A greening seedling transplanting and planting device

Abstract

A kind of afforestation sapling transplanting and planting device, including openable frame, positioner, vertically movable mounting bracket, circular arc guide rail, cutter assembly, first drive mechanism and second drive mechanism;Openable frame can be from the outside of sapling lateral sleeve locking and coaxial with the center of tree trunk, positioner is arranged on the upper part of frame to realize automatic centering of tree trunk;Mounting bracket on the bottom of frame can be vertically adjusted, circular arc guide rail is arranged below mounting bracket, which is composed of arc plate and arc guide rod, arc plate can revolve around the center of tree trunk;The slider of cutter assembly is slidably assembled on arc guide rod, arc cutter blade can be radially telescopic at the front end of slider, driven by built-in radial drive mechanism;First drive mechanism drives the overall revolution of circular arc guide rail, and second drive mechanism drives the sliding of slider along arc guide rod arc direction.The present application can realize regular spherical surface cutting of sapling soil ball, automatic root cutting and seedling raising, with compact structure, convenient installation, high degree of automation, suitable for multiple specifications of afforestation sapling field and garden transplanting and planting operation.

Description

Technical Field

[0001] This invention relates to the field of landscaping engineering machinery technology, and in particular to a device for transplanting and planting green seedlings. Background Technology

[0002] Transplanting saplings is a crucial step in landscaping projects. To ensure a high survival rate after transplanting, saplings must be transported with a root ball of a certain size when they leave the nursery. Typically, the root ball should be spherical or apple-shaped, and the taproot at the bottom should be completely severed to prevent root tearing during lifting.

[0003] Traditional artificial transplantation methods have the following technical drawbacks: 1. Difficulty in cutting the taproot: Most existing mechanical tree shovels use vertical cutting or inclined straight-insertion blades. Although they can cut lateral roots, they are difficult to effectively cut the thick taproot growing vertically downwards from the center of the root ball. Even with an extended cutting depth, the curved blade can only cut to the side of the root ball and cannot reach the taproot at the center of the bottom. This causes the root ball to be pulled against the foundation during lifting, resulting in root tearing and root ball breakage.

[0004] 2. Poor quality of the root ball: The root ball formed by traditional vertical cutting is cylindrical with a flat bottom, which does not match the natural spherical shape of the seedling's root system. The bottom corners of the cylindrical root ball are prone to collapse during transportation, affecting the survival rate.

[0005] 3. Inability to place mechanical components at the center of the ball: Theoretically, the best cutting method is spherical cutting, but spherical cutting requires the tool to oscillate around the center of the ball. However, the center of the ball is located in the center of the trunk and is occupied by the trunk and taproot, making it impossible to place any mechanical components (such as pivots, hinges, etc.), which makes true spherical cutting difficult to achieve.

[0006] 4. Poor adaptability of equipment to tree canopy: Most existing large tree shovels or transplanting machines have an integral frame structure, which needs to be inserted from directly above the seedling. This makes operation extremely difficult for seedlings with low canopies or dense planting conditions.

[0007] Therefore, there is an urgent need for a device that can cut the spherical soil ball, completely sever the bottom taproot, and adapt to the transplanting and planting of green seedlings with low canopies. Summary of the Invention

[0008] To overcome the shortcomings of existing technologies, this invention provides a greening seedling transplanting and planting device, which effectively solves the problems of difficulty in cutting the bottom taproot, poor quality of soil ball formation, inability to arrange mechanical parts in the center of the soil ball, and poor adaptability of the equipment to the tree canopy in existing technologies.

