Alkali-salt land vegetation planting and maintenance integrated robot

Abstract

The invention relates to the technical field of alkali-salt land planting, and provides an alkali-salt land vegetation planting and maintenance integrated robot which comprises a frame, an automatic soil turning shovel roller is rotationally connected to the inner wall of the front side of the frame, and a rotating disc is rotationally connected to the outer wall of the rear end of the automatic soil turning shovel roller; one side of the rotating disc is connected with an automatic soil turning shovel roller through a linkage assembly, a seedling storage cylinder is fixedly connected to the rear side of the frame, a lifting plate is connected to the outer wall of the rotating disc through a connecting rod assembly, a clamping groove is formed in the outer wall of the lifting plate, and a clamping assembly is arranged in the lifting plate and used for clamping vegetation seedlings. And the bottom side of the lifting plate is fixedly connected with a conical barrel. The functions of soil turning, planting and fertilizing are integrated, continuous operation can be achieved through driving of the driving wheels, and efficiency is improved; power sources are reduced through a linkage structure, and energy is efficiently utilized; precise planting and fertilization amount control are achieved, waste is reduced, and the alkali-salt land vegetation survival rate is increased.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of alkali-salt land planting, in particular to a kind of alkali-salt land vegetation planting and maintenance integrated robot. BACKGROUND

[0002] In the field of alkali-salt land vegetation planting and maintenance, with the continuous promotion of ecological environment governance and land resource utilization, the vegetation restoration work of alkali-salt land is increasingly valued. The soil condition of alkali-salt land is poor, and vegetation planting not only needs to turn over soil, plant, but also needs to fertilize and maintain in time to ensure that vegetation can grow smoothly in alkali-salt land environment. However, the traditional vegetation planting and maintenance method usually relies on manual operation or step-by-step cooperation of multiple devices, which is low in efficiency and high in labor intensity.

[0003] In the prior art, alkali-salt land vegetation planting usually adopts manual or simple mechanized equipment to turn over soil, plant and fertilize. Manual planting method is not only low in efficiency, but also difficult to ensure uniformity and depth consistency of planting. And the existing mechanized equipment is usually split type, for example, the turning over soil equipment, the planting equipment and the fertilizing equipment need to be operated respectively, which not only increases the equipment cost and operation complexity, but also leads to low operation efficiency. In addition, the existing equipment is difficult to accurately control the clamping and planting position of vegetation seedlings during planting, and it is also difficult to ensure that the fertilizer falls accurately near the vegetation seedlings during fertilizing, which is easy to cause fertilizer waste and affect the survival rate of vegetation. Therefore, there is a lack of a device that can integrate the functions of turning over soil, planting and fertilizing and maintenance in one, and can efficiently and accurately complete the vegetation planting and maintenance of alkali-salt land. SUMMARY

[0004] In view of the deficiencies of the prior art, the present application provides an alkali-salt land vegetation planting and maintenance integrated robot, which solves the problems of low efficiency, complex operation, insufficient accuracy and fertilizer waste of the existing alkali-salt land vegetation planting and maintenance equipment.

[0005] To achieve the above purpose, the present application is realized by the following technical scheme: an alkali-salt land vegetation planting and maintenance integrated robot, comprising: A vehicle frame, an automatic soil turning shovel roller is rotatably connected to the inner wall of the front side of the vehicle frame, the rear end outer wall of the automatic soil turning shovel roller is rotatably connected with a rotating disc, one side of the rotating disc is connected with the automatic soil turning shovel roller through a linkage assembly, the rear side of the vehicle frame is fixedly connected with a seedling storage cylinder, the outer wall of the rotating disc is connected with a lifting plate through a connecting rod assembly, the outer wall of the lifting plate is provided with a clamping groove, the inside of the lifting plate is provided with a clamping assembly for clamping vegetation seedlings, and the bottom side of the lifting plate is fixedly connected with a conical cylinder. The storage box is fixedly connected to the rear side of the vehicle frame, a discharge plate is fixedly connected to the discharge opening of the storage box, a discharge hole is formed in the outer wall of the discharge plate, and an L-shaped plate is slidably connected to the bottom side of the storage box. A slide rail is fixedly connected to the rear side of the vehicle frame, an inclined push block is slidably connected to the bottom side of the slide rail, a connecting rod II is rotatably connected to the outer wall of the inclined push block, a slide rod is fixedly connected to the top side of the slide rail, and the outer wall of the slide rod is connected to the L-shaped plate through an opening and closing assembly for controlling the opening and closing of the storage box.

