Efficient forestry seedling transplanting equipment for mountainous regions

Abstract

The efficient forestry seedling transplanting equipment comprises a chassis, crawler wheels are arranged on the two sides of the chassis, a power piece is installed on the chassis, a supporting plate is arranged above the top end of the chassis, four stand columns arranged at four corners are fixed between the chassis and the supporting plate, the supporting plate is suspended out of the top face of the chassis, and a drilling device is installed on the supporting plate; a soil covering device is arranged at the side end of the drilling device, and a seedling feeding device is mounted on the supporting plate; a rotating plate is hinged to the front end of the supporting plate, a fourth electric cylinder is installed between the rotating plate and the supporting plate, the bottom end of the fourth electric cylinder is hinged to the supporting plate, the top end of a piston rod of the fourth electric cylinder is hinged to the rotating plate, and a guiding conical barrel with a large upper opening and a small lower opening is fixed to the rotating plate; a handle is fixed to the supporting plate and provided with a front-back reversing switch, a first on-off switch and a second on-off switch. The device can automatically and integrally complete pit digging, seedling taking, transplanting and soil covering, is high in seedling transplanting efficiency, needs less labor, is low in cost, and is worthy of popularization and application.

Description

Technical Field

[0001] This invention relates to the field of forestry machinery technology, and in particular to a planting device, especially a high-efficiency forestry seedling transplanting device for mountainous areas. Background Technology

[0002] In forestry production, ecological restoration, and afforestation projects, seedling transplantation is a crucial step, and its efficiency and quality directly affect the survival rate of afforestation and the subsequent growth of trees. Currently, common transplanting methods still rely heavily on manual labor, using simple tools such as hoes and shovels to dig pits, collect seedlings, plant them, and cover them with soil. This is extremely labor-intensive, inefficient, and in steep and rugged mountainous environments, manually transporting seedlings and tools is extremely inconvenient and poses safety hazards.

[0003] However, existing transplanting equipment is mainly designed for fields with flat terrain and good soil conditions. Its large structure, high center of gravity, and large turning radius make it difficult to adapt to complex working conditions such as steep slopes, narrow roads, broken terrain, and numerous rock obstacles in mountainous areas. Directly applying it to mountainous areas presents the following significant problems: 1) The equipment has poor maneuverability, is prone to sideslip and overturning, and has low safety; 2) Insufficient adaptability to slope operations, making it difficult to ensure the verticality of the planting holes and the depth and uprightness of the seedlings, thus affecting the planting quality; 3) Large equipment consumes a lot of energy and severely compacts the soil on the mountain, which may damage the original vegetation and soil structure; 4) The high cost of equipment purchase and use makes it difficult to promote in mountainous areas.

[0004] Chinese utility model patent CN 218679926 U discloses a single-wheeled hole digger for planting trees in mountainous areas. The hole digger includes a frame, with a rotatable wheel mounted on one side of the frame's bottom and a support leg (3) fixedly mounted on the other side. A driving power component capable of driving the wheel is mounted on the frame. A handle is fixedly mounted on one side of the support leg, with a handle at one end. A hole digging device is mounted on the top of the frame, including a lifting seat and a lifting power component capable of driving the lifting seat up and down. A rotating motor is fixedly mounted on the lifting seat, and the rotating motor is connected to a drill rod with spiral blades via a rotating gearbox. A conical drill bit is mounted at the bottom of the drill rod. A support plate is fixedly mounted on one end of the wheel on the top of the frame, and a pointed positioning rod is mounted on the support plate. However, this hole digger cannot guarantee vertical hole digging when excavating on sloping mountainous surfaces, resulting in tilted holes that are unfavorable for planting and growing seedlings. Furthermore, the seedlings require manual placement and covering with soil, leading to low labor efficiency. Summary of the Invention

[0005] The present invention aims to overcome the shortcomings of the prior art by providing a high-efficiency forestry seedling transplanting equipment for mountainous areas that can automatically complete the process of digging holes, taking seedlings, transplanting, and covering with soil in one integrated manner, thereby meeting the needs of high efficiency and high survival rate in mountainous forestry seedling transplanting.