[0009] The technical solution to the technical problem is: a greening seedling transplanting and planting device, comprising: The openable frame is fitted over the sapling and locked in place, with its axis coinciding with the center of the trunk. The locator, located on the upper part of the frame, is used to hold the tree trunk and perform centering positioning; The mounting bracket, located at the bottom of the rack, is movable in the vertical direction; An arc-shaped guide rail is located below the mounting frame and includes an arc-shaped plate and an arc-shaped guide rod fixed to the inner side of the arc-shaped plate. The arc-shaped plate is rotatably connected to the mounting frame and can revolve around the center of the tree trunk. A cutting assembly includes a slider, a radial drive mechanism, and an arc-shaped cutting blade. The slider is slidably mounted on an arc-shaped guide rod, and the arc-shaped cutting blade is slidably mounted on the front end of the slider and can extend and retract radially. The radial drive mechanism is fixed inside the slider and is used to drive the arc-shaped cutting blade to slide radially relative to the slider. The first drive mechanism is used to drive the arc-shaped plate to revolve relative to the mounting frame; The second drive mechanism is used to drive the slider to slide along the arc-shaped guide rod.

[0010] In the above technical solution, the device uses an openable frame to insert the sapling from the side, and a locator holds the trunk to achieve centering. The mounting frame can be raised and lowered to accommodate different root ball heights. The arc-shaped plate of the arc-shaped guide rail can revolve around the trunk, the slider slides along the arc-shaped guide rod, and at the same time the cutting blade extends and retracts radially. The three-degree-of-freedom compound motion ensures that the blade tip always moves along the trajectory of a virtual sphere, thereby processing the root ball into a complete sphere while cutting off the bottom main root.

[0011] Furthermore, the first driving mechanism includes a gear ring fixed inside the mounting bracket, a first gear fixed to the upper end of the arc-shaped plate, and a first motor that drives the first gear. The first motor drives the first gear to rotate, and the first gear meshes with the gear ring, causing the arc-shaped plate to revolve around the center of the tree trunk.

[0012] Furthermore, the second driving mechanism includes a rack disposed on the slotted side of the arc-shaped plate, a second gear disposed on the slider, and a second motor driving the second gear. The direction of the slot is consistent with the curvature of the arc-shaped guide rod. The second motor drives the second gear to rotate, and the second gear meshes with the rack, causing the slider to slide along the arc-shaped guide rod.

[0013] Furthermore, the mounting bracket is driven to lift and lower by a second hydraulic cylinder and guided by a vertical guide column to ensure smooth lifting and accurate direction.

[0014] Furthermore, the frame includes a base, a top plate, and a support frame. The base and the top plate are connected by the support frame. A positioner is installed above the top plate, and casters are installed below the base to facilitate equipment movement and positioning.

[0015] Furthermore, the positioner includes a first hydraulic cylinder fixed above the top plate. A Y-shaped connecting rod is connected to the end of the telescopic arm of the first hydraulic cylinder. A clamping plate is hinged to the end of the Y-shaped connecting rod, and the clamping plate can rotate in a horizontal plane. Two sets of Y-shaped connecting rods are arranged and distributed on both sides of the top plate. The two sets of Y-shaped connecting rods, totaling four clamping plates, simultaneously clamp the tree trunk from four directions, achieving automatic centering.

[0016] Furthermore, the mounting bracket includes a fixed plate and an auxiliary plate. The fixed plate and the auxiliary plate are fixedly connected by an L-shaped connecting plate. The upper end of the fixed plate is connected to the telescopic arm of the second hydraulic cylinder, and the lifting is controlled by the second hydraulic cylinder. The L-shaped connecting plate is vertically engaged with the vertical guide column set on the base. Both the fixed plate and the auxiliary plate have annular connecting grooves at their bottoms for sliding engagement with the connecting pins of the arc guide rail.

[0017] Furthermore, the connecting pins are located at the upper and lower ends of the arc-shaped plate, and slide within the connecting grooves. This structure constrains the radial and axial displacement of the arc-shaped guide rail while allowing it to rotate freely around the center of the trunk.

[0018] Furthermore, the curved cutting blade is provided with serrated cutting edges on both sides, and a vibration auxiliary device is provided on the back side of the curved cutting blade. The vibration direction is along the tangential direction of the curved cutting blade, which is used to generate high-frequency micro-amplitude vibration of 50-200Hz, reduce soil cutting resistance, and facilitate cutting off thick roots.

