably connected on the upper cover, and the sliding covers make limited sliding along the circumferential direction on the upper cover. The angle at which the sliding covers can be opened is greater than the central angle corresponding to the two adjacent groups of seedling tubes.

[0012] Preferably, a sleeve is provided in the inner barrel for communication, the sleeve is sleeved outside the central column, at least one layer of barrel plate is fixedly connected between the inner barrel and the sleeve, and a plurality of seedling tubes are inserted and fixed in the barrel plate.

[0013] Preferably, the lower end of the seedling tube is slidably connected to the base.

[0014] Preferably, the pushing assembly further comprises a screw, which is driven by a motor, which is fixed on the reciprocating slider, the screw being threadedly connected to the seedling pushing rod, which is externally fixedly connected to a limiting plate, and the limiting plate is always slidably connected to the synchronization plate.

[0015] Preferably, the door opening assembly includes a central column, the upper end of which passes through the sleeve and is slidably connected thereto; Two guide grooves are symmetrically arranged on the upper end of the central column. The upper sections of the two guide grooves are in an "eight" shape, and the lower sections extend vertically downward. The length of the two guide grooves is greater than the maximum sliding height of the central column. A guide pin is slidably connected in each guide groove, each guide pin is slidably connected in a sliding cover, and a spring is provided between the sliding cover and the guide pin; The lower end of the central column is fixedly connected to the synchronization plate, and a through groove is provided on the synchronization plate. The length of the through groove is greater than the distance between a group of seedling tubes distributed along the radius, and the seedling pushing rod is slidably connected in the through groove; The lower end of the central column is slidably connected to the upper end of the limiting rod, and the lower end of the limiting rod is fixedly connected to the outer barrel to prevent the central column from rotating.

[0016] Preferably, the rotating assembly further comprises a shifting tooth, which is slidably connected to the shift box, a spring is provided between the shifting tooth and the shift box, and the shifting tooth can shift the ratchet; The ratchet is engaged with the head of the pawl, and the tail of the pawl is hinged in the outer barrel via a torsion spring; The ratchet is fixedly connected to the active bevel gear via a shaft, the active bevel gear is meshed with the driven bevel gear, and the driven bevel gear is fixedly connected to the rotating gear via a shaft; The ratchet, the active bevel gear, the driven bevel gear and the rotating gear are all rotatably connected in the outer barrel.

[0017] Preferably, the transverse movement assembly further comprises a reciprocating screw, the reciprocating screw being threadedly connected to a reciprocating slider, and the reciprocating slider sliding horizontally in the outer barrel; One end of the reciprocating screw rod is rotatably connected to the limit rod, and the other end is fixedly connected to the driven sprocket; The transverse gear is fixedly connected to the driving sprocket, and the driving sprocket and the driven sprocket are engaged with the same chain; the transverse gear, the driving sprocket and the driven sprocket are all rotatably connected in the outer barrel.

[0018] Compared with the existing technology, the present invention has the following advantages: it can achieve seedling emergence with only one motor, eliminating the need for numerous drive units. On the one hand, it reduces the size and weight of the device, lowers energy consumption, and thus extends battery life. On the other hand, it does not rely on a communication environment, and the execution of actions mainly relies on the mechanical coordination between the push component, the door opening component, the rotation component, and the transverse movement component, rather than relying on a remote communication network for real-time coordinated control of each drive unit. This mechanical linkage mechanism effectively eliminates the device's dependence on a stable communication environment, allowing it to operate reliably even in areas such as deserts where communication signals are unstable or absent. The mechanical cooperation of the pushing component drives the door opening component to slide the sliding cover on the upper cover open, ensuring that the door is opened only when the seedlings emerge, ensuring the moisturizing of the outer barrel, and avoiding the seedlings from being exposed to high temperature and exposure for a long time, thereby avoiding the death of the seedlings when planting. At the same time, the pushing component does not drive the rotating component to move when pushing the seedlings upward to avoid interference. When the pushing component descends and resets, it drives the rotating component to drive the inner barrel to rotate to the position of the next group of seedling tubes for the next seedling push. After the rotating component drives the inner barrel to rotate one circle, it drives the transverse movement component to move, so that the transverse movement component drives the pushing component to move along the radial direction the distance of a seedling tube, so as to continue to push the seedlings out. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the main structure of the present invention; Figure 2 This is a structural diagram of the present invention with the upper cover removed; Figure 3 for Figure 2 A local enlarged view of point C; Figure 4 Schematic diagram of the structure of the sliding cover of the present invention; Figure 5 This is a structural diagram of the present invention without the outer barrel; Figure 6 for Figure 5 A local enlarged view of point A; Figure 7 This is a structural diagram of the present invention with the outer barrel removed from another angle; Figure 8 for Figure 7 A partial enlarged view of point B.