[0006] The technical solution adopted by this invention to solve its technical problem is as follows: This high-efficiency forestry seedling transplanting equipment for mountainous areas includes a chassis, with tracked wheels on both sides of the chassis. A power component for driving the tracked wheels is installed on the chassis. A support plate is provided above the top of the chassis. Four uprights arranged at four corners are fixed between the chassis and the support plate. The support plate is suspended above the top surface of the chassis. A drilling device is installed on the support plate. A soil covering device is provided on the side end of the drilling device. A seedling feeding device is installed on the support plate. The drilling device includes a support frame hinged to the support plate. First electric cylinders are installed on the inner and outer sides between the support plate and the support frame. The bottom ends of the two first electric cylinders are hinged to the support plate. The top ends of the piston rods of the two first electric cylinders are respectively... The device is hinged to the support frame, on which a first sliding plate is slidably connected. A first servo motor that drives the first sliding plate is mounted on the support frame. A high-torque motor is fixed to the first sliding plate, and a spiral tunneling blade is fixed to the shaft of the high-torque motor. The soil covering device includes a box fixed to both sides of the bottom surface of the support plate. A horizontal block is fixed to the side end of the box. A pair of opposing second electric cylinders are fixed to each of the two horizontal blocks. A support block is fixed to the piston rod of each of the two second electric cylinders. A pair of opposing third electric cylinders are fixed to each of the two support blocks. A push block is fixed to the piston rod of each of the two third electric cylinders. The seedling delivery device includes a mounting frame fixed to the top surface of the support plate. A set of evenly arranged placement cylinders are fixed to the mounting frame. A beam frame is fixed on the support plate. A crossbar that moves along the "X" direction is slidably connected to the beam frame. The crossbar is arranged along the "Y" direction. A second slide plate that moves along the "Y" direction is slidably connected to the crossbar. A rack is fixed on the beam frame. A second servo motor is fixed on the crossbar. A gear that meshes with the rack is fixed on the shaft of the second servo motor. A lead screw nut is fixed at the bottom of the second slide plate. A lead screw is threaded onto the lead screw nut. A third servo motor that drives the lead screw to rotate is fixed on the crossbar. A dual-axis cylinder is fixed on the second slide plate. A mounting block is fixed on the output shaft of the dual-axis cylinder. A first clamping cylinder is fixed on the mounting block. A first clamping plate is fixed on both clamping blocks of the first clamping cylinder. A robotic arm with five degrees of freedom is fixed on the support plate. A second clamping cylinder is fixed on the fifth degree of freedom rotating block of the robotic arm. A second clamping plate is fixed on the clamping block of the second clamping cylinder. A rotating plate is hinged to the front end of the support plate. A fourth electric cylinder is installed between the rotating plate and the support plate. The bottom end of the fourth electric cylinder is hinged to the support plate. The top end of the piston rod of the fourth electric cylinder is hinged to the rotating plate. A cylinder is fixed on the rotating plate. A guide cone with a larger opening at the top and a smaller opening at the bottom of the cylinder is fixed on the bottom of the cylinder. A handle is fixed on the support plate. The handle is equipped with a front and rear reversing switch that cooperates with the power component, a first on / off switch that controls the operation of the drilling device, and a second on / off switch that controls the operation of the seedling delivery device and the soil covering device.The chassis, track wheels, and power unit serve several purposes: the track wheels have a large operating area, are more suitable for mountainous environments, offer higher stability, and provide smoother operation; the drilling device drills vertical holes in the mountainous terrain; the seedling delivery device automatically delivers seedlings to the vertical holes; and the soil covering device backfills the seedlings delivered to the vertical holes. The drilling device operates as follows: when the transplanting equipment reaches the hillside, the first electric cylinder is activated to adjust the support frame position, ensuring the auger blades are perpendicular to the horizontal plane. Then, the first servo motor is activated, driving the high-torque motor downwards. During this downward movement, the high-torque motor rotates and drives the auger blades to dig holes in the mountain (e.g.). Figure 5 (As shown in the image) The working principle of the seedling delivery device is as follows: First, seedlings are placed one by one at each placement cylinder. Then, the second and third servo motors are activated to adjust the first clamping cylinder to any position on the plane. When it is positioned above the seedling, the position is stopped. Next, the dual-axis cylinder is activated, driving the first clamping cylinder to move downwards. After the first clamping cylinder moves to the designated position, it is activated again to clamp the seedling. After the seedling is clamped, the dual-axis cylinder drives the seedling upwards. After it moves to the designated position, the second servo motor is activated again. The electric motor and the third servo motor move the sapling to the upper left corner of the support plate. Then, the robotic arm is activated. Because the robotic arm uses a five-degree-of-freedom design, it can drive the second clamping cylinder to horizontally clamp the sapling. At this point, the first clamping cylinder releases the sapling. Simultaneously, the fourth electric cylinder is activated, causing the cylinder to become perpendicular to the horizontal plane. The robotic arm moves the clamped sapling to the cylinder, where the second clamping cylinder releases the sapling. The sapling falls to the cylinder under gravity and is guided by the guide cone. The seedling is accurately dropped vertically into the excavated hole. The working principle of the soil covering device is as follows: after the seedling falls into the hole, the second electric cylinder is activated, moving the support block downwards and simultaneously moving the push block to the designated position. After reaching the designated position, the third electric cylinder is activated, causing the push blocks on both sides to move closer together, thus pushing the excavated soil into the hole, completing the soil covering operation. The robotic arm adopts a five-degree-of-freedom design, including base rotation, shoulder pitch, elbow flexion and extension, wrist swing, and wrist rotation. This five-degree-of-freedom robotic arm is an existing product; products from companies such as Dongguan Haizhi Robotics Automation Technology Co., Ltd., FANUC Corporation (Japan), and KUKA Robotics Manufacturing (Shanghai) Co., Ltd. can be selected. The handle facilitates control of the transplanting equipment's forward direction. The forward and backward reversing switch facilitates control of the transplanting equipment's forward and backward movement; this forward and backward reversing switch is also the lifting switch. The first on / off switch controls the drilling device; the second on / off switch controls the operation of the seedling delivery device and the soil covering device.