[0006] Preferably, the linkage assembly includes a belt pulley fixedly connected to the automatic soil turning shovel roller and one side of the rotating disc, and the two belt pulleys are connected through a belt.

[0007] Preferably, the connecting rod assembly includes an L-shaped connecting plate rotatably connected to the outer wall of the rotating disc, a connecting rod I rotatably connected to the bottom end of the L-shaped connecting plate, a guide cylinder fixedly connected to the bottom side of the rear end of the vehicle frame, the connecting rod I slidably connected to the inner wall of the guide cylinder, and the top end of the connecting rod II rotatably connected to the outer wall of the L-shaped connecting plate.

[0008] Preferably, the clamping assembly includes a hydraulic rod arranged inside the lifting plate, a connecting shaft fixedly connected to the driving end of the hydraulic rod, a clamping plate fixedly connected to the outer wall of the connecting shaft, and the clamping plate arranged inside the clamping groove.

[0009] Preferably, the opening and closing assembly includes a connecting plate slidably connected to the outer wall of the slide rod, one end of the connecting plate fixedly connected to the outer wall of the L-shaped plate, and the outer wall of the slide rod provided with a spring.

[0010] Preferably, the rear end of the slide rail is fixedly connected to an extension frame, the top side of the extension frame is fixedly connected to a limiting disc, one end of the spring is connected to the limiting disc, the other end of the spring is connected to the rear side of the connecting plate, and the outer walls of the extension frame and the vehicle frame are both provided with drive wheels.

[0011] Preferably, the method comprises the following steps: Step one, when planting in saline soil is needed, the inside of the storage box is added with the required fertilizer, and the inside of the seedling cylinder is added with the required vegetation seedlings for planting; Step two, the automatic soil turning shovel roller is started to rotate to turn the soil in the saline soil, the movement of the robot is controlled, the lifting plate is controlled to move up and down through the rotation of the rotating disc, and the required vegetation seedlings are clamped through the start of the hydraulic rod; Step three, the vegetation seedlings are planted in the turned soil through the conical cylinder, the clamping of the vegetation seedlings is released through the control of the hydraulic rod, and the planting of the vegetation seedlings is completed; Step four, the rotation of the rotating disc will drive the movement of the inclined push block, push the L-shaped plate to open the discharge port on the bottom side of the storage box, complete the fertilization and maintenance of the planted vegetation.

[0012] Preferably, the rotation of the rotating disc in step two is achieved by the cooperation between the belt pulley and the belt to drive the rotation of the rotating disc.

[0013] Preferably, the clamping of the planted vegetation seedling in step two is achieved by the movement of the hydraulic rod to drive the movement of the clamping plate in the clamping groove to clamp the vegetation seedling.

[0014] Preferably, the movement of the inclined push block driven by the rotating disc in step four is controlled by the rotation of connecting rod two between the L-shaped connecting plate and the inclined push block to move the inclined push block at the bottom side of the slide rail.

[0015] Working principle: the automatic soil turning shovel roller rotates to turn the alkaline salt land, and at the same time, the rotating disc is driven to rotate by the belt pulley and the belt; the rotating disc drives the lifting plate to move up and down through the cooperation between the L-shaped connecting plate and connecting rod one, the hydraulic rod in the lifting plate drives the connecting shaft and the clamping plate to clamp the vegetation seedling falling from the storage seedling cylinder in the clamping groove, the bottom end of the storage seedling cylinder is provided with a valve to realize the release of the vegetation seedling, and then the vegetation seedling is planted in the turned soil through the conical cylinder, and then the clamping plate is released; at the same time, the rotating disc drives the inclined push block to slide at the bottom side of the slide rail through the L-shaped connecting plate and connecting rod two, the sliding inclined push block will first contact the L-shaped plate, and then push the L-shaped plate to move through the sliding of the connecting plate on the outer wall of the slide rail to compress the spring on the outer wall of the slide rail and store elastic potential energy, the L-shaped plate is unblocked to make the fertilizer in the storage box fall through the discharge hole of the discharge plate, fall on the inclined surface of the inclined push block, slide between the inclined push block and the planted vegetation seedling through the inclined surface, realize the planting and maintenance of the planted vegetation seedling, complete the fertilization, and the spring on the slide rail will drive the L-shaped plate to reset through the connecting plate when the inclined push block is no longer in contact with the L-shaped plate when the inclined push block moves forward at the bottom side of the slide rail, control the storage box to be closed, and the whole process is realized through the movement of the vehicle frame driven by the driving wheel to realize continuous operation.

[0016] The present application provides an alkaline salt land vegetation planting and maintenance integrated robot. It has the following advantages: 1. The present application integrates automatic soil turning, vegetation seedling clamping planting and fertilization and maintenance functions, without the need for multiple equipment cooperation, and can realize continuous operation through the movement of the vehicle frame driven by the driving wheel, greatly improving the overall efficiency of alkaline salt land vegetation planting and maintenance.

[0017] 2. The present application uses a linkage structure such as a belt pulley, a belt and an L-shaped connecting plate to synchronize the rotation of the automatic soil turning shovel roller with the rotation of the rotating disc, and then drive the lifting plate to move up and down, the inclined push block to slide, and other actions, so that the components operate in coordination, reducing the use of additional power sources and achieving efficient use of energy.

[0018] 3、The present application can control the clamping plate to clamp the vegetation seedling accurately by the hydraulic rod, and ensure the planting position accurate by cooperating with the conical cylinder to be implanted in the turned soil; the slope of the slope push block is used to guide the fertilizer to fall near the vegetation seedling, and the spring drives the L-shaped plate to reset to control the fertilizer amount, reduce the fertilizer waste, and be beneficial to improve the survival rate of the vegetation in the saline-alkali soil. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a perspective view of the present application; Figure 2 is a schematic view of the storage box structure of the present application; Figure 3 is an enlarged view of A in Figure 2 ; Figure 4 is a schematic view of the discharge plate structure of the present application; Figure 5 is an enlarged view of B in Figure 4 ; Figure 6 is a schematic view of the connecting plate structure of the present application; Figure 7 is a schematic view of the lifting plate structure of the present application.

[0020] 1, frame; 2, storage box; 3, seedling storage cylinder; 4, automatic soil turning shovel roller; 5, driving wheel; 6, belt; 7, rotating disc; 8, guide cylinder; 9, connecting rod one; 10, slide rail; 11, spring; 12, connecting plate; 13, slope push block; 14, L-shaped plate; 15, slide rod; 16, lifting plate; 17, connecting rod two; 18, discharge plate; 19, pulley; 20, conical cylinder; 21, hydraulic rod; 22, connecting shaft; 23, clamping plate; 24, L-shaped connecting plate. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0022] Embodiment: Please refer to the accompanying drawings Figure 2 , the accompanying drawings Figure 3 , and the accompanying drawings Figure 7 , the embodiments of the present application provide a saline-alkali soil vegetation planting and maintenance integrated robot, comprising: The frame 1, the front side inner wall of the frame 1 is rotationally connected with the automatic soil turning shovel roller 4, the rear end outer wall of the automatic soil turning shovel roller 4 is rotationally connected with the rotating disc 7, the belt pulley 19 fixedly connected on one side of the automatic soil turning shovel roller 4 and the rotating disc 7, the two belt pulleys 19 are connected through the belt 6, the rear side of the frame 1 is fixedly connected with the seedling storage cylinder 3, the L-shaped connecting plate 24 rotationally connected on the outer wall of the rotating disc 7, the bottom end of the L-shaped connecting plate 24 is rotationally connected with the connecting rod 1 9, the bottom side of the rear end of the frame 1 is fixedly connected with the guide cylinder 8, the connecting rod 1 9 is slidingly connected on the inner wall of the guide cylinder 8, the top end of the connecting rod 2 17 is rotationally connected on the outer wall of the L-shaped connecting plate 24, the outer wall of the lifting plate 16 is provided with the clamping groove, the hydraulic rod 21 arranged inside the lifting plate 16, the driving end of the hydraulic rod 21 is fixedly connected with the connecting shaft 22, the outer wall of the connecting shaft 22 is fixedly connected with the clamping plate 23, the clamping plate 23 is arranged inside the clamping groove, for clamping the vegetation seedling, the bottom side of the lifting plate 16 is fixedly connected with the conical cylinder 20; Specifically, the frame 1 is welded by high-strength alloy steel, and has a frame structure as a whole. The bottom is reinforced by the reinforcing rib to adapt to the complex and hard saline soil terrain and ensure that it is not easy to deform during operation. The front side inner wall of the frame 1 is rotationally connected with the automatic soil turning shovel roller 4 through a bearing. The surface of the shovel roller is uniformly distributed with manganese steel shovels arranged in a spiral shape. The edges of the shovels are quenched to effectively break up the saline soil crust. The depth of soil turning can be controlled by adjusting the distance between the shovel roller and the ground. The belt pulleys 19 on the sides of the automatic soil turning shovel roller 4 and the rotating disc 7 are both made of cast iron, and the diameter ratio is 2:1. They are driven by the polyurethane belt 6. The surface of the belt 6 is provided with anti-skid lines to ensure stable power transmission and avoid slipping in a wet saline soil environment. The L-shaped connecting plate 24 is rotationally connected with the rotating disc 7 through a pin shaft. The L-shaped connecting plate 24 is made of steel and has good rigidity. The connecting rod 1 9 is a chromium-plated round steel with a diameter of 20 mm. The sliding fit clearance of the connecting rod 1 9 in the guide cylinder 8 is controlled within 0.1-0.2 mm. The inner wall of the guide cylinder 8 is coated with wear-resistant lubricating grease to reduce the wear of the connecting rod 1 9 during reciprocating motion. The lifting plate 16 is made of aluminum alloy, which is light in weight and corrosion-resistant. The inner wall of the clamping groove is pasted with a rubber pad to avoid damage to the vegetation seedling during clamping. The hydraulic rod 21 is a miniature bidirectional hydraulic cylinder with a working pressure of 5-8 MPa. It is connected with a small hydraulic pump station on the frame 1 through a hydraulic pipeline, and the response time is less than or equal to 0.5 s. When the connecting shaft 22 drives the clamping plate 23 to move, the clamping force can be adjusted through the hydraulic system, and the range is 5-15 N. It can firmly clamp the vegetation seedling without damaging the stem. The conical cylinder 20 is made of stainless steel, and the lower end has a 60° taper angle to facilitate insertion into the turned soil. The inner wall is smooth to reduce the resistance when the vegetation seedling is planted.

[0023] Please refer to the attached Figure 1 , attached Figure 2 and attached Figure 6The storage box 2 is fixedly connected to the rear side of the frame 1, and the discharge port of the storage box 2 is fixedly connected to the discharge plate 18. The outer wall of the discharge plate 18 is provided with a discharge hole, and the bottom side of the storage box 2 is slidably connected to the L-shaped plate 14; Specifically, the storage box 2 is made of polyethylene, resistant to alkali and salt corrosion, has a capacity of 50L, and features a retractable sealing lid on top to prevent rainwater from entering and causing fertilizer clumping. The discharge port is bolted to a discharge plate 18, a PVC plate with three 10mm diameter discharge holes evenly spaced 5cm apart to ensure even fertilizer delivery. The L-shaped plate 14 is made of wear-resistant engineering plastic, and its sliding surface with the bottom of the storage box 2 is lubricated with silicone-based grease, achieving a sliding resistance of ≤5N. When the L-shaped plate 14 seals the discharge port, a rubber seal is installed at its edge where it meets the storage box 2 to effectively prevent fertilizer leakage.

