Desert planting robot system for red willow

Abstract

The desert planting robot system of red willow includes a planting device and water supply device and seedling supply device capable of being docked with the planting device; the planting device includes a planting vehicle and a first water storage tank arranged on the planting vehicle, which can be docked with the water supply device to receive planting water; the planting device further includes a conveying mechanism arranged on the upper side of the first water storage tank and arranged in the front-rear direction, which can be docked with the seedling supply device to receive seedlings and transport the seedlings in batches backward; the planting device further includes a planting mechanical arm arranged on the outer side of the conveying mechanism, the distal end of the planting mechanical arm is provided with a vertical through-type seedling feeding bowl, the lower side of the seedling feeding bowl is circumferentially arranged with a plurality of vertical seedling feeding pipes, the seedling feeding pipes are communicated with the first water storage tank through a first pump and a flushing pipe, the planting device further includes a seedling feeding mechanical arm arranged on the outer side of the conveying mechanism, the distal end of the seedling feeding mechanical arm is provided with a seedling feeding gripper, and the seedling feeding gripper can vertically feed the seedlings on the conveying mechanism into the seedling feeding bowl from the upper end of the seedling feeding bowl to complete the planting work of the seedlings, thereby improving the planting efficiency and saving the labor cost.

Description

Technical Field

[0001] This invention relates to the field of tree cultivation equipment technology, specifically a desert planting robot system for tamarisk. Background Technology

[0002] Tamarix chinensis, a shrub or small tree belonging to the genus Tamarix in the family Tamarixaceae, is commonly used as an important afforestation species for windbreak, sand fixation, and improvement of saline-alkali land due to its preference for sunlight, relatively high tolerance to cold and heat, drought and waterlogging, and ease of propagation. Currently, desert tamarisk planting is usually done manually. This involves using a water gun with a long nozzle or a screw drill to pre-drill a deep pit in the ground, then inserting tamarisk branches into the pit. However, this method is inefficient and wastes a significant amount of manpower. Summary of the Invention

[0003] To address the technical problems mentioned above, this invention provides a desert planting robot system for tamarisk.

[0004] The technical solution of this invention is as follows:

[0005] The desert planting robot system for red willow includes a planting device and a water supply device and a seedling supply device that can interface with it. The seedling supply device is configured to transport red willow seedlings and can interface with the planting device to transfer the seedlings to the planting device. The planting device is configured to plant the seedlings. The water supply device is configured to transport water for planting and can interface with the planting device to transfer the water for planting to the planting device.

[0006] Firstly, regarding the structure of the water supply device and its coordination with the planting device, the planting device includes a planting vehicle and a first water storage tank installed on it, and the water supply device includes a water supply vehicle and a second water storage tank installed on it. The upper part of the second water storage tank is provided with a water inlet, and the front bottom is connected to a second pump. The planting water can be transported to the planting device position through the second water storage tank of the water supply device. The second pump is configured to pump the water in the second water storage tank to the first water storage tank, thus completing the transfer and transportation of planting water to the planting device.

[0007] Regarding the structure of the seedling supply device and its cooperation with the planting device, the planting device also includes a conveying mechanism located on the upper side of the first water storage tank and arranged in the front-to-back direction. The seedling supply device includes a seedling supply cart and a seedling box on it. The seedling box of the seedling supply device can transport seedlings to the planting device. The upper side of the seedling box is equipped with a seedling supply gripper via a seedling supply mechanical arm. The seedling supply gripper is configured to clamp the seedlings in the seedling box to the front end of the conveying mechanism, thus completing the transfer and transportation of seedlings to the planting device.

[0008] As the core technical concept of the present invention, in terms of the structure of the planting device, the conveying mechanism is configured to transport seedlings in batches backward, and the planting device also includes a planting mechanism located outside the conveying mechanism.

[0009] Specifically, the planting mechanism includes a planting robotic arm with a vertically penetrating seedling inlet at its end. The seedling inlet has several vertically arranged circumferential arrays on its lower side, and a water outlet is located at the lower end of a flushing pipe. A first pump is also provided on one side of the first water storage tank, which is connected to the flushing pipe and configured to pump water from the first water storage tank to the flushing pipe. Based on this structure, through the cooperation of the first pump and the flushing pipe, and in conjunction with the movement of the planting robotic arm, the flushing pipe can be vertically inserted into the sand to complete the creation of the planting pit.