[0020] In the figure: 1. outer barrel, 101. positioning rod, 2. upper cover, 201. sliding cover, 202. guide pin, 3. inner barrel, 301. barrel plate, 302. sleeve, 4. seedling tube, 401. base, 5. seedling pushing rod, 501. screw, 502. limiting plate, 6. center column, 601. guide groove, 602. limiting rod, 603. synchronization plate, 7. ratchet, 701. shifting tooth, 702. shifting box, 703. pawl, 704. active bevel gear, 705. driven bevel gear, 706. rotating gear, 707. toothed disc, 8. transverse gear, 801. transverse gear, 802. active sprocket, 803. driven sprocket, 804. reciprocating screw, 805. reciprocating slider. DETAILED DESCRIPTION

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0022] See also Figure 1-8To address the problems of existing desert tree planting automation equipment, which has a large number of drive units, resulting in increased equipment size and weight, high energy consumption, limited battery life, and a high reliance on a stable communication environment for multi-unit coordination, a new approach is proposed to achieve seedling emergence with only one motor, eliminating the need for numerous drive units. This reduces the size and weight of the equipment, lowers energy consumption, and thus extends battery life. Furthermore, without relying on a communication environment, the execution of actions relies primarily on the mechanical coordination between the push component, door opening component, rotation component, and transverse movement component, rather than relying on a remote communication network for real-time coordinated control of each drive unit. This mechanical linkage mechanism effectively eliminates the equipment's dependence on a stable communication environment, enabling it to operate reliably even in areas such as deserts where communication signals are unstable or absent. The mechanical cooperation of the pushing component drives the door opening component to slide the sliding cover 201 on the upper cover 2 open, ensuring that the door is opened only when the seedlings emerge, ensuring the moisturizing work in the outer barrel 1, and avoiding the seedlings from being exposed to high temperature and exposure for a long time, thereby avoiding the death of the seedlings when they are planted. At the same time, the pushing component does not drive the rotating component to move when pushing the seedlings upward to avoid interference. When the pushing component descends and resets, it drives the rotating component to drive the inner barrel 3 to rotate to the position of the next group of seedling tubes for the next seedling push. After the rotating component drives the inner barrel 3 to rotate one circle, it drives the transverse movement component to move, so that the transverse movement component drives the pushing component to move along the radial direction by the distance of a seedling tube 4, so as to continue to push the seedlings out. The present invention provides a technical solution: a seedling storage and delivery structure for a desert tree-planting robot, comprising an outer barrel 1, an inner barrel 3 rotatably disposed within the outer barrel 1, a plurality of seedling tubes 4 for storing seedlings fixed within the inner barrel 3, the seedling tubes 4 being arranged in a group along the radius of the inner barrel 3, with multiple groups arranged around the circumference. The outer barrel 1 is also provided with an upper cover 2; a plurality of positioning rods 101 are fixedly connected to the upper end of the outer barrel 1, and corresponding holes are provided at the lower end of the upper cover 2, into which the positioning rods 101 are inserted. Two fan-shaped sliding covers 201 are symmetrically slidably connected to the upper cover 2, and the sliding covers 201 slide limitedly along the circumference of the upper cover 2. The angle at which the sliding covers 201 can open is greater than the central angle corresponding to two adjacent groups of seedling tubes 4. The upper cover 2 and the sliding cover 201 are restricted in sliding by a slot block method; the upper cover 2 is provided with a slot, and the sliding cover 201 is provided with a slider inside. A sleeve 302 is provided within the inner barrel 3 and extends over the center column 6. At least one layer of staves 301 is fixedly connected between the inner barrel 3 and the sleeve 302. Multiple seedling tubes 4 are inserted and secured within the staves 301. The lower ends of the seedling tubes 4 are slidably connected to a base 401. Moss hydrogel or other moisturizing material can be placed within the base 401 to help keep the seedlings moisturized.A pushing assembly for lifting the seedlings is provided under the seedling tube 4. The pushing assembly drives the door opening assembly to slide the sliding cover 201 on the upper cover 2 open. A rotating assembly is also provided next to the pushing assembly. When the pushing assembly pushes the seedlings upward, it does not drive the rotating assembly to move. When the pushing assembly descends and resets, it drives the rotating assembly to drive the inner barrel 3 to rotate to the position of the next group of seedling tubes. After the rotating assembly drives the inner barrel 3 to rotate one circle, it drives the transverse movement assembly to move the pushing assembly along the radial direction by the distance of one seedling tube 4. In this application, the electrical components such as the motor, cylinder and push rod are all of existing models. When not in use, remove the upper cover 2 to load the saplings. After loading is completed, close the upper cover 2, align the hole at the lower end of the upper cover 2 with the positioning rod 101 and insert it. During this process, the guide pin 202 on the sliding cover 201 is pressed and retracted, and the spring is compressed. When the upper cover 2 is closed, the guide pin 202 pops out into the guide groove 601 under the action of the spring, and is located at the uppermost end of the guide groove 601, and the two sliding covers 201 are in a closed state, thus avoiding water loss and ensuring that the barrel is moist. As needed, the inner barrel 3 can also be equipped with an existing spray or humidification device to keep it moist. When it is time to plant the seedlings, start the motor, which drives the pushing rod 5 of the pushing assembly to move up, and the pushing rod 5 drives the central column 6 of the door opening assembly to move up so that the two sliding covers 201 slide open. At the same time, the pushing rod 5 pushes the base 401 to move up, and the base 401 drives the seedlings thereon to move up and extend out of the upper cover 2. At this time, the seedlings can be taken out for planting using a device such as a mechanical arm. After the seedlings are taken out, the pushing rod 5 descends. When the pushing rod 5 is completely out of the seedling tube 4, the pushing rod 5 drives the ratchet 7 of the rotating assembly to rotate, and the ratchet 7 drives the inner The barrel 3 rotates to the position of the next group of seedling tubes, so that the seedling pushing rod 5 can push the seedlings in the seedling tubes with the same radius. When the inner barrel 3 completes the emergence of the last seedling tube 4 corresponding to the diameter, the inner barrel 3 continues to rotate, and the inner barrel 3 drives the transverse shifting teeth 801 of the transverse shifting assembly to rotate, and the transverse shifting teeth 801 drive the reciprocating screw rod 804 to rotate, and the reciprocating screw rod 804 drives the reciprocating slider 805 to move the distance of a seedling tube 4 along the radial direction, and the reciprocating slider 805 drives the seedling pushing rod 5 of the pushing assembly to move, preparing for the next seedling pushing.