[0007] The invention is further improved by installing a sprinkler system on the chassis. The sprinkler system includes a water tank fixed to the top surface of the chassis, a nozzle on the side of the soil covering device, and a connecting pipe between the nozzle and the water tank. A liquid pump is installed on the connecting pipe. The function of the sprinkler system is to spray water on the saplings that have been covered with soil, thereby improving the survival rate of the saplings.

[0008] The invention is further improved by providing rear abutment components on both the front and rear sides of the rear end of the chassis. Each rear abutment component includes a first cylinder, the tail end of which is hinged to the chassis. A second cylinder is located on the side of the first cylinder. First vertical plates are fixed to the front and rear sides of the rear end of the chassis. The bottom end of the second cylinder is hinged to the first vertical plate, and the piston rod end of the second cylinder is hinged to the cylinder body of the first cylinder. A first stop block is fixed to the piston rod end of the first cylinder. The function of the rear abutment component is to provide support and resistance to the backward tilt of the transplanting equipment when transplanting seedlings on an uphill slope, thus preventing the equipment from slipping during operation. The function of the first cylinder, second cylinder, and first stop block is that when support for the backward tilt of the transplanting equipment is needed, only the second cylinder needs to be activated, causing the first cylinder to rotate at a suitable angle. Once rotated to the appropriate angle, the second cylinder can be activated, causing the first stop block to embed into the soil layer, thus providing anti-slip resistance to the transplanting equipment (e.g., ...). Figure 9 (As shown in the figure). Here, the first and second cylinders generate gas power through the compressor and control the operation of the cylinders through the solenoid valve.

[0009] The invention is further improved by providing front abutment components on both the front and rear sides of the front end of the chassis. Each front abutment component includes a third cylinder, the tail end of which is hinged to the chassis. A fourth cylinder is located on the side of the third cylinder. Second vertical plates are fixed to the front and rear sides of the top of the front end of the chassis. The bottom end of the fourth cylinder is hinged to the second vertical plates, and the piston rod end of the fourth cylinder is hinged to the cylinder body of the third cylinder. A second stop block is fixed to the piston rod end of the third cylinder. The function of the front abutment component is to provide support and resistance to the forward tilt of the transplanting equipment when transplanting seedlings on a downhill slope, thus preventing the equipment from sliding, overturning, or becoming unstable during operation. The function of the third cylinder, fourth cylinder, and second stop block is that when support for the forward tilt of the transplanting equipment is needed, only the fourth cylinder needs to be activated, causing the third cylinder to rotate at a suitable angle. Once rotated to the appropriate angle, the third cylinder is activated, causing the second stop block to embed into the hillside, thus providing anti-slip and abutment protection for the transplanting equipment (e.g., ...). Figure 10 (As shown); here, the third and fourth cylinders generate gas power through the compressor and control the operation of the cylinders through the solenoid valve.

[0010] The invention is further improved by shaping the spiral excavator blades into a spiral cone shape that is smaller at the bottom and larger at the top. The purpose of this spiral cone shape is to ensure that the excavated pit is wider at the top and narrower at the bottom, which is beneficial for placing and planting seedlings.

[0011] The invention is further improved by fixing large-capacity lithium batteries in both housings. The purpose of these large-capacity lithium batteries is to provide electrical energy, making the transplanting equipment easier to use in mountainous environments where access to electricity is difficult. Furthermore, it avoids the bulky size of fuel-powered equipment, thus improving its flexibility.

[0012] The invention is further improved by providing a seedling storage frame between the chassis and the support plate. The purpose of the seedling storage frame is to allow seedlings to be taken out of the storage frame and placed into the placement cylinder after all the seedlings in the placement cylinder have been planted, thus facilitating continuous planting of seedlings without having to go down the mountain to retrieve them, thereby improving the efficiency of planting. Alternatively, bags containing seedlings can be tied to the lower sides of the support plate to reduce the time spent retrieving seedlings and improve work efficiency.

[0013] The invention is further improved by including two push blocks comprising a horizontal plate placed along the "X" direction, with side plates placed along the "Y" direction fixed on both sides of the horizontal plate, a bottom plate fixed to the bottom of the horizontal plate and the side plates, and an inclined plate that tilts backwards fixed between the horizontal plate and the bottom plate. The purpose of using the horizontal plate, side plate, bottom plate, and inclined plate in the push blocks is to completely and thoroughly push the drilled soil back into the drilled hole, thereby ensuring that the transplanted seedling pit can be completely backfilled, resulting in better backfilling and a compaction effect.