[0010] Furthermore, the planting mechanism also includes a seedling feeding robotic arm located outside the conveying mechanism. The end of the robotic arm is equipped with a seedling feeding gripper, which is designed to vertically feed the seedlings from the top of the feeding bowl into the feeding bowl. The seedlings can then move downwards from the feeding bowl into the planting pit. After planting, the robotic arm can pull the feeding bowl, connected to a flushing pipe, out of the planting pit, leaving the seedlings in the pit, thus completing the planting process. The seedling planting process, through the coordination of the water supply device, the seedling supply device, and the planting device, can be divided into three parts: the transportation of planting water, the transportation of seedlings, and the planting of seedlings. This collaborative operation effectively improves the planting efficiency of seedlings. Moreover, the planting work is automatically carried out through the cooperation of the planting mechanism and the conveying mechanism, further ensuring the planting efficiency and saving labor costs.

[0011] As described above, the desert planting robot system for tamarisk, in terms of the structure of the conveying mechanism, includes a seedling feeding unit and a seedling sorting unit arranged front and rear. Specifically, the seedling feeding unit includes two first conveyor chains arranged opposite each other, with several limiting blocks arranged around the circumference of the first conveyor chains. The seedling feeding gripper is configured to clamp the seedlings between the two limiting blocks, completing the centralized transfer of seedlings from the seedling box to the conveying mechanism. The seedling sorting unit includes two second conveyor chains arranged opposite each other, with several Y-shaped rods arranged around the circumference of the second conveyor chains. The conveying mechanism also includes a seedling sorting robotic arm, the end of which is equipped with a seedling sorting gripper. The seedling sorting gripper is configured to clamp the seedlings between the two limiting blocks in batches onto the Y-shaped rods, completing the batch transfer of seedlings from the seedling feeding unit to the seedling sorting unit.

[0012] As a preferred embodiment, in order to ensure that the seedlings transported by the seedling clamps can fall smoothly between the two limiting blocks on the seedling feeding unit, a seedling feeding hopper is also provided on the upper front side of the seedling feeding unit.

[0013] As described above, the desert planting robot system for red willow, in a preferred embodiment, to adapt to the desert ground environment and ensure the stability of the planting vehicle, water supply vehicle, and seedling supply vehicle, all include a frame and two rows of wheels on its underside; to ensure that the planting vehicle, water supply vehicle, and seedling supply vehicle have good steering ability in the desert environment, the wheels include wheel frames rotatably mounted on the underside of the frame, and wheels are connected to the wheel frames.

[0014] As a further preferred embodiment, to prevent the wheels from sinking and affecting the vehicle's movement, the wheels are height-adjustable.

[0015] Preferably, to further ensure the driving stability of the frame under the action of the traveling wheels, the same traveling wheel includes two wheels arranged opposite each other, the axes of rotation of the two wheels are collinear, and they are configured to rotate about an axis perpendicular to the axis of rotation of the wheels.

[0016] As described above, the desert planting robot system for red willow has a pressure bowl at the end of the seedling feeding arm to ensure that the seedling can be smoothly inserted into the planting pit after being placed into the seedling feeding bowl by the seedling feeding gripper. The pressure bowl is designed to press the seedling into the seedling feeding bowl from top to bottom, thereby pressing the seedling into the planting pit.

[0017] As a preferred embodiment, to further improve the planting efficiency of the planting device, the planting mechanism is provided in two sets on both sides of the conveying mechanism.

[0018] As a further preferred embodiment, in order to ensure the amount of seedlings that can be held in the seedling box while making it easier to deliver the seedlings to the conveying mechanism via the seedling supply gripper, the seedling supply robotic arm is slidably arranged on the upper side of the seedling box.

[0019] Preferably, to prevent the water supply device from spilling the planting water inside the second water tank when it moves in the desert environment, and to prevent sand from flying into the second water tank, the water inlet is equipped with a cover that can be opened and closed electrically.