[0023] In order to facilitate the pushing of the saplings, a pushing assembly is provided, which includes a pushing rod 5 that can move up and down, and the upper end of the pushing rod 5 can be inserted into the seedling tube 4. In order to compensate for the error rate between the rotating parts, the diameter of the pushing rod 5 is smaller than the inner diameter of the seedling tube 4; the pushing assembly also includes a screw 501, which is driven by a motor, and the motor is fixed on the reciprocating slider 805. The screw 501 is threadedly connected to the pushing rod 5. The pushing rod 5 is fixedly connected to the limit plate 502 outside, and the limit plate 502 is always slidably connected to the synchronization plate 603. When in use, the motor is started, the motor drives the screw 501 to rotate, and the rotation of the screw 501 causes the pushing rod 5 to move in the vertical direction, and the pushing rod 5 pushes the saplings out.

[0024] In order to keep the barrel moist and avoid the inactivation of the seedlings, a door opening assembly is provided, which includes a central column 6, the upper end of which passes through the sleeve 302 and is slidably connected to it; two guide grooves 601 are symmetrically provided on the upper end of the central column 6, the upper sections of the two guide grooves 601 are in an "eight" shape, and the lower sections extend in a vertical downward direction, and their length is greater than the maximum sliding height of the central column 6; a guide pin 202 is slidably connected in each guide groove 601, and each guide pin 202 is slidably connected in a sliding cover 201, and the sliding cover 201 is slidably connected in each guide groove 601. 01 and the guide pin 202 are provided with a spring; the lower end of the center column 6 is fixedly connected to the synchronization plate 603, which is provided with a through slot. The length of the through slot is greater than the distance along the radius of a group of seedling tubes 4. The seedling pushing rod 5 is slidably connected in the through slot; the lower end of the center column 6 is slidably connected to the upper end of the limiting rod 602. The limiting rod 602 can be set to a polygon such as a square triangle or other shape that can limit rotation, such as a petal shape or a spindle shape. The lower end of the limiting rod 602 is fixedly connected to the outer barrel 1 to prevent the center column 6 from rotating. When the seedling pushing rod 5 moves in the vertical direction, the seedling pushing rod 5 drives the limiting piece 502 to move, the limiting piece 502 drives the synchronization plate 603 to move, the synchronization plate 603 drives the center column 6 to move, and the center column 6 drives the guide slot 601 to move, so that the guide pin 202 slides therein, and the guide pin 202 drives the sliding cover 201 to slide open or close.

[0025] In order to facilitate continuous pushing of seedlings, a rotating assembly is provided, which includes a ratchet 7, which drives the rotating gear 706 to rotate through the reversing of the bevel gear group, and the rotating gear 706 is engaged with the teeth of the toothed disc 707 set on the outer circumference, and the toothed disc 707 is fixedly connected to the inner barrel 3; the rotating assembly also includes a shifting tooth 701, which is slidably connected to the shift box 702, and a spring is provided between the shifting tooth 701 and the shift box 702, so that the shifting tooth 701 can shift the ratchet 7; the ratchet 7 is clamped with the head of the pawl 703, and the tail of the pawl 703 is hinged to the outer barrel 1 through a torsion spring; the ratchet 7 is fixedly connected to the active bevel gear 704 through a shaft, and the active bevel gear 704 is meshed with the driven bevel gear 705, and the driven bevel gear 705 is fixedly connected to the rotating gear 706 through a shaft; the active bevel gear 704 and the driven bevel gear 705 control the speed through the diameter parameter ratio to achieve that every time the seedling pushing rod 5 is raised and lowered, the inner barrel 3 rotates the central angle corresponding to the two groups of seedling tubes 4. The ratchet 7 , the active bevel gear 704 , the driven bevel gear 705 , and the rotating gear 706 are all rotatably connected in the outer barrel 1 . After the pawl 703 is engaged, the gear 701 is moved downwards, and the gear 702 is pushed back to the left and the gear 703 is pulled back to the right. Further, In order to facilitate the continuous pushing of seedlings, a transverse shift component is provided, which includes a transverse shift gear 8. The lower end face of the toothed disc 707 is provided with a transverse shift tooth 801. The transverse shift tooth 801 is only a section. The central angle corresponding to the arc length of the transverse shift tooth 801 is smaller than the central angle corresponding to the two adjacent groups of seedling tubes 4, and the transverse shift tooth 801 is provided between the two adjacent groups of seedling tubes 4 to ensure that when the seedling pushing rod 5 is in the seedling tube 4, the inner barrel 3 does not rotate, and the transverse shift tooth 801 is engaged with the transverse shift gear 8. The transverse movement assembly also includes a reciprocating screw 804, which is an existing screw that can enable the reciprocating slider 805 to achieve reciprocating motion. The reciprocating screw 804 is threadedly connected to the reciprocating slider 805, and the reciprocating slider 805 slides horizontally in the outer barrel 1; one end of the reciprocating screw 804 is rotatably connected to the limit rod 602, and the other end is fixedly connected to the driven sprocket 803; the transverse movement gear 8 is fixedly connected to the driving sprocket 802, and the driving sprocket 802 and the driven sprocket 803 are engaged with the same chain; the transverse movement gear 8, the driving sprocket 802, and the driven sprocket 803 are all rotatably connected in the outer barrel 1. When the inner barrel 3 rotates to complete the emergence of the last seedling tube 4 corresponding to the same diameter, the seedling pushing rod 5 is retracted to drive the toothed disc 707 to continue to rotate. At this time, the toothed disc 707 drives the transverse gear 801 to mesh with the transverse gear 8. The rotation of the toothed disc 707 drives the transverse gear 8 to rotate. The transverse gear 801 engages with the thrust before the seedling pushing rod 5 reaches the next group of seedling tubes; the transverse gear 8 drives the active sprocket 802 to rotate, the active sprocket 802 drives the driven sprocket 803 to rotate, and the driven sprocket 803 drives the reciprocating screw rod 804 to rotate. The reciprocating screw rod 804 rotates to make the reciprocating slider 805 move the distance of a seedling tube 4, and the reciprocating slider 805 drives the motor to move, and the motor drives the screw 501 to move. The screw 501 is threadedly connected to the seedling pushing rod 5 and drives the seedling pushing rod 5 to move. The screw 501 adopts a screw with a self-locking function to prevent the seedling pushing rod 5 from sliding downward after the motor stops. The seedling pushing rod 5 drives the limiting piece 502 to slide in the through groove of the synchronous plate 603 to prevent the seedling pushing rod 5 from rotating, so that the seedling pushing rod 5 can push the seedlings of the next circle.

[0026] In order to achieve precise coordination between the rotation of the inner barrel 3 and the seedling pushing rod 5, and facilitate production and manufacturing, the transmission ratio between the various components is calculated. The specific calculation method is as follows: first determine the circumference of the part where the transverse shift tooth 801 is provided below the inner barrel 3, and then calculate the number of teeth and module between the transverse shift tooth 801 and the transverse shift gear 8, and then calculate the transmission ratio a of the transverse shift tooth 801 and the transverse shift gear 8. On this basis, the driving sprocket 802 and the driven sprocket 803 are sprocket mechanisms, and the transmission ratio b between the two can be calculated through the diameter ratio of the two. The reciprocating slider 805 and the reciprocating screw 804 are screw structures. By designing the number of threads and pitch of the screw structure, the conversion ratio c between the rotation amount of the transverse shift tooth 801 and the movement amount of the reciprocating slider 805 can be calculated. After the above calculations are completed, the transmission ratio a, transmission ratio b, and conversion ratio c are adjusted to match the amount of rotation of the transverse gear 8 driven by the transverse tooth 801 with the distance traveled by the reciprocating slider 805 between the inner and outer seedling tubes 4, thereby determining the length of the transverse tooth 801. Furthermore, the function of the seedling pushing rod 5 is only to be able to insert from the bottom of the seedling tube 4 and push the seedling out. To compensate for the error rate between the various rotating parts, the diameter of the seedling pushing rod 5 is made smaller than the inner diameter of the seedling tube 4.

[0027] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A seedling storage and delivery structure of a desert tree planting robot, comprising an outer barrel (1), characterized in that: An inner barrel (3) is rotatably provided in the outer barrel (1), and a plurality of seedling tubes (4) for storing seedlings are fixed in the inner barrel (3). The seedling tubes (4) are arranged in a group along the radius of the inner barrel (3), and a plurality of groups are arranged on the circumference. An upper cover (2) is also provided on the outer barrel (1); A pushing assembly for pushing the seedlings up is provided under the seedling tube (4), and the pushing assembly drives the door opening assembly to slide the sliding cover (201) on the upper cover (2) open. A rotating assembly is also provided next to the pushing assembly. When the pushing assembly pushes the seedlings upward, it does not drive the rotating assembly to move. When the pushing assembly descends and resets, it drives the rotating assembly to drive the inner barrel (3) to rotate to the position of the next group of seedling tubes. After the rotating assembly drives the inner barrel (3) to rotate one circle, it drives the transverse moving assembly to move, so that the transverse moving assembly drives the pushing assembly to move along the radial direction by the distance of one seedling tube (4); The pushing assembly comprises a seedling pushing rod (5) capable of moving up and down, and the upper end of the seedling pushing rod (5) can be inserted into the seedling tube (4); The rotating assembly includes a ratchet (7), which drives the rotating gear (706) to rotate through the bevel gear group reversing, and the rotating gear (706) is engaged with the teeth of the toothed disc (707) provided on the outer circumference, and the toothed disc (707) is fixedly connected to the inner barrel (3); The transverse shift assembly comprises a transverse shift gear (8), and the lower end surface of the toothed disc (707) is provided with a transverse shift tooth (801), the central angle corresponding to the arc length of the transverse shift tooth (801) is smaller than the central angle corresponding to the two adjacent groups of seedling tubes (4), and the transverse shift tooth (801) is provided between the two adjacent groups of seedling tubes (4), and the transverse shift tooth (801) is meshed with the transverse shift gear (8).