[0024] Please see the attached Figure 4 -Attached Figure 6 The slide rail 10 is fixedly connected to the rear side of the frame 1, and the bottom side of the slide rail 10 is slidably connected to the inclined push block 13. The outer wall of the inclined push block 13 is rotatably connected to the connecting rod 2 17. The top side of the slide rail 10 is fixedly connected to the slide rod 15, and the connecting plate 12 is slidably connected to the outer wall of the slide rod 15. One end of the connecting plate 12 is fixedly connected to the outer wall of the L-shaped plate 14. The outer wall of the slide rod 15 is provided with a spring 11. The rear end of the slide rail 10 is fixedly connected to the extension frame, and the top side of the extension frame is fixedly connected to the limit plate. One end of the spring 11 is connected to the limit plate, and the other end of the spring 11 is connected to the rear side of the connecting plate 12. The extension frame and the outer wall of the frame 1 are both provided with a driving wheel 5 for controlling the opening and closing of the storage box 2; Specifically, the slide rail 10 is an aluminum alloy profile with an "I"-shaped cross-section and a length of 80 cm. The surface is anodized and has strong corrosion resistance. The inclined push block 13 is equipped with a polytetrafluoroethylene slider, and the sliding friction coefficient with the slide rail 10 is ≤0.05, ensuring that it can slide flexibly under the drive of the connecting rod 2 17. The inclined angle of the push block is 30°, and the surface is sprayed with an anti-slip coating. When the fertilizer falls on the inclined surface, it can slide smoothly along the inclined surface to avoid accumulation. The slide rod 15 is 45 steel with a quenched and tempered process, a diameter of 15 mm, and a chrome-plated surface for rust prevention. The connection plate 12 and the slide rod 15 are clearance fits with a clearance of 0.05-0.1 mm. The spring 11 is a cylindrical helical compression spring 11 made of 65Mn steel, with a steel wire diameter of 3mm, a free length of 100mm, and a working stroke of 30mm. When the inclined push block 13 disengages from the L-shaped plate 14, the spring 11 can quickly push the L-shaped plate 14 to reset, and the response time is ≤0.3s. The extension frame is welded to the frame 1 as one. The drive wheel 5 is an inflatable agricultural tire with a diameter of 50cm and a tread pattern depth of 10mm. It has good grip and can travel on muddy roads in alkaline and saline fields. It is driven by a DC reduction motor on the frame 1, and the driving speed is adjustable in the range of 0.5-2km / h to meet the needs of different planting densities.

[0025] Please refer to the attached Figure 1 - attached Figure 7 A method for planting and maintaining vegetation in saline-alkali soil, comprising the following steps: Step 1: When the saline-alkali soil needs to be planted, add the required fertilizer to the inside of the storage box 2, and then add the required vegetation seedlings to the inside of the seedling storage cylinder 3. Specifically, the fertilizer added to the storage box 2 is a modified compound fertilizer suitable for saline-alkali soil, with a ratio of N:P:K=15:10:20, and the amount of addition does not exceed 80% of the volume of the storage box 2 to avoid fertilizer overflow; the vegetation seedlings in the seedling storage cylinder 3 are selected from saline-alkali resistant varieties such as alfalfa, sand jujube seedlings, etc., with a seedling height of 15-25 cm and a root ball diameter of 5-8 cm; the inner wall of the seedling storage cylinder 3 is provided with buffer cotton to prevent the seedlings from being damaged by mutual collision during the movement of the robot.