[0014] This invention is further improved by using a high-torque motor as the power component. A PLC controller is fixed below the support plate. Horizontal sensors are installed on the support frame, rotating plate, and second clamping cylinder. The PLC controller is connected to the power component, first electric cylinder, first servo motor, high-torque motor, second electric cylinder, third electric cylinder, second servo motor, third servo motor, dual-axis cylinder, first clamping cylinder, robotic arm, second clamping cylinder, fourth electric cylinder, front / rear reversing switch, first on / off switch, infusion pump, first cylinder, second cylinder, third cylinder, fourth cylinder, high-capacity lithium battery, second on / off switch, and horizontal sensors. The function of the PLC controller here is to coordinate the automated operation of various components, improving the efficiency of seedling transplantation. The PLC controller in this solution is a commercially available programmable logic controller (PLC), and brands such as Mitsubishi, Schneider, Unicon, Delta, and Panasonic can be selected. The controller's program setting is consistent with the principles of commercially available setting methods. Ordinary technicians can set program instructions themselves according to processing speed and efficiency requirements, which is convenient and quick. The horizontal sensor in this solution is also called a horizontal sensor, which is a commercially available product. Products from companies such as Zhejiang Lifu Sensor Technology Co., Ltd. and Shanghai Zhichuan Electronic Technology Co., Ltd. can be selected. The main purpose of setting up the horizontal sensor here is to adapt to different slopes of the mountain. No matter how steep the slope, the horizontal sensor can transmit signals to the PLC controller, thereby instructing the first electric cylinder, the fourth electric cylinder, and the robotic arm to operate, thereby controlling the support frame, the rotating plate, and the second clamping cylinder to be horizontal. This makes the spiral excavating blades and the guide cone perpendicular to the horizontal plane, so that after the two second clamping plates clamp the inclined seedling, they drive the seedling to be perpendicular to the horizontal plane.

[0015] The invention is further improved by providing silicone pads on the clamping surfaces of both first clamping plates and both second clamping plates. The function of these silicone pads is to increase the friction between the first clamping plates and the seedlings, thereby improving the stability of the clamped seedlings; similarly, they can also increase the friction between the second clamping plates and the seedlings, thus improving the stability of the clamped seedlings.

[0016] The beneficial effects of this invention are: 1) Through the chassis, track wheels, and power components, the track wheels have a large working area, making them more suitable for mountainous environments, providing higher stability, and making the ride smoother. 2) Vertical holes can be drilled in mountainous areas using drilling equipment; 3) The seedling feeding device can automatically feed seedlings to the vertical holes; 4) The soil covering device can be used to backfill the seedlings delivered to the vertical pits with soil; 5) The spraying device can spray water on the seedlings that have been covered with soil, thereby improving the survival rate of the seedlings. Attached Figure Description

[0017] Figure 1 This is a perspective view of the present invention; Figure 2 This is a perspective view of the present invention from another direction; Figure 3 This is the front view of the present invention; Figure 4 for Figure 1 AA cross-section view; Figure 5 for Figure 2 BB cross-section; Figure 6 This is a perspective view of the pusher block in this invention; Figure 7 This is a perspective view of the dual-axis cylinder region in this invention; Figure 8 This is a perspective view of the robotic arm region in this invention; Figure 9 This is a state diagram of the application of the present invention on an uphill slope; Figure 10 This is a diagram showing the state of the invention when applied downhill.

[0018] Explanation of reference numerals in the attached drawings: Chassis 1, Track wheel 2, Power unit 3, Support plate 4, Column 5, Drilling device 6, Support frame 6-1, First electric cylinder 6-2, First sliding plate 6-3, First servo motor 6-4, High torque motor 6-5, Spiral tunneling blade 6-6, Soil covering device 7, Box body 7-1, Horizontal block 7-1a, Second electric cylinder 7-2, Support block 7-3, Third electric cylinder 7-4, Push block 7-5, Horizontal plate 7-5a, Side plate 7-5b, Bottom plate 7-5c, Inclined plate 7-5d, Seedling delivery device 8, Mounting frame 8-1, mounting cylinder 8-2, beam frame 8-3, crossbar 8-4, second sliding plate 8-5, rack 8-6, second servo motor 8-7, gear 8-8, lead screw nut 8-9, lead screw 8-10, third servo motor 8-11, dual-axis cylinder 8-12, mounting block 8-13, first clamping cylinder 8-14, first clamping plate 8-15, robotic arm 8-16, second clamping cylinder 8-17, second clamping plate 8-18, rotating plate 9, fourth electric cylinder 10, cylinder 11, guide cone 11a, handle 12, front / rear reversing switch 13 First on / off switch 14, sprinkler device 15, water tank 15-1, nozzle 15-2, connecting pipe 15-3, infusion pump 15-4, rear stop 16, first cylinder 16-1, second cylinder 16-2, first vertical plate 16-3, first stop block 16-4, front stop 17, third cylinder 17-1, fourth cylinder 17-2, second vertical plate 17-3, second stop block 17-4, large-capacity lithium battery 18, seedling storage frame 19, silicone pad 20, second on / off switch 21, PLC controller 22, level sensor 23, seedling 24. Detailed Implementation