2. The seedling storage and delivery structure of a desert tree planting robot according to claim 1, characterized in that: The upper end of the outer barrel (1) is fixedly connected to a plurality of positioning rods (101), and the lower end of the upper cover (2) is provided with corresponding holes, into which the positioning rods (101) are inserted.

3. The seedling storage and delivery structure of a desert tree planting robot according to claim 1, characterized in that: Two fan-shaped sliding covers (201) are symmetrically slidably connected to the upper cover (2), and the sliding covers (201) slide limitedly along the circumferential direction on the upper cover (2). The angle at which the sliding covers (201) can be opened is greater than the central angle corresponding to two adjacent groups of seedling tubes (4).

4. The seedling storage and delivery structure of a desert tree planting robot according to claim 1, characterized in that: The inner barrel (3) is provided with a sleeve (302) for communication, the sleeve (302) being sleeved outside the central column (6), at least one layer of barrel plate (301) being fixedly connected between the inner barrel (3) and the sleeve (302), and a plurality of seedling tubes (4) being inserted and fixed in the barrel plate (301).

5. The seedling storage and delivery structure of a desert tree planting robot according to claim 1, characterized in that: The lower end of the seedling tube (4) is slidably connected to the base (401).

6. The seedling storage and delivery structure of a desert tree planting robot according to claim 1, characterized in that: The pushing assembly further comprises a screw (501), the screw (501) being driven by a motor, the motor being fixed on the reciprocating slider (805), the screw (501) being threadedly connected to the seedling pushing rod (5), the seedling pushing rod (5) being externally fixedly connected to the limiting plate (502), and the limiting plate (502) being always slidably connected to the synchronization plate (603).

7. The seedling storage and delivery structure of a desert tree planting robot according to claim 1, characterized in that: The door opening assembly comprises a central column (6), the upper end of the central column (6) passing through the sleeve (302) and being slidably connected thereto; Two guide grooves (601) are symmetrically provided at the upper end of the central column (6), the upper sections of the two guide grooves (601) are in an "eight" shape, and the lower sections extend vertically downward, and the length thereof is greater than the maximum sliding height of the central column (6); A guide pin (202) is slidably connected to each guide groove (601), each guide pin (202) is slidably connected to a slide cover (201), and a spring is provided between the slide cover (201) and the guide pin (202); The lower end of the central column (6) is fixedly connected to the synchronization plate (603), and the synchronization plate (603) is provided with a through groove, the length of which is greater than the distance between a group of seedling tubes (4) along the radius, and the seedling pushing rod (5) is slidably connected in the through groove; The lower end of the center column (6) is slidably connected to the upper end of the limiting rod (602), and the lower end of the limiting rod (602) is fixedly connected to the outer barrel (1) to prevent the center column (6) from rotating.

8. The seedling storage and delivery structure of a desert tree planting robot according to claim 1, characterized in that: The rotating assembly further comprises a shifting tooth (701), the shifting tooth (701) being slidably connected to the shifting box (702), a spring being provided between the shifting tooth (701) and the shifting box (702), and the shifting tooth (701) being capable of shifting the ratchet wheel (7); The ratchet (7) is engaged with the head of the pawl (703), and the tail of the pawl (703) is hinged in the outer barrel (1) via a torsion spring; The ratchet (7) is fixedly connected to the active bevel gear (704) via a shaft, the active bevel gear (704) is meshed with the driven bevel gear (705), and the driven bevel gear (705) is fixedly connected to the rotating gear (706) via a shaft; The ratchet (7), the active bevel gear (704), the driven bevel gear (705), and the rotating gear (706) are all rotatably connected in the outer barrel (1).

9. The seedling storage and delivery structure of a desert tree planting robot according to claim 1, characterized in that: The transverse movement assembly further comprises a reciprocating screw (804), the reciprocating screw (804) being threadedly connected to a reciprocating slider (805), and the reciprocating slider (805) sliding horizontally in the outer barrel (1); One end of the reciprocating screw rod (804) is rotatably connected to the limiting rod (602), and the other end is fixedly connected to the driven sprocket (803); The transverse gear (8) is fixedly connected to the driving sprocket (802), and the driving sprocket (802) and the driven sprocket (803) are engaged with the same chain; the transverse gear (8), the driving sprocket (802), and the driven sprocket (803) are all rotatably connected in the outer barrel (1).

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