[0026] Step 2: Start the automatic soil turning shovel roller 4 to rotate and turn the soil, while controlling the movement of the robot, the rotation of the rotating disc 7 controls the up and down movement of the lifting plate 16, and the start of the hydraulic rod 21 clamps the required vegetation seedlings; in step 2, the rotation of the rotating disc 7 is realized by the cooperation between the belt pulley 19 and the belt 6 to drive the rotation of the automatic soil turning shovel roller 4, and the clamping of the vegetation seedlings in step 2 is realized by the movement of the hydraulic rod 21 to drive the clamping plate 23 to move in the clamping groove to clamp the vegetation seedlings. Specifically, the automatic soil turning shovel roller 4 is driven by a 5.5kW three-phase asynchronous motor with a rotating speed of 150r / min; during the soil turning operation, the driving wheel 5 moves synchronously controlled by the PLC control system on the vehicle frame 1, and the moving speed matches the rotating speed of the shovel roller to ensure the flatness of the turned soil; the rotating speed of the rotating disc 7 is 75r / min, which is determined by the transmission ratio of the belt pulley 19; the lifting plate 16 moves up and down driven by the L-shaped connecting plate 24 and the connecting rod 9, with a lifting stroke of 30cm, and completes a lifting cycle every 3 seconds; in cooperation with the valve controlled by the electromagnetic valve at the bottom end of the seedling storage cylinder 3, one vegetation seedling is planted every 3 seconds.

[0027] Step 3: Plant the vegetation seedlings in the turned soil through the conical cylinder 20, and then release the clamping of the vegetation seedlings by controlling the hydraulic rod 21 to complete the planting of the vegetation seedlings. Specifically, when the conical cylinder 20 is planted in the soil, the lifting plate 16 descends at a speed of 5cm / s to ensure that the seedlings are planted vertically in the soil, and the planting depth is 1 / 2 of the height of the soil ball; then the hydraulic rod 21 drives the clamping plate 23 to release, and the releasing action lasts for 0.3 seconds to avoid secondary damage to the seedlings.

[0028] Step four, the rotating rotating disc 7 will drive the movement of the inclined push block 13, push the L-shaped plate 14 to open the discharge port on the bottom side of the storage box 2, complete the fertilization and maintenance of the planted vegetation, and the rotating disc 7 drives the movement of the inclined push block 13 in step four, through the rotation of the connecting rod two 17 between the L-shaped connecting plate 24 and the inclined push block 13 to control the movement of the inclined push block 13 on the bottom side of the slide rail 10; Specifically, the sliding stroke of the inclined push block 13 under the driving of the connecting rod two 17 is 40 cm, when the push block contacts the L-shaped plate 14 and pushes it to move 10 cm, the discharge port of the storage box 2 is completely opened, the falling amount of fertilizer is 5-10 g per seedling, and through the discharge hole of the discharge plate 18 and the slope of the inclined push block 13, it is accurately dropped within 5 cm around the root of the vegetation seedling. When the spring 11 resets, the L-shaped plate 14 seals the discharge port at a speed of 8 cm / s, ensuring that the amount of fertilizer is controllable.

[0029] Although embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An integrated robot for planting and maintaining vegetation in alkaline-salt land, characterized in that: include: A vehicle frame (1), wherein the front inner wall of the vehicle frame (1) is rotatably connected to an automatic soil-turning shovel roller (4), the rear end outer wall of the automatic soil-turning shovel roller (4) is rotatably connected to a rotating disk (7), one side of the rotating disk (7) is connected to the automatic soil-turning shovel roller (4) via a linkage assembly, the rear side of the vehicle frame (1) is fixedly connected to a seedling storage cylinder (3), the outer wall of the rotating disk (7) is connected to a lifting plate (16) via a connecting rod assembly, a clamping groove is provided on the outer wall of the lifting plate (16), a clamping assembly is provided inside the lifting plate (16) for clamping the plant seedlings, and the bottom side of the lifting plate (16) is fixedly connected to a conical cylinder (20); A storage box (2), the storage box (2) is fixedly connected to the rear side of the vehicle frame (1), a discharge port of the storage box (2) is fixedly connected to a discharge plate (18), an outer wall of the discharge plate (18) is provided with a discharge hole, and a bottom side of the storage box (2) is slidably connected to an L-shaped plate (14); A slide rail (10) is fixedly connected to the rear side of the vehicle frame (1); the bottom side of the slide rail (10) is slidably connected to a bevel push block (13); the outer wall of the bevel push block (13) is rotatably connected to a second connecting rod (17); the top side of the slide rail (10) is fixedly connected to a slide rod (15); the outer wall of the slide rod (15) is connected to an L-shaped plate (14) through an opening and closing assembly to control the opening and closing of the storage box (2).