[0019] Furthermore, the frame consists of a left half and a right half, with separate hinges on both sides. By assembling and disassembling the hinge shafts, the device can be inserted and locked from the side of the sapling. This structure eliminates the need for the device to pass over the sapling, making it particularly suitable for saplings with low canopies.

[0020] Furthermore, the device also includes a control unit, which is connected to the first motor, the second motor, the first hydraulic cylinder, the second hydraulic cylinder, and the vibration auxiliary device, respectively. The control unit includes a PLC or an embedded controller for coordinating the motion trajectories of the first drive mechanism, the second drive mechanism, and the radial drive mechanism.

[0021] Compared with the prior art, the beneficial effects of the present invention are: 1. Completely solves the problem of cutting the main root at the bottom: Through the combined motion of the circular arc guide rail revolving, the slider sliding along the arc, and the cutter extending and retracting radially, the tip of the cutter blade moves along the virtual spherical trajectory to the center of the bottom of the soil ball. The multi-blade collaboration can completely cut the main root. When lifting, the soil ball separates naturally from the foundation without the risk of tearing.

[0022] 2. Achieving true spherical root ball cutting: Utilizing geometric principles, the radius of curvature of the arc-shaped guide rail is matched with the radius of the target root ball. Through a compound motion, the blade tip adheres to the spherical surface, forming a standard sphere in a single process. Spherical root balls better conform to the natural shape of the root system, are less prone to crumbling during transport, and significantly improve transplant survival rates.

[0023] 3. Overcoming the physical limitation that "mechanical components cannot be placed at the center of the sphere": All mechanical components (guide rails, sliders, drive mechanisms, revolute joints, etc.) of this invention are located outside the sphere, with the sphere center serving only as a geometric reference point, eliminating the need for any actual parts. The cutting trajectory around the virtual sphere center is achieved through the synthesis of three independent motions: "guide rail revolution + slider sliding + tool extension and retraction."

[0024] 4. Strong adaptability to low-growing tree canopies: The frame adopts a split hinge structure, which can be opened, inserted, closed and locked from the side of the seedling without having to cross the canopy from above, making it suitable for complex working conditions such as dense planting and low canopy.

[0025] 5. High precision and adjustable: It adopts a precision arc guide rail and gear rack drive, which ensures high positioning accuracy. The mounting frame can be raised and lowered, and the arc guide rail can be replaced with different curvature radii to adapt to seedlings with different diameters at breast height (5-15cm).

[0026] 6. Vibration-assisted resistance reduction: The back of the cutting blade is equipped with a high-frequency micro-amplitude vibration device, which can reduce soil resistance in real time during the cutting process. It is especially suitable for cohesive soil and soil layers containing gravel, reducing motor load and protecting equipment. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of a greening seedling transplanting and planting device according to the present invention. Figure 1 .

[0028] Figure 2 This is a schematic diagram of the structure of a greening seedling transplanting and planting device according to the present invention. Figure 2 .

[0029] Figure 3 This is a cross-sectional schematic diagram of a greening seedling transplanting and planting device according to the present invention.

[0030] Figure 4 This is a schematic diagram of the structure of the machine body in the greening seedling transplanting and planting device of the present invention. Figure 1 .

[0031] Figure 5 This is a schematic diagram of the structure of the machine body in the greening seedling transplanting and planting device of the present invention. Figure 2 .

[0032] Figure 6 This is a schematic diagram of the arc-shaped guide rail in a greening seedling transplanting and planting device of the present invention. Figure 1 .

[0033] Figure 7 This is a schematic diagram of the arc-shaped guide rail in a greening seedling transplanting and planting device of the present invention. Figure 2 .