[0020] The beneficial effects of this invention are as follows: This invention is a desert planting robot system for tamarisk. The seedling supply device can transport tamarisk seedlings and can interface with the planting device to transfer the seedlings to the planting device. The planting device can plant the seedlings. The water supply device can transport the planting water and can interface with the planting device to transfer the planting water to the planting device. Through the cooperation of the first pump and the flushing pipe, and in conjunction with the movement of the planting robotic arm, the flushing pipe can be vertically inserted into the sand to create planting pits. Through the cooperation of the planting robotic arm and the seedling feeding robotic arm, the seedlings can be inserted downwards into the planting pits, completing the planting. Furthermore, after planting, the mechanical arm can pull the seedling bowl connected to the flushing pipe out of the planting pit, leaving the seedling in the pit, thus completing the planting process. The seedling planting work can be divided into three parts through the cooperation of the water supply device, the seedling supply device, and the planting device: the transportation of planting water, the transportation of seedlings, and the planting of seedlings. This collaborative operation method effectively improves the planting efficiency of seedlings. Moreover, the planting work is carried out automatically through the cooperation of the planting mechanism and the conveying mechanism, which further ensures the planting efficiency of seedlings. Through the cooperation of the water supply device, the seedling supply device, and the planting device, an efficiency of 4-8 seconds per seedling can be achieved, effectively saving labor costs. Attached Figure Description

[0021] The solutions and advantages of this application will become clear to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention.

[0022] In the attached diagram:

[0023] Figure 1 This is a schematic diagram of the robot system in the embodiment;

[0024] Figure 2 This is a schematic diagram illustrating the coordination between the planting device, the water supply device, and the seedling supply device in the embodiment.

[0025] Figure 3 This is a schematic diagram of the planting device in the embodiment;

[0026] Figure 4 This is a schematic diagram of the water supply device in the embodiment;

[0027] Figure 5 This is a schematic diagram of the conveying mechanism in the embodiment;

[0028] Figure 6 This is a schematic diagram of the seedling supply device in the embodiment;

[0029] Figure 7 This is a schematic diagram of the planting unit in the embodiment;

[0030] Figure 8 This is a schematic diagram of the seedling supply unit in the embodiment;

[0031] Figure 9 This is a schematic diagram of the walking wheel structure in the embodiment;

[0032] Figure 10 This is a schematic diagram of the internal structure of the walking wheel in the embodiment;

[0033] The components represented by the various reference numerals in the diagram are:

[0034] 1. Planting device; 11. Planting cart; 111. Cart frame; 112. Wheels; 1121. First transfer frame; 1122. Second transfer frame; 1123. Adjusting cylinder; 1124. Mounting frame; 1125. Wheels; 12. First water tank; 13. Water inlet hopper; 14. First pump; 15. Conveying mechanism; 151. Seedling feeding unit; 152. Seedling sorting unit; 153. Seedling feeding hopper; 154. Seedling sorting robotic arm; 155. Seedling sorting gripper; 16. Planting machine Structure; 161. Planting unit; 1611. Planting robotic arm; 1612. Seedling inlet bowl; 1613. Flushing pipe; 162. Seedling supply unit; 1621. Seedling inlet robotic arm; 1622. Seedling inlet gripper; 1623. Pressing bowl; 2. Water supply device; 21. Water supply cart; 22. Second water storage tank; 23. Second pump; 24. Water outlet pipe; 25. Tank cover; 3. Seedling supply device; 31. Seedling supply cart; 32. Seedling box; 33. Seedling supply robotic arm; 34. Seedling supply gripper. Detailed Implementation

[0035] Exemplary embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings.

[0036] Example

[0037] This embodiment provides a robotic system for planting tamarisk in the desert; see [link to documentation]. Figure 1 and Figure 2 The system includes a planting device 1 and a water supply device 2 and a seedling supply device 3 that can be connected and cooperated with it. The seedling supply device 3 is configured to complete the transportation of red willow seedlings and can connect with the planting device 1 to transfer the seedlings to the planting device 1. The planting device 1 is configured to complete the planting of seedlings. The water supply device 2 is configured to complete the transportation of planting water and can connect with the planting device 1 to transfer the planting water to the planting device 1 to supply the planting device 1 as needed. The structure of the robot system (the aforementioned red willow desert planting robot system) will be described in detail below with reference to the accompanying drawings.

[0038] In this embodiment, combined with Figure 3The water supply device 2 includes a water supply vehicle 21 and a second water storage tank 22 installed on it. The upper part of the second water storage tank 22 is provided with a water inlet. By moving the second water storage tank 22 carried by the water supply vehicle 21, the water supply device 2 can receive planting water from the base station and transport the planting water to the planting device 1 through the second water storage tank 22.

[0039] Furthermore, a second pump 23 is connected to the bottom front side of the second water tank 22, and a water outlet pipe 24 is connected to the second pump 23. The second pump 23 is configured to pump the water in the second water tank 22 to the planting device 1 through the water outlet pipe 24, thereby completing the transfer and transportation of planting water to the planting device 1.

[0040] As a preferred embodiment, to prevent the water supply device 2 from spilling the planting water inside the second water tank 22 when it moves in the desert environment, and to prevent sand from flying into the second water tank 22, the water inlet is provided with a cover 25 that can be opened and closed electrically. The cover 25 includes a body cover that is hinged to the water inlet on one side. An electric telescopic cylinder is provided between the body cover and the second water tank 22, and the electric telescopic cylinder can drive the body cover to rotate, thereby realizing the opening and closing of the water inlet.

[0041] In this embodiment, combined with Figure 6 The seedling supply device 3 includes a seedling supply vehicle 31 and a seedling box 32 installed on it. By moving the seedling box 32 carried by the seedling supply vehicle 31, it can receive red willow seedlings from the base station and transport the seedlings to the planting device 1 through the seedling box 32 of the seedling supply device 3.

[0042] Furthermore, the upper side of the seedling box 32 is provided with a seedling feeding gripper 34 via a seedling feeding mechanical arm 33. The seedling feeding gripper 34 is configured to clamp and deliver the seedlings in the seedling box 32 to the planting device 1, thereby completing the transfer and transportation of the seedlings to the planting device 1.

[0043] As a preferred embodiment, in order to ensure the amount of seedlings that can be held in the seedling box 32, and to make it easier to deliver the seedlings to the conveying mechanism 15 by the seedling supply gripper 34, the seedling supply mechanical arm 33 is slidably arranged on the upper side of the seedling box 32.

[0044] In this embodiment, combined with Figure 3The planting device 1 includes a planting vehicle 11 and a first water storage tank 12 mounted on it. The rear side of the first water storage tank 12 is provided with a water inlet hopper 13 connected to it. The second pump 23 of the water supply device 2 can pump planting water through the water outlet pipe 24 to the first water storage tank 12 via the water inlet hopper 13, thus completing the transfer and transportation of planting water to the planting device 1. The planting device 1 also includes a conveying mechanism 15 located on the upper side of the first water storage tank 12 and arranged in the front-back direction. The seedling supply mechanical arm 33 of the seedling supply device 3 can clamp the seedlings to the front end of the conveying mechanism 15 via the seedling supply gripper 34, thus completing the transfer and transportation of seedlings to the planting device 1.

[0045] As the core technical concept of the present invention, in terms of the structure of the planting device 1, the conveying mechanism 15 is configured to transport seedlings in batches backwards. The planting device 1 also includes a planting mechanism 16 located outside the conveying mechanism 15, and the planting of seedlings can be completed through the planting mechanism 16.

[0046] Firstly, regarding the structure of the conveying mechanism 15, in conjunction with... Figure 5 It includes a seedling feeding unit 151 and a seedling sorting unit 152 arranged front and rear. Specifically, the seedling feeding unit 151 includes two first conveyor chains arranged opposite each other. Several limiting blocks are arranged circumferentially on the first conveyor chains. The seedling feeding gripper 34 is configured to clamp the seedlings between the two limiting blocks. That is, under the action of the seedling feeding gripper 34, both ends of the seedling can be placed between two adjacent limiting blocks on the two first conveyor chains, completing the centralized transfer of seedlings from the seedling box 32 to the conveying mechanism 15. The seedling sorting unit 152 includes two oppositely arranged... The second conveyor chain has several Y-shaped rods arranged around its circumference. The conveying mechanism 15 also includes a seedling sizing robot arm 154 located between the seedling entry unit 151 and the seedling sizing unit 152. The end of the robot arm is provided with a seedling sizing gripper 155, which is configured to clamp the seedlings between the two limiting blocks in batches onto the Y-shaped rods. That is, under the action of the seedling sizing gripper 155, both ends of the seedlings can be placed on two opposite Y-shaped rods on the two second conveyor chains, thus completing the batch transfer of seedlings from the seedling entry unit 151 to the seedling sizing unit 152.

[0047] As a preferred embodiment, in order to ensure that the seedlings transported by the seedling clamp 34 can fall smoothly between the two limiting blocks on the seedling feeding unit 151, a seedling feeding hopper 153 is also provided on the upper front side of the seedling feeding unit 151.

[0048] As a further preferred embodiment, to ensure the neatness of the ends of several seedlings when they are placed on the seedling receiving unit 151 and transported backward, the conveying mechanism 15 further includes two sets of aligning units located opposite each other on both sides of the front end of the seedling sorting unit 152. Each aligning unit includes a horizontally arranged aligning telescopic cylinder. The telescopic ends of the two aligning telescopic cylinders are arranged opposite each other and each is equipped with a clamp. The movement of the aligning telescopic cylinder can drive the clamp to move, thereby completing the alignment of the ends of the seedlings between the two limiting blocks, ensuring that the seedlings can be transported neatly to the seedling sorting unit 152.

[0049] Regarding the structure of the planting mechanism 16, combined with Figure 7 and Figure 8 It includes a planting unit 161 for planting seedlings and a seedling supply unit 162 for transferring seedlings to the planting unit 161.

[0050] First, combined Figure 6 The planting unit 161 includes a planting robotic arm 1611, with a vertically penetrating seedling inlet bowl 1612 at its end. The seedling inlet bowl 1612 has several vertically arranged circumferential arrays on its lower side, and a water outlet is located at the lower end of the flushing pipe 1613. A first pump 14 is also provided on one side of the first water storage tank 12, which is connected to the flushing pipe 1613 and is configured to pump water from the first water storage tank 12 to the flushing pipe 1613. Based on this structure, through the cooperation of the first pump 14 and the flushing pipe 1613, and in conjunction with the movement of the planting robotic arm 1611, the flushing pipe 1613 can be vertically inserted into the sand to complete the creation of the planting pit.

[0051] Furthermore, the planting unit 161 also includes a pipe support located below the seedling inlet bowl 1612. The upper ends of several flushing pipes 1613 are connected to the pipe support. The first pump 14 is connected to several flushing pipes 1613 through the pipe support. A locking device is also provided between the pipe support and the lower end of the seedling inlet bowl 1612. The locking device is used to control the connection status between the planting channel below the pipe support and the seedling inlet bowl 1612.

[0052] Furthermore, the locking device includes a fixing frame, a drive motor, and a locking plate. The fixing frame is installed on the outside of the pipe support, and the locking plate is connected to the drive motor through a screw transmission structure. The locking plate is inserted into the planting channel, and its opening and closing can be controlled by the action of the drive motor to realize the connection or blockage between the seedling inlet bowl 1612 and the planting channel. When placing a seedling into the seedling inlet bowl 1612, the locking plate opens, connecting the seedling inlet bowl 1612 with the planting channel below the pipe support, allowing the seedling to fall smoothly into the planting hole at the bottom of the planting channel. When the flushing pipe 1613 and the seedling sink to a suitable depth, the locking plate closes, disconnecting the connection between the seedling inlet bowl 1612 and the planting channel below the pipe support, preventing the high-pressure water flow from floating the planted seedling and affecting root fixation.

[0053] Secondly, combining Figure 8 The seedling supply unit 162 includes a seedling feeding mechanical arm 1621 located outside the conveying mechanism 15, with a seedling feeding gripper 1622 at its end. The seedling feeding gripper 1622 is configured to pick up the seedlings on the seedling feeding unit 152 of the conveying mechanism 15 and vertically feed them into the seedling feeding bowl 1612 from the upper end of the bowl. The seedlings can move downwards from the seedling feeding bowl 1612 into the planting pit. After planting, the seedling feeding bowl 1612 can be connected to the planting pit by the action of the planting mechanical arm 1611. The water pipe 1613 is pulled out of the planting pit, leaving the seedling inside, thus completing the planting work. The planting work can be divided into three parts through the cooperation of the water supply device 2, the seedling supply device 3, and the planting device 1: the transportation of planting water, the transportation of seedlings, and the planting of seedlings. This collaborative operation effectively improves the planting efficiency of seedlings. Moreover, the planting work is carried out automatically through the cooperation of the planting mechanism 16 and the conveying mechanism 15, which further ensures the planting efficiency of seedlings and saves labor costs.

[0054] As a preferred embodiment, in order to ensure that the seedlings can be smoothly placed into the seedling inlet bowl 1612 by means of the seedling inlet claw 1622, the upper end of the seedling inlet bowl 1612 is in the shape of a trumpet with the opening facing upward.

[0055] As a further preferred embodiment, in order to ensure that the seedlings can be smoothly inserted into the planting pit after being placed into the seedling inlet bowl 1612 by the seedling inlet gripper 1622, the end of the seedling inlet robotic arm 1621 is also provided with a pressing bowl 1623, which is configured to press the seedlings into the seedling inlet bowl 1612 from top to bottom, thereby realizing the pressing of the seedlings into the planting pit.

[0056] Preferably, in order to further improve the planting efficiency of the planting device 1, the planting mechanism 16 is provided in two sets on both sides of the conveying mechanism 15.

[0057] In this embodiment, combined with Figure 9 and Figure 10 As a preferred embodiment, in order to adapt to the desert ground environment and ensure the stability of the planting vehicle 11, water supply vehicle 21 and seedling supply vehicle 31, each of the planting vehicle 11, water supply vehicle 21 and seedling supply vehicle 31 includes a frame 111 and two rows of wheels 112 on its lower side. At the same time, in order to ensure that the planting vehicle 11, water supply vehicle 21 and seedling supply vehicle 31 have good steering ability in the desert environment, the wheels 112 include wheel frames rotatably set on the lower side of the frame 111, and wheels 1125 are connected through the wheel frames.

[0058] As a further preferred embodiment, in order to prevent the walking wheels 112 from sinking and affecting the movement of the frame 111, the wheels 1125 are configured to be height adjustable.

[0059] Preferably, to further ensure the driving stability of the frame 111 under the action of the traveling wheel 112, the same traveling wheel 112 includes two wheels 1125 arranged opposite each other, the axes of rotation of the two wheels 1125 are collinear, and they are configured to rotate about an axis perpendicular to the axis of rotation of the wheel 1125.

[0060] Based on the above description, the specific structure and connection method of the traveling wheel 112 are as follows:

[0061] The wheel frame includes a first adapter frame 1121, which is rotatably connected to the frame 111 on its upper side and has a vertical rotation axis. A second adapter frame 1122 is hinged to its lower side and has a horizontal rotation axis. The wheel frame also includes an adjusting cylinder 1123, whose two ends are respectively connected to the middle of the first adapter frame 1121 and the second adapter frame 1122. By adjusting the cylinder 1123, the second adapter frame 1122 can be driven to rotate, thereby realizing the height adjustment of the non-hinged end of the second adapter frame 1122.

[0062] Furthermore, the wheel frame also includes a mounting frame 1124, on which two wheels 1125 are arranged opposite each other. The wheel frame is rotatably connected to the non-hinged end of the second adapter frame 1122, and the rotation axis is perpendicular to the rotation axis of the second adapter frame 1122 and the rotation axis of the wheels 1125, so that the two wheels 1125 can swing, preventing damage to one side of the wheels 1125 due to uneven ground, and ensuring the stability of the frame 111 during travel.

[0063] Based on the above-mentioned structure of the walking wheel 112, the wheel 1125 can be further equipped with a drive motor or a brake. The specific driving or braking methods will not be discussed in detail here.

[0064] In this embodiment, the base station is also equipped with a control console 4 that is wirelessly connected to the water supply device 2, the seedling supply device 3 and the planting device 1, and the operation of the water supply device 2, the seedling supply device 3 and the planting device 1 can be controlled through the control console 4.

[0065] Furthermore, the base station is also equipped with a charging pile 5, and the water supply device 2, and / or the seedling supply device 3, and / or the planting device 1 are configured to be able to complete the charging work from inside the base station through the charging pile 5.

Claims

1. A desert planting robot system, characterized in that, It includes a planting device (1) and a water supply device (2) and a seedling supply device (3) that can be connected and cooperate with it. The planting device (1) includes a planting vehicle (11) and a first water storage tank (12) installed on it. The water supply device (2) includes a water supply vehicle (21) and a second water storage tank (22) installed on it. The upper part of the second water storage tank (22) is provided with a water inlet, and the bottom front side is connected to a second pump (23). The second pump (23) is configured to pump the water in the second water storage tank (22) to the first water storage tank (12). The planting device (1) also includes a conveying mechanism (15) located on the upper side of the first water storage tank (12) and arranged in the front-back direction. The seedling supply device (3) includes a seedling supply vehicle (31) and a seedling box (32) provided on it. The upper side of the seedling box (32) is provided with a seedling supply gripper (34) via a seedling supply mechanical arm (33). The seedling supply gripper (34) is configured to be able to clamp and send the seedlings in the seedling box (32) to the front end of the conveying mechanism (15). The conveying mechanism (15) is configured to be able to transport the seedlings in batches backward. The conveying mechanism (15) includes a seedling feeding unit (151) and a seedling sorting unit (152) arranged at the front and rear. The seedling feeding unit (151) includes two first conveyor chains arranged opposite each other. Several limiting blocks are provided on the circumference of the first conveyor chains. The seedling feeding claw (34) is configured to clamp the seedlings between the two limiting blocks. The seedling unit (152) includes two second conveyor chains arranged opposite each other, and the second conveyor chains are provided with a plurality of Y-shaped rods around their circumference; The conveying mechanism (15) also includes a seedling shaving robot arm (154), which has a seedling shaving gripper (155) at its end, and the seedling shaving gripper (155) is configured to clamp and deliver the seedlings between the two limiting blocks to the Y-shaped rod in batches. The planting device (1) also includes a planting mechanism (16) located outside the conveying mechanism (15). The planting mechanism (16) includes a planting robotic arm (1611), which has a vertically penetrating seedling inlet bowl (1612) at its end. The seedling inlet bowl (1612) has several vertically arranged circumferential arrays on its lower side, and the water outlet is located at the lower end of the flushing pipe (1613). A first pump (14) is also provided on one side of the first water storage tank (12), which is connected to the flushing pipe (1613) and is configured to pump the water in the first water storage tank (12) to the flushing pipe (1613). The planting mechanism (16) also includes a seedling feeding mechanical arm (1621) located outside the conveying mechanism (15), with a seedling feeding gripper (1622) at its end, and the seedling feeding gripper (1622) is configured to vertically feed the seedlings on the conveying mechanism (15) into the seedling feeding bowl (1612) from the top.

2. The desert planting robot system according to claim 1, characterized in that, The seedling feeding unit (151) is also provided with a seedling feeding hopper (153) on the upper front side.

3. A desert planting robot system according to claim 1 or 2, characterized in that, The planting vehicle (11), water supply vehicle (21) and seedling supply vehicle (31) all include a frame (111) and two rows of wheels (112) on its underside. The traveling wheel (112) includes a wheel frame rotatably disposed on the underside of the frame (111), and a wheel (1125) is connected to the wheel frame.

4. The desert planting robot system according to claim 3, characterized in that, The wheels (1125) are height adjustable.

5. A desert planting robot system according to claim 3, characterized in that, The same traveling wheel (112) includes two wheels (1125) arranged opposite each other, the axes of rotation of the two wheels (1125) are collinear, and are configured to rotate about an axis perpendicular to the axis of rotation of the wheels (1125).

6. A desert planting robot system according to claim 1 or 2, characterized in that, The end of the seedling feeding robot arm (1621) is also equipped with a pressing bowl (1623), which is designed to press the seedlings into the seedling feeding bowl (1612) from top to bottom.

7. A desert planting robot system according to claim 1 or 2, characterized in that, The planting mechanism (16) is located on both sides of the conveying mechanism (15) and has two sets.

8. A desert planting robot system according to claim 1 or 2, characterized in that, The seedling supply robotic arm (33) is slidably mounted on the upper side of the seedling box (32).

9. A desert planting robot system according to claim 1 or 2, characterized in that, The inlet is equipped with a cover (25) that can be opened and closed electrically.

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