2. The integrated robot for planting and maintaining vegetation in alkali-salt land according to claim 1, characterized in that: The linkage assembly comprises a pulley (19) fixedly connected to the automatic soil-turning shovel roller (4) and one side of the rotating disk (7), and the two pulleys (19) are connected via a belt (6).

3. The integrated robot for planting and maintaining vegetation in alkali-salt land according to claim 1, characterized in that: The connecting rod assembly includes an L-shaped connecting plate (24) rotatably connected to the outer wall of the rotating disk (7), the bottom end of the L-shaped connecting plate (24) is rotatably connected to the connecting rod 1 (9), the bottom side of the rear end of the frame (1) is fixedly connected to the guide cylinder (8), the connecting rod 1 (9) is slidably connected to the inner wall of the guide cylinder (8), and the top end of the connecting rod 2 (17) is rotatably connected to the outer wall of the L-shaped connecting plate (24).

4. The integrated robot for planting and maintaining vegetation in alkali-salt land according to claim 1, characterized in that: The clamping assembly comprises a hydraulic rod (21) arranged inside the lifting plate (16), a driving end of the hydraulic rod (21) is fixedly connected to a connecting shaft (22), an outer wall of the connecting shaft (22) is fixedly connected to a clamping plate (23), and the clamping plate (23) is arranged inside the clamping groove.

5. The integrated robot for planting and maintaining vegetation in alkali-salt land according to claim 1, characterized in that: The opening and closing assembly comprises a connecting plate (12) slidably connected to the outer wall of the slide rod (15), one end of the connecting plate (12) is fixedly connected to the outer wall of the L-shaped plate (14), and the outer wall of the slide rod (15) is provided with a spring (11).

6. The integrated robot for planting and maintaining vegetation in alkali-salt land according to claim 5, characterized in that: The rear end of the slide rail (10) is fixedly connected to an extension frame, the top side of the extension frame is fixedly connected to a limit plate, one end of the spring (11) is connected to the limit plate, and the other end of the spring (11) is connected to the rear side of the connecting plate (12), and the outer walls of the extension frame and the vehicle frame (1) are both provided with driving wheels (5).

7. A method for planting and maintaining vegetation in alkali-salt land, using any one of the alkali-salt land vegetation planting and maintenance integrated robots as described in claims 1-6, characterized in that: The following steps are involved: Step 1: When planting is required in alkaline saline land, first add the required fertilizer into the storage box (2), and then add the required plant seedlings into the seedling storage tube (3); Step 2: Start the automatic soil turning shovel roller (4) to rotate and turn the soil of the alkali-salt land, and at the same time control the movement of the robot, control the lifting plate (16) to move up and down by rotating the rotating disk (7), and clamp the vegetation seedlings to be planted by starting the hydraulic rod (21); Step 3: Plant the seedlings in the turned soil through the conical cylinder (20), and then release the clamping of the seedlings through the control of the hydraulic rod (21), thereby completing the planting of the seedlings; Step 4: The rotating rotating disk (7) drives the inclined push block (13) to move, pushing the L-shaped plate (14) to open the discharge port on the bottom side of the storage box (2), thereby completing the fertilization and maintenance of the planted vegetation.

8. The method for planting and maintaining vegetation in alkali-salt land according to claim 7, characterized in that: The rotation of the rotating disk (7) in the second step is achieved by the cooperation between the pulley (19) and the belt (6), so that the automatic soil turning shovel roller (4) drives the rotation of the rotating disk (7).

9. The method for planting and maintaining vegetation in alkali-salt land according to claim 7, characterized in that: In the second step, the clamping of the planted seedlings is achieved by moving the hydraulic rod (21) to drive the clamping plate (23) to move in the clamping groove to clamp the plant seedlings.

10. The method for planting and maintaining vegetation in alkali-salt land according to claim 7, characterized in that: The rotating disk (7) in step 4 drives the movement of the inclined surface push block (13), and the movement of the inclined surface push block (13) on the bottom side of the slide rail (10) is controlled by the rotation of the second connecting rod (17) between the L-shaped connecting plate (24) and the inclined surface push block (13).

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