[0019] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0020] Referring to the attached diagram: This high-efficiency forestry seedling transplanting equipment for mountainous areas includes a chassis 1, with tracked wheels 2 on both sides of the chassis 1. A power unit 3 is installed on the chassis 1 to drive the tracked wheels 2. A support plate 4 is located above the top of the chassis 1. Four corner columns 5 are fixed between the chassis 1 and the support plate 4. The support plate 4 protrudes above the top surface of the chassis 1. A drilling device 6 is installed on the support plate 4. A soil covering device 7 is installed on the side of the drilling device 6. A seedling delivery device 8 is installed on the support plate 4. The drilling device 6 includes a support frame 6-1 hinged to the support plate 4. First electric cylinders 6-2 are installed on both the inner and outer sides between the support plate 4 and the support frame 6. The bottom ends of the two first electric cylinders 6-2 are hinged to the support plate 4. The piston rods of -2 are hinged at their top ends to the support frame 6. A first sliding plate 6-3 is slidably connected to the support frame 6. A first servo motor 6-4 that drives the first sliding plate 6-3 is installed on the support frame 6. A high-torque motor 6-5 is fixed on the first sliding plate 6-3. A spiral tunneling blade 6-6 is fixed on the shaft of the high-torque motor 6-5. The soil covering device 7 includes a box 7-1 fixed to both sides of the bottom surface of the support plate 4. A horizontal block 7-1a is fixed to the side end of the box 7-1. A pair of opposing second electric cylinders 7-2 are fixed to each of the two horizontal blocks 7-1a. A support block 7-3 is fixed to the piston rod of each of the two second electric cylinders 7-2. A pair of opposing third electric cylinders 7-4 are fixed to each of the two support blocks 7-3. A push block 7-5 is fixed to the piston rod of the third electric cylinder 7-4; the seedling feeding device 8 includes a mounting frame 8-1 fixed to the top surface of the support plate 4, a set of evenly arranged placement cylinders 8-2 fixed on the mounting frame 8-1, a beam frame 8-3 fixed on the support plate 4, a crossbar 8-4 slidably connected to the beam frame 8-3 and moving in the "X" direction, the crossbar 8-4 being arranged in the "Y" direction, a second sliding plate 8-5 slidably connected to the crossbar 8-4 and moving in the "Y" direction, a rack 8-6 fixed on the beam frame 8-3, a second servo motor 8-7 fixed on the crossbar 8-4, a gear 8-8 meshing with the rack 8-6 fixed on the shaft of the second servo motor 8-7, and a lead screw nut 8-8 fixed to the bottom of the second sliding plate 8-5. 9. A lead screw 8-10 is threaded onto the lead screw nut 8-9. A third servo motor 8-11, which drives the lead screw 8-10 to rotate, is fixed on the crossbar 8-4. A dual-axis cylinder 8-12 is fixed on the second slide plate 8-5. A mounting block 8-13 is fixed on the output shaft of the dual-axis cylinder 8-12. A first clamping cylinder 8-14 is fixed on the mounting block 8-13. A first clamping plate 8-15 is fixed on both clamping blocks of the first clamping cylinder 8-14. A five-degree-of-freedom robotic arm 8-16 is fixed on the support plate 4. A second clamping cylinder 8-17 is fixed on the fifth degree-of-freedom rotating block of the robotic arm 8-16. A second clamping plate 8-18 is fixed on each clamping block of the second clamping cylinder 8-17.A rotating plate 9 is hinged to the front end of the support plate 4. A fourth electric cylinder 10 is installed between the rotating plate 9 and the support plate 4. The bottom end of the fourth electric cylinder 10 is hinged to the support plate 4, and the top end of the piston rod of the fourth electric cylinder 10 is hinged to the rotating plate 9. A cylinder 11 is fixed on the rotating plate 9, and a guide cone 11a with a larger upper opening and a smaller lower opening is fixed to the bottom of the cylinder 11. A handle 12 is fixed on the support plate 4. The handle 12 is equipped with a front-to-back reversing switch 13 that cooperates with the power component 3, a first on / off switch 14 that controls the operation of the drilling device 6, and a second on / off switch 21 that controls the operation of the seedling delivery device 8 and the soil covering device 7.

[0021] A sprinkler device 15 is installed on the chassis 1. The sprinkler device 15 includes a water tank 15-1 fixed on the top surface of the chassis 1. A nozzle 15-2 is provided on the side of the soil covering device 7. A connecting pipe 15-3 is installed between the nozzle 15-2 and the water tank 15-1. An infusion pump 15-4 is installed on the connecting pipe 15-3.

[0022] The rear end of the chassis 1 is provided with rear abutment members 16 on both the front and rear sides; the rear abutment members 16 include a first cylinder 16-1, the tail end of the first cylinder 16-1 is hinged to the chassis 1, the side end of the first cylinder 16-1 is provided with a second cylinder 16-2, the rear end of the chassis 1 is fixed with a first vertical plate 16-3 on both the front and rear sides, the bottom end of the second cylinder 16-2 is hinged to the first vertical plate 16-3, the piston rod end of the second cylinder 16-2 is hinged to the cylinder body of the first cylinder 16-1, and the piston rod end of the first cylinder 16-1 is fixed with a first stop block 16-4.