[0034] Figure 8 This is a schematic diagram of the arc-shaped cutting blade in a greening seedling transplanting and planting device of the present invention. Detailed Implementation

[0035] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0036] Depend on Figures 1 to 8 It is understood that a greening seedling transplanting and planting device mainly consists of eight core components: an openable and closable split frame, a trunk centering and positioning device, a vertically liftable mounting frame, a revolving arc guide rail mechanism, a sliding cutter assembly, a first drive mechanism, a second drive mechanism, a hydraulically driven lifting mechanism, and an electronic control unit. These components cooperate and coordinate with each other to achieve on-site installation of greening seedlings, automatic trunk centering and positioning, adaptive adjustment of the working height, and overall winding of the arc guide rail around the tree. The system features a central revolution, a slider 3 that slides along an arc-shaped guide rod 2, an arc-shaped cutting blade 5 that extends and retracts radially, high-frequency vibration to assist in cutting and severing roots, and fully automated collaborative operation. It can complete the processes of regular excavation of greening seedlings with soil balls, spherical shaping, root cutting, and seedling pretreatment in one go. It is suitable for transplanting and planting seedlings of different diameters at breast height and different soil ball specifications, such as garden landscape trees, street trees, and greening shrubs. It is especially suitable for seedling transplanting in complex conditions such as outdoor open-air sites, garden nurseries, and mountain greening.

[0037] The frame of this invention adopts a split, openable structure design, mainly composed of a left half frame and a right half frame symmetrically spliced ​​together. After the left and right half frames are aligned, they form an integral frame support structure. Split hinge structures 28 are symmetrically arranged on the front and rear sides of both the left and right half frames. Each split hinge 28 consists of a fixed base, hinge ears, and a detachable hinge shaft. The fixed base is fixed to the sides of the left and right half frames respectively, and the hinge ears are nested and aligned with each other. The frame can be quickly opened, closed, and locked by inserting and removing the hinge shaft. During on-site operations, there is no need to hoist or move the saplings. Simply pull out hinge 28 to separate the left and right halves of the frame to the sides, and directly insert them horizontally from the outside of the sapling trunk. Then, align and close the left and right halves of the frame, and insert hinge 28 to lock and fix them. After the frame is fully locked, its overall vertical center axis can automatically and precisely coincide with the center axis of the trunk, providing a reliable structural reference for subsequent centered cutting of the root ball and coaxial revolution. This avoids problems such as root ball cutting deviation, local over-cutting, and root ball collapse caused by frame eccentricity.

[0038] The frame adopts a stable frame structure, mainly composed of a base 14, a top plate 15, and multiple sets of vertical support frames 16, which are welded and assembled. The base 14 and top plate 15 are arranged parallel vertically and rigidly connected around the perimeter by the support frames 16. The overall load-bearing capacity is high, and the deformation under stress is small. It can withstand the soil reaction force, root shear force, and the weight of the machine during cutting, and is not easily deformed during long-term operation. Silent and wear-resistant universal wheels 17 are fixedly installed at the four corners of the bottom of the base 14. The universal wheels 17 have a self-locking brake structure, which can not only allow the machine to move freely, transfer short distances, and flexibly align itself in nursery sites, hardened roads, and muddy surfaces, but also lock the wheels after the machine is in position to prevent slippage and swaying, ensuring the stability of the machine during cutting operations. The top plate 15 is horizontally fixed to the top of the support frame 16. A trunk clearance hole is reserved in the middle of the top plate 15 to facilitate the vertical passage of the trunk. The upper surface of the top plate 15 serves as the mounting base for the locator, providing stable installation support for the trunk clamping and centering structure.

[0039] A trunk alignment locator is fixedly installed above the top plate 15 of the frame. The locator adopts a double-sided symmetrical synchronous clamping structure, mainly including a first hydraulic cylinder 18, a Y-shaped connecting rod 19, and an arc-shaped clamping plate 20. In this embodiment, two sets of Y-shaped connecting rods 19 are symmetrically arranged on the left and right sides of the top plate 15, respectively. The middle hinge fulcrum of each set of Y-shaped connecting rods 19 is fixed on the mounting base of the top plate 15. One end of the Y-shaped connecting rod 19 is hinged to the end of the telescopic arm of the first hydraulic cylinder 18, and the other end is hinged to the arc-shaped clamping plate 20. The arc-shaped clