Mechanical device for planting willow plantations

Abstract

The present application provides a kind of willow hedge planting mechanical device, including device chassis, mechanical arm support table, support frame and agricultural machinery connection structure.The front end of the device is provided with ditching cone and double ditching plowshare for forming planting ditch;Multi-degree-of-freedom mechanical arm and willow seedling clamping jaw are installed on the support table, which can automatically take seedlings accurately from willow seedling placing disc and vertically plant into ditch;The rear is configured with compaction roller with buffer spring to realize adaptive compaction of soil covering.The whole machine is hung by agricultural machinery connecting frame to tractor, and the driving axle and chain drive walking wheel are synchronous operation.The device of the present application integrates ditching, seedling taking, planting and compaction, has high operation efficiency, uniform plant spacing and consistent planting depth, effectively avoids willow seedling damage, significantly improves survival rate, and is suitable for large-scale ecological restoration engineering in complex terrain such as sand land and river bank.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and more specifically, to a mechanical device for planting Artemisia annua hedges. Background Technology

[0002] Willow, as an excellent plant for soil stabilization, bank protection, windbreak, and sand control, is often used to construct plant hedges and has wide applications in ecological restoration, farmland protection, and soil and water conservation. Currently, the planting of willow hedges is mostly done manually, and some small-scale planting equipment also has significant functional deficiencies.

[0003] When planting manually, multiple workers are needed to complete several processes, including trenching, seedling collection, planting, and compaction. This not only consumes a lot of manpower but also results in extremely low planting efficiency, making it difficult to meet the needs of large-scale planting. At the same time, the spacing and burial depth of manually planted plants are entirely controlled by experience, resulting in poor consistency and easy occurrences of uneven depths and crooked plants, which seriously affect the shaping effect and later growth stability of the hedge.

[0004] Existing simple planting equipment typically only completes a single step of the operation, lacking sufficient functional integration. Multiple devices are required to complete the planting process, and the transfer and switching procedures are time-consuming and labor-intensive. Some planting equipment with robotic arms have limited range of motion and insufficient gripping precision, easily damaging young willow seedlings. Furthermore, they lack adaptable compaction mechanisms, failing to adjust compaction pressure according to soil texture; seedlings tend to float in light soils, while heavy clay soils easily compact, making it difficult to guarantee planting survival rates. In addition, most existing equipment is incompatible with mainstream tractor-trailer agricultural machinery. Therefore, a mechanical device for planting willow hedges is proposed. Summary of the Invention

[0005] The purpose of this invention is to address the problems raised in the existing background technology. To achieve the above-mentioned objective, this invention provides the following technical solution: a mechanical device for planting Artemisia annua hedges, comprising a device chassis, a mechanical arm support platform and a support frame respectively mounted on the device chassis, wherein a mechanical arm base turntable is connected to the top plate of the mechanical arm support platform, a multi-degree-of-freedom mechanical arm is fixed above the mechanical arm base turntable, a gripping claw mechanical arm is provided at the top of the multi-degree-of-freedom mechanical arm, and an elbow linkage shaft is installed between the two arms, the gripping claw mechanical arm is provided with Artemisia annua seedling gripping claws.

[0006] As a preferred technical solution of the present invention, a horizontal plate is welded to the middle section of the rear plate of the robotic arm support platform, a roller height adjustment frame is installed on the horizontal plate, and a locking bolt is connected between the horizontal plate and the roller height adjustment frame.

[0007] As a preferred embodiment of the present invention, a buffer spring is installed below the roller height adjustment frame, the bottom of the buffer spring is connected to a roller mounting frame, and compaction rollers are installed on the rotating shafts on both sides of the roller mounting frame.

[0008] As a preferred technical solution of the present invention, wheel frames are respectively installed on the first and last ends of the horizontal plate, and wheels are installed in the grooves of the wheel frames.

[0009] As a preferred technical solution of the present invention, a seeding disc is provided at the front end of the robotic arm support platform, and seeding cylinders are arranged in a ring above the seeding disc.

[0010] As a preferred technical solution of the present invention, a seedling tray for placing willow seedlings is fixed on the top of the support frame, and an agricultural machinery connecting frame is welded to the front end. Agricultural machinery connecting brackets are installed on both sides of the agricultural machinery connecting frame.

[0011] As a preferred technical solution of the present invention, a plow blade mounting rod is fixed below the middle section of the agricultural machinery connecting frame, and there are two plow blade mounting rods, with a ditching plow blade installed below each plow blade mounting rod.

[0012] As a preferred technical solution of the present invention, a cone frame is provided between the plow blade mounting rods, and a trenching cone is fixed below the cone frame.

[0013] As a preferred technical solution of the present invention, a drive shaft runs through the side plate of the support frame, a gear is provided on the surface of the drive shaft, a drive chain is connected to the gear, and the other end of the drive chain is connected to the device hub.

[0014] As a preferred technical solution of the present invention, the device hub is provided with a device rubber tire, and the outer surface of the device rubber tire is provided with anti-slip texture.

[0015] A planting method for a mechanical device for planting Artemisia annua hedges includes the following steps: Step 1: Pre-operation preparation: Confirm that the main structure of the device, such as the chassis, mechanical arm support platform, and support frame, is not loose or damaged; The multi-degree-of-freedom robotic arm, the gripper robotic arm, and the willow seedling gripper were checked to ensure that their movements were flexible and without jamming. Verify that the tire pressure of the compaction rollers, wheels, and device is normal, and the anti-skid treads are intact. Ensure that the cutting edges of the ditching plow and ditching cone are sharp and securely installed; Place the pre-cultivated Artemisia annua seedlings with soil clumps neatly into the Artemisia annua seedling tray, ensuring that the seedlings are upright and the root system is intact; Meanwhile, spare seedlings or marker seedlings for auxiliary positioning are pre-placed in multiple seed tubes on the seed tray; This device can be attached to the rear of a tractor or other agricultural power machinery via the agricultural machinery connecting frame and the agricultural machinery connecting clips on both sides; Ensure that the tractor's power take-off shaft and drive shaft are linked, so that the drive chain can drive the device's wheel hub to rotate synchronously, thereby achieving coordination between travel and operation; Step 2: Field movement and ditching: Start the tractor and drive the entire device forward at a constant speed along the predetermined hedge planting line; During the process, the trenching cone first cuts into the soil to break the soil; then the trenching plows on both sides expand to both sides along the cone-shaped guide path to form a continuous planting trench with a consistent depth and appropriate width, 20–30 cm deep and 15–20 cm wide, depending on the size of the willow seedlings. Step 3: Automatic seedling picking and planting: When the device moves to the set planting point, the control system triggers the multi-degree-of-freedom robotic arm to move; The robotic arm base turntable rotates to above the willow seedling placement tray, the gripper robotic arm descends, the willow seedling gripper opens and precisely picks up a willow seedling. The clamping claws carry the willow seedlings to the top of the already dug planting trench; The robotic arm extends downwards and vertically implants the willow seedlings into the bottom of the trench, ensuring that the roots are spread out and the seedlings are upright. The implantation depth should be such that the original soil mark is slightly lower than the ground surface by 1–2 cm. The gripper releases, completing the release, and the robotic arm returns to the standby position; Step 4: Covering and compacting the soil: The soil behind the furrowing plow naturally falls back to cover the area around the seedling roots; The device continues to move forward, and the compaction rollers adapt to the undulations of the ground under the action of the buffer springs, and moderately compact the soil on both sides and the top of the seedling to ensure close contact between the roots and the soil and prevent air leakage and water loss. The roller height adjustment frame, together with the locking bolts, allows for preset compaction strength based on soil moisture and seedling height.

[0016] Step 5: Continuous Operation and Monitoring: The device continues to move forward, achieving equidistant, efficient, and continuous planting of willow seedlings; the operator can observe the gripper movement, seedling tray remaining quantity, and planting quality through the cab monitoring system, and replenish the willow seedlings in a timely manner; after completing the planting of one hedge strip, the device is raised and moved to the next stroke; after the operation is completed, the soil on the plow blades, grippers, and wheels is cleaned, the transmission components are lubricated, and the device is properly stored.

[0017] Compared with existing technologies, the advantages of this invention are: This invention integrates the entire process of trenching, seedling collection, planting, and compaction. During operation, the trenching cone first positions and drills holes, while the trenching plows on both sides simultaneously dig standard planting trenches. A multi-degree-of-freedom robotic arm automatically picks up the willow seedlings from the placement tray or hedge planting tube and accurately places them into the planting holes. Subsequently, the compaction rollers automatically compact the soil around the roots, eliminating the need for multiple equipment changes and meeting the needs of large-scale willow hedge planting operations.

[0018] Equipped with a multi-degree-of-freedom robotic arm and a rotating base, it can perform 360° omnidirectional operations. Precise control of plant spacing and burial depth through preset parameters ensures that each willow seedling is planted at the optimal depth of 2-3 cm from the ground, with a plant spacing error of no more than 2 cm, guaranteeing a neat and aesthetically pleasing hedge. The willow seedling gripper can adaptively adjust its gripping force, ensuring stable handling while avoiding damage to the seedlings, effectively improving the survival rate.

[0019] The roller height adjustment bracket, combined with a buffer spring, allows for flexible adjustment of the compaction roller height and pressure according to soil type. For sandy soil, the roller can be lowered to enhance compaction and prevent seedling lodging; for heavy clay soil, the roller can be raised to prevent over-compaction and soil compaction. The compaction roller operates synchronously with the planting path, ensuring close contact between the soil and seedling roots, reducing gaps, and improving seedling rooting stability.

[0020] The machine can be quickly assembled with mainstream tractor-trailer agricultural machinery via the connecting frame and connecting bracket. Leveraging the machinery's power and range, it can easily achieve long-distance, large-scale field planting operations. The device's rubber tires have anti-skid treads, allowing for stable passage on complex field ridges and gentle slopes, making it suitable for various willow and wormwood planting scenarios such as riverbanks and slopes.

[0021] It also features two seedling supply modes: a seedling tray for Artemisia annua and a seedling tube for vine planting. The seedling tray can hold pre-treated seedlings in batches, making it suitable for continuous large-scale operations. The seedling tube can be pre-filled with spare seedlings, allowing for quick replenishment when the seedlings in the tray are depleted, without the need to stop the machine for refilling. This ensures continuous planting operations and adapts to the needs of different scale planting scenarios. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure provided by the present invention; Figure 2 This is a schematic diagram of the internal structure provided by the present invention; Figure 3 A schematic diagram of the transmission chain structure provided by the present invention; Figure 4 A schematic diagram of the hub structure of the device provided by the present invention; Figure 5 This is a partial structural diagram of the trenching cone provided by the present invention; Figure 6 A schematic diagram of the compaction roller structure provided by the present invention; Figure 7 This is a side view structural diagram provided by the present invention.

[0023] The image shows: 1. Device chassis; 2. Robotic arm support platform; 3. Robotic arm base turntable; 4. Multi-degree-of-freedom robotic arm; 5. Clamping gripper robotic arm; 6. Elbow linkage shaft; 7. Willow seedling clamping gripper; 8. Horizontal plate; 9. Roller height adjustment frame; 10. Locking bolt; 11. Buffer spring; 12. Roller mounting frame; 13. Compacting roller; 14. Wheel frame; 15. Wheel; 16. Hedge seeding disc; 17. Hedge seeding tube; 18. Support frame; 19. Willow seedling placement tray; 20. Agricultural machinery connecting frame; 21. Agricultural machinery connecting clip frame; 22. Plow blade mounting rod; 23. Ditching plow blade; 24. Cone frame; 25. Ditching cone; 26. Drive shaft; 27. Drive chain; 28. Device wheel hub; 29. ​​Device rubber tire; 30. Anti-slip texture. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention.

[0025] Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the claimed invention, but merely illustrates some embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention. It should be noted that, in the absence of conflict, the embodiments and features and technical solutions in the embodiments of the present invention can be combined with each other. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0026] Example 1: A mechanical device for planting Artemisia annua hedges includes a device chassis 1, a mechanical arm support platform 2 and a support frame 18 respectively installed on the device chassis 1, wherein a mechanical arm base turntable 3 is connected to the top plate of the mechanical arm support platform 2, a multi-degree-of-freedom mechanical arm 4 is fixed on the top of the mechanical arm base turntable 3, a gripping claw mechanical arm 5 is provided on the top of the multi-degree-of-freedom mechanical arm 4, and an elbow linkage shaft 6 is installed between the two arms. The gripping claw mechanical arm 5 is provided with Artemisia annua seedling gripping claws 7.

[0027] A horizontal plate 8 is welded to the middle section of the rear plate of the robotic arm support platform 2. A roller height adjustment frame 9 is installed on the horizontal plate 8, and a locking bolt 10 is connected between the horizontal plate 8 and the roller height adjustment frame 9.

[0028] A buffer spring 11 is installed below the roller height adjustment bracket 9. The bottom of the buffer spring is connected to the roller mounting bracket 12. Compacting rollers 13 are installed on the rotating shafts on both sides of the roller mounting bracket 12.

[0029] Wheel frames 14 are installed at both ends of the horizontal plate 8, and wheels 15 are installed in the grooves of the wheel frames 14.

[0030] The front end of the robotic arm support platform 2 is equipped with a seeding disc 16, and seeding tubes 17 are arranged in a ring above the seeding disc 16. A seedling tray 19 is fixed above the support frame 18, and an agricultural machinery connecting frame 20 is welded to the front end. Agricultural machinery connecting brackets 21 are installed on both sides of the agricultural machinery connecting frame 20.

[0031] Two plow blade mounting rods 22 are fixed to the lower middle section of the agricultural machinery connecting frame 20, and each plow blade mounting rod 22 has a furrowing plow blade 23 installed below it. A cone frame 24 is provided between the plow blade mounting rods 22, and a furrowing cone 25 is fixed below the cone frame 24. A drive shaft 26 runs through the side plate of the support frame 18. A gear is provided on the surface of the drive shaft 26, and a drive chain 27 is connected to the gear. The other end of the drive chain 27 is connected to the device hub 28. A device rubber tire 29 is provided on the device hub 28, and anti-slip patterns 30 are provided on the outer surface of the device rubber tire 29.

[0032] Example 2: A planting method for a mechanical device for planting Artemisia annua hedges, comprising the following steps: Step 1: Pre-operation preparation: Confirm that the main structure of the device, such as the chassis 1, the mechanical arm support platform 2, and the support frame 18, is not loose or damaged; The multi-degree-of-freedom robotic arm 4, the gripper robotic arm 5, and the willow seedling gripper 7 were checked and found to move flexibly without jamming. Verify that the air pressure of the compaction roller 13, wheel 15, and rubber tire 29 is normal, and the anti-skid tread 30 is intact. Ensure that the cutting edges of the ditching plow blade 23 and the ditching cone 25 are sharp and securely installed; Place the pre-cultivated Artemisia argyi seedlings with soil clumps neatly into Artemisia argyi seedling placement tray 19, ensuring that the seedlings are upright and the root system is intact; Meanwhile, spare seedlings or marker seedlings for auxiliary positioning are pre-placed in multiple seeding tubes 17 on the seeding disc 16; The device is attached to the rear of a tractor or other agricultural power machinery via the agricultural machinery connecting frame 20 and the agricultural machinery connecting clips 21 on both sides. Ensure that the tractor's power take-off shaft and drive shaft 26 are linked, so that the drive chain 27 can drive the device hub 28 to rotate synchronously, thereby achieving coordination between travel and operation; Step 2: Field movement and ditching: Start the tractor and drive the entire device forward at a constant speed along the predetermined hedge planting line; During the process, the trenching cone 25 first cuts into the soil to break the soil initially; then the trenching plows 23 on both sides expand to both sides along the cone-shaped guide path to form a continuous planting trench with consistent depth and appropriate width, 20–30 cm deep and 15–20 cm wide, which is adjusted according to the size of the willow seedlings. Step 3: Automatic seedling picking and planting: When the device moves to the set planting point, the control system triggers the action of the multi-degree-of-freedom robotic arm 4; The robotic arm base turntable 3 rotates to above the willow seedling placement tray 19, the gripper robotic arm 5 descends, the willow seedling gripper 7 opens and precisely picks up a willow seedling. The clamping claws carry the willow seedlings to the top of the already dug planting trench; The robotic arm extends downwards and vertically implants the willow seedlings into the bottom of the trench, ensuring that the roots are spread out and the seedlings are upright. The implantation depth should be such that the original soil mark is slightly lower than the ground surface by 1–2 cm. The gripper releases, completing the release, and the robotic arm returns to the standby position; Step 4: Covering and compacting the soil: After the furrowing plow blades have been used 23 times, the soil will naturally fall back to cover the area around the seedling roots; As the device continues to move forward, the compaction roller 13 adapts to the undulations of the ground under the action of the buffer spring 11, and moderately compacts the soil covering both sides and the top of the seedling to ensure close contact between the roots and the soil and prevent air leakage and water loss. The roller height adjustment frame 9, together with the locking bolt 10, can preset the compaction strength according to the soil moisture and seedling height.

[0033] Step 5: Continuous Operation and Monitoring: The device continues to move forward, achieving equidistant, efficient, and continuous planting of willow seedlings; the operator can observe the gripper movement, seedling tray remaining quantity, and planting quality through the cab monitoring system, and replenish the willow seedlings in a timely manner; after completing the planting of one hedge strip, the device is raised and moved to the next stroke; after the operation is completed, the soil on the plow blades, grippers, and wheels is cleaned, the transmission components are lubricated, and the device is properly stored.

[0034] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described herein. Although the present invention has been described in detail with reference to the above embodiments, the present invention is not limited to the specific embodiments described above. Therefore, any modifications or equivalent substitutions to the present invention, as well as all technical solutions and improvements that do not depart from the spirit and scope of the invention, are covered within the scope of the claims of the present invention.

Claims

1. A mechanical device for planting Artemisia annua hedges, comprising a device chassis (1), characterized in that, The device chassis (1) is equipped with a robotic arm support platform (2) and a support frame (18). A robotic arm base turntable (3) is connected to the top plate of the robotic arm support platform (2). A multi-degree-of-freedom robotic arm (4) is fixed above the robotic arm base turntable (3). A gripping claw robotic arm (5) is provided on the top of the multi-degree-of-freedom robotic arm (4), and an elbow linkage shaft (6) is installed between the two arms. A willow seedling gripping claw (7) is provided on the gripping claw robotic arm (5). A horizontal plate (8) is welded to the middle section of the rear plate of the robotic arm support platform (2). A roller height adjustment frame (9) is installed on the horizontal plate (8). A locking bolt (10) is connected between the horizontal plate (8) and the roller height adjustment frame (9). A buffer spring (11) is installed below the roller height adjustment frame (9). A roller mounting frame (12) is connected to the bottom of the buffer spring. Compacting rollers (13) are installed on the rotating shafts on both sides of the roller mounting frame (12).

2. The mechanical device for planting Artemisia annua hedges according to claim 1, characterized in that, Wheel frames (14) are installed at both ends of the horizontal plate (8), and wheels (15) are installed in the grooves of the wheel frames (14).

3. The mechanical device for planting Artemisia annua hedges according to claim 2, characterized in that, The front end of the robotic arm support platform (2) is provided with a seeding disc (16), and seeding tubes (17) are arranged in a ring above the seeding disc (16).

4. The mechanical device for planting Artemisia annua hedges according to claim 3, characterized in that, The support frame (18) has a willow seedling placement tray (19) fixed on top, and an agricultural machinery connection frame (20) is welded to the front end. Agricultural machinery connection brackets (21) are installed on both sides of the agricultural machinery connection frame (20).

5. The mechanical device for planting Artemisia annua hedges according to claim 4, characterized in that, The agricultural machinery connecting frame (20) has a plow blade mounting rod (22) fixed below the middle section, and there are two plow blade mounting rods (22), with a ditching plow blade (23) installed below each plow blade mounting rod (22).

6. The mechanical device for planting Artemisia annua hedges according to claim 5, characterized in that, A cone frame (24) is provided between the plow blade mounting rods (22), and a trenching cone (25) is fixed below the cone frame (24).

7. The mechanical device for planting Artemisia annua hedges according to claim 6, characterized in that, A drive shaft (26) runs through the side plate of the support frame (18). A gear is provided on the surface of the drive shaft (26), and a drive chain (27) is connected to the gear. The other end of the drive chain (27) is connected to the device hub (28).

8. The mechanical device for planting Artemisia annua hedges according to claim 7, characterized in that, The device hub (28) is provided with a device rubber tire (29), and the outer surface of the device rubber tire (29) is provided with anti-slip texture (30).

9. The planting method of the mechanical device for planting Artemisia annua hedges according to claim 8, characterized in that, Includes the following steps: Step 1: Preparation before operation: Confirm that the main structure of the device, such as the chassis (1), the robotic arm support platform (2), and the support frame (18), is not loose or damaged; The multi-degree-of-freedom robotic arm (4), the gripper robotic arm (5), and the willow seedling gripper (7) were checked to ensure that their movements were flexible and without jamming. Verify that the air pressure of the compaction roller (13), wheel (15), and rubber tire (29) is normal and the anti-skid pattern (30) is intact; Ensure that the cutting edges of the ditching plow (23) and the ditching cone (25) are sharp and securely installed; The pre-cultivated Artemisia annua seedlings with soil clumps were neatly placed in the Artemisia annua seedling placement tray (19) to ensure that the seedlings were upright and the root system was intact; Meanwhile, spare seedlings or marker seedlings for auxiliary positioning are pre-placed in multiple seed tubes (17) on the seed tray (16); The device can be attached to the rear of a tractor or other agricultural power machinery via the agricultural machinery connecting frame (20) and the agricultural machinery connecting brackets (21) on both sides. Ensure that the tractor's power output shaft and drive shaft (26) are linked, so that the drive chain (27) can drive the device hub (28) to operate synchronously, thereby achieving coordination between travel and operation; Step 2: Field movement and ditching: Start the tractor and drive the entire device forward at a constant speed along the predetermined hedge planting line; During the process, the trenching cone (25) first cuts into the soil and initially breaks the soil; then the trenching plows (23) on both sides expand to both sides along the cone-shaped guide path to form a continuous planting trench with consistent depth and appropriate width, 20–30 cm deep and 15–20 cm wide, which is adjusted according to the size of the Artemisia annua seedlings. Step 3: Automatic seedling picking and planting: When the device moves to the set planting point, the control system triggers the action of the multi-degree-of-freedom robotic arm (4); The robotic arm base turntable (3) rotates to the top of the willow seedling placement tray (19), the gripper robotic arm (5) descends, and the willow seedling gripper (7) opens and precisely picks up a willow seedling (including soil ball). The clamping claws carry the willow seedlings to the top of the already dug planting trench; The robotic arm extends downwards and vertically implants the willow seedlings into the bottom of the trench, ensuring that the roots are spread out and the seedlings are upright. The implantation depth should be such that the original soil mark is slightly lower than the ground surface by 1–2 cm. The gripper releases, completing the release, and the robotic arm returns to the standby position; Step 4: Covering and compacting the soil: The soil behind the furrowing plow (23) naturally falls back to cover the area around the seedling roots; As the device continues to move forward, the compaction roller (13) adapts to the undulations of the ground under the action of the buffer spring (11), and moderately compacts the soil covering the sides and top of the seedling to ensure close contact between the roots and soil and prevent air leakage and water loss. The roller height adjustment frame (9) and locking bolt (10) can preset the compaction strength according to the soil moisture and seedling height.

10. The planting method of the mechanical device for planting Artemisia annua hedges according to claim 9, characterized in that, Step 5: Continuous Operation and Monitoring: The device continues to move forward, achieving equidistant, efficient, and continuous planting of willow seedlings; the operator can observe the gripper movement, seedling tray remaining quantity, and planting quality through the cab monitoring system, and replenish the willow seedlings in a timely manner; after completing the planting of one hedge strip, the device is raised and moved to the next stroke; after the operation is completed, the soil on the plow blades, grippers, and wheels is cleaned, and the transmission components are lubricated.

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