[0023] The front end of the chassis 1 is provided with front abutment members 17 on both the front and rear sides; the front abutment members 17 include a third cylinder 17-1, the tail end of the third cylinder 17-1 is hinged to the chassis 1, the side end of the third cylinder 17-1 is provided with a fourth cylinder 17-2, the front end of the chassis 1 is fixed with a second vertical plate 17-3 on both the front and rear sides, the bottom end of the fourth cylinder 17-2 is hinged to the second vertical plate 17-3, the piston rod end of the fourth cylinder 17-2 is hinged to the cylinder body of the third cylinder 17-1, and the piston rod end of the third cylinder 17-1 is fixed with a second stop block 17-4.

[0024] The spiral tunneling blades 6-6 are spiral cone-shaped, with the bottom smaller than the top.

[0025] Both boxes are fixed with high-capacity lithium batteries 18 at point 7-1.

[0026] A seedling storage frame 19 is provided between the chassis 1 and the support plate 4.

[0027] The two push blocks 7-5 include a horizontal plate 7-5a placed along the "X" direction, and side plates 7-5b placed along the "Y" direction fixed on both sides of the horizontal plate 7-5a. A bottom plate 7-5c is fixed to the bottom of the horizontal plate 7-5a and the side plates 7-5b. An inclined plate 7-5d that tilts backward is fixed between the horizontal plate 7-5a and the bottom plate 7-5c.

[0028] The power component 3 is a high-torque motor; a PLC controller is fixed below the support plate 4; a level sensor 23 is installed on the support frame 6-1, the rotating plate 9, and the second clamping cylinder 8-17; the PLC controller 22 is connected to the power component 3, the first electric cylinder 6-2, the first servo motor 6-4, the high-torque motor 6-5, the second electric cylinder 7-2, the third electric cylinder 7-4, the second servo motor 8-7, the third servo motor 8-11, the dual-axis cylinder 8-12, the first clamping cylinder 8-14, the robotic arm 8-16, the second clamping cylinder 8-17, the fourth electric cylinder 10, the front and rear reversing switch 13, the first on / off switch 14, the infusion pump 15-4, the first cylinder 16-1, the second cylinder 16-2, the third cylinder 17-1, the fourth cylinder 17-2, the high-capacity lithium battery 18, the second on / off switch 21, and the level sensor 23.

[0029] Silicone pads 20 are provided on the clamping surfaces of the two first clamping plates 8-15 and the two second clamping plates 8-18.

[0030] The working principle of this invention is as follows: First, the transplanting equipment is moved to the designated uphill position using the forward / backward reversing switch 13. Then, the first on / off switch 14 is pressed, which activates the second cylinder 16-2, thereby causing the first cylinder 16-1 to rotate at a suitable angle. After rotating to the appropriate angle, the second cylinder 16-2 is activated, causing the first stop block 16-4 to embed into the soil layer, thus preventing the transplanting equipment from slipping and sliding backward. Simultaneously, the signal transmitted by the level sensor 23 is sent to the PLC controller 22, which activates the first electric cylinder 6-2 to adjust the support frame 6-1 to a horizontal position, thereby making the spiral tunneling blade 6-6 perpendicular to the horizontal plane. Next, the first servo motor 6-4 is activated, thereby driving the high-torque motor 6-5 to move downward. During the downward movement of the high-torque motor 6-5, the high-torque motor 6-5 runs and synchronously drives the spiral tunneling blade 6-6 to rotate, thereby excavating a pit in the hillside (e.g., Figure 5 , Figure 9(As shown) After the pit is dug, the spiral excavator blade 6-6 moves upward and resets. Simultaneously, the piston rod of the first cylinder 16-1 resets and drives the first cylinder 16-1 to lift and reset via the second cylinder 16-2. Then, the forward / backward reversing switch 13 is pressed to make the transplanting equipment move backward a small distance, so that the position of the cylinder 11 corresponds vertically with the position of the dug pit and stops. Then, the second on / off switch 21 is pressed. At this time, the PLC controller 22 controls the second cylinder 16-2 to start again, thereby driving the first cylinder 16-1 to rotate an angle. After rotating to the appropriate angle, the second cylinder 16-2 is started, so that the first stop block 16-4 is embedded in the soil. Next, the PLC controller 22 controls the activation of the second servo motor 8-7 and the third servo motor 8-11, thereby adjusting the position of the first clamping cylinder 8-14 on the plane. It stops when it is above one of the saplings 24. Then, the dual-axis cylinder 8-12 is activated, causing the first clamping cylinder 8-14 to move downwards. After the first clamping cylinder 8-14 moves to the designated position, it is activated again to clamp the sapling 24. After the sapling 24 is clamped, the dual-axis cylinder 8-12 moves the sapling 24 upwards. After it moves to the designated position, the second servo motor 8-7 and the third servo motor 8-11 are activated again, thereby moving the sapling 24 upwards. Once the seedling reaches the upper left corner of support plate 4, the robotic arm 8-16 is activated. Because the robotic arm 8-16 employs a five-degree-of-freedom design, it can drive the second clamping cylinder 8-17 to horizontally clamp the seedling 24. Simultaneously, the first clamping cylinder 8-14 releases the seedling. At the same time, the fourth electric cylinder 10 is activated, causing the cylinder 11 to become perpendicular to the horizontal plane. The robotic arm 8-16 then moves the clamped seedling 24 to the cylinder 11. Then, the second clamping cylinder 8-17 releases the seedling 24, which falls to the cylinder 11 under gravity and, guided by the guide cone 11a, falls vertically and accurately into the excavated pit. Inside the hole, after the sapling 24 falls into the pit, the PLC controller 22 starts the second electric cylinder 7-2 to move the support block 7-3 down and simultaneously move the push block 7-5 down to the designated position. After it moves to the designated position, the third electric cylinder 7-4 is started, which moves the two push blocks 7-5 that are set opposite each other to move closer together, thereby pushing the excavated soil into the pit, thus completing the soil covering and pressing operation of the sapling 24. After the soil covering and pressing operation is completed, finally, the infusion pump 15-4 is started to spray the water located in the water tank 15-1 through the connecting pipe 15-3 and then through the nozzle 15-2, obliquely onto the transplanted sapling 24 to improve the survival rate of the sapling 24. When transplanting saplings on a downhill slope, the method is basically the same as that on an uphill slope. The only difference is that the front stop 17 is activated while the rear stop 16 remains stationary. Also, the deflection angles of the spiral excavator blades 6-6 and the cylinder 11 are opposite. Other operating steps are the same as those for transplanting saplings on an uphill slope (e.g., ...). Figure 10 (As shown).

[0031] This invention provides a method that can automatically complete digging, seedling removal, transplanting, and soil covering in one integrated process, which is highly efficient, requires less manpower, and has a high survival rate, and is worthy of widespread application.

[0032] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A high-efficiency forestry seedling transplanting device for mountainous areas, comprising a chassis (1), wherein tracked wheels (2) are provided on both sides of the chassis (1), and a power component (3) for driving the tracked wheels (2) to move is installed on the chassis (1), characterized in that: A support plate (4) is provided above the top of the chassis (1). Four columns (5) are fixed between the chassis (1) and the support plate (4) in a four-corner arrangement. The support plate (4) is suspended above the top surface of the chassis (1). A drilling device (6) is installed on the support plate (4). A soil covering device (7) is provided on the side end of the drilling device (6). A seedling delivery device (8) is installed on the support plate (4). The drilling device (6) includes a support frame (6-1) hinged to a support plate (4). A first electric cylinder (6-2) is installed on both the inner and outer sides of the support plate (4) and the support frame (6-1). The bottom ends of the two first electric cylinders (6-2) are hinged to the support plate (4), and the top ends of the piston rods of the two first electric cylinders (6-2) are respectively hinged to the support frame (6). A first sliding plate (6-3) is slidably connected to the support frame (6). A first servo motor (6-4) that drives the first sliding plate (6-3) to move is installed on the support frame (6). A high-torque motor (6-5) is fixed on the first sliding plate (6-3), and a spiral tunneling blade (6-6) is fixed on the shaft of the high-torque motor (6-5). The soil covering device (7) includes a box (7-1) fixed on both sides of the bottom surface of the support plate (4). A horizontal block (7-1a) is fixed to the side end of the box (7-1). A pair of opposing second electric cylinders (7-2) are fixed on each of the two horizontal blocks (7-1a). A support block (7-3) is fixed on the piston rod of each of the two second electric cylinders (7-2). A pair of opposing third electric cylinders (7-4) are fixed on each of the two support blocks (7-3). A push block (7-5) is fixed on the piston rod of each of the two third electric cylinders (7-4). The seedling delivery device (8) includes a mounting frame (8-1) fixed on the top surface of the support plate (4), a set of evenly arranged placement cylinders (8-2) fixed on the mounting frame (8-1), a beam frame (8-3) fixed on the support plate (4), a crossbar (8-4) slidably connected to the beam frame (8-3) and moving along the "X" direction, the crossbar (8-4) being arranged along the "Y" direction, a second sliding plate (8-5) slidably connected to the crossbar (8-4) and moving along the "Y" direction, a rack (8-6) fixed on the beam frame (8-3), a second servo motor (8-7) fixed on the crossbar (8-4), a gear (8-8) meshing with the rack (8-6) fixed on the shaft of the second servo motor (8-7), and a lead screw nut (8-9) fixed at the bottom of the second sliding plate (8-5). (8-9) is threaded with a lead screw (8-10). A third servo motor (8-11) for driving the lead screw (8-10) to rotate is fixed on the crossbar (8-4). A dual-axis cylinder (8-12) is fixed on the second slide plate (8-5). An mounting block (8-13) is fixed on the piston rod of the dual-axis cylinder (8-12). A first clamping cylinder (8-14) is fixed on the mounting block (8-13). A first clamping plate (8-15) is fixed on both clamping blocks of the first clamping cylinder (8-14). A five-degree-of-freedom robotic arm (8-16) is fixed on the support plate (4). A second clamping cylinder (8-17) is fixed on the fifth degree-of-freedom rotating block of the robotic arm (8-16). A second clamping plate (8-18) is fixed on both clamping blocks of the second clamping cylinder (8-17). A rotating plate (9) is hinged to the front end of the support plate (4). A fourth electric cylinder (10) is installed between the rotating plate (9) and the support plate (4). The bottom end of the fourth electric cylinder (10) is hinged to the support plate (4). The top end of the piston rod of the fourth electric cylinder (10) is hinged to the rotating plate (9). A cylinder (11) is fixed on the rotating plate (9). A guide cone (11a) with a larger upper opening and a smaller lower opening is fixed at the bottom of the cylinder (11). A handle (12) is fixed on the support plate (4). The handle (12) is equipped with a front and rear reversing switch (13) that cooperates with the power component (3), a first on / off switch (14) that controls the operation of the drilling device (6), and a second on / off switch (21) that controls the operation of the seedling delivery device (8) and the soil covering device (7).

2. The high-efficiency forestry seedling transplanting equipment for mountainous areas according to claim 1, characterized in that: A spraying device (15) is installed on the chassis (1). The spraying device (15) includes a water tank (15-1) fixed on the top surface of the chassis (1). The side end of the soil covering device (7) is provided with a nozzle (15-2) with an inclined nozzle. A connecting pipe (15-3) is installed between the nozzle (15-2) and the water tank (15-1). An infusion pump (15-4) is installed on the connecting pipe (15-3).

3. The high-efficiency forestry seedling transplanting equipment for mountainous areas according to claim 2, characterized in that: The chassis (1) has rear abutment members (16) on both the front and rear sides of its rear end; the rear abutment members (16) include a first cylinder (16-1), the tail end of the first cylinder (16-1) is hinged to the chassis (1), the side end of the first cylinder (16-1) is provided with a second cylinder (16-2), the rear end of the chassis (1) has a first vertical plate (16-3) fixed on both the front and rear sides of its rear end, the bottom end of the second cylinder (16-2) is hinged to the first vertical plate (16-3), the piston rod end of the second cylinder (16-2) is hinged to the cylinder body of the first cylinder (16-1), and the piston rod end of the first cylinder (16-1) is fixed with a first stop block (16-4).

4. The high-efficiency forestry seedling transplanting equipment for mountainous areas according to claim 3, characterized in that: The front end of the chassis (1) is provided with front abutment members (17) on both the front and rear sides; the front abutment member (17) includes a third cylinder (17-1), the tail end of the third cylinder (17-1) is hinged to the chassis (1), the side end of the third cylinder (17-1) is provided with a fourth cylinder (17-2), the front end of the chassis (1) is fixed with a second vertical plate (17-3) on both the front and rear sides, the bottom end of the fourth cylinder (17-2) is hinged to the second vertical plate (17-3), the piston rod end of the fourth cylinder (17-2) is hinged to the cylinder body of the third cylinder (17-1), and the piston rod end of the third cylinder (17-1) is fixed with a second stop block (17-4).

5. The high-efficiency forestry seedling transplanting equipment for mountainous areas according to claim 1, characterized in that: The spiral tunneling blade (6-6) is a spiral cone shape with a smaller bottom and a larger top.

6. The high-efficiency forestry seedling transplanting equipment for mountainous areas according to claim 4, characterized in that: Both of the aforementioned housings (7-1) are fitted with high-capacity lithium batteries (18).

7. The high-efficiency forestry seedling transplanting equipment for mountainous areas according to claim 1, characterized in that: A seedling storage box (19) is provided between the chassis (1) and the support plate (4).

8. The high-efficiency forestry seedling transplanting equipment for mountainous areas according to claim 1, characterized in that: The two push blocks (7-5) include a horizontal plate (7-5a) placed along the "X" direction, and side plates (7-5b) placed along the "Y" direction fixed on both sides of the horizontal plate (7-5a). A bottom plate (7-5c) is fixed to the bottom of the horizontal plate (7-5a) and the side plates (7-5b). A backward-inclined plate (7-5d) is fixed between the horizontal plate (7-5a) and the bottom plate (7-5c).

9. The high-efficiency forestry seedling transplanting equipment for mountainous areas according to claim 6, characterized in that: The power component (3) is a high-torque motor.

10. The high-efficiency forestry seedling transplanting equipment for mountainous areas according to claim 1, characterized in that: Silicone pads (20) are provided on the clamping surfaces of the two first clamping plates (8-15) and the two second clamping plates (8-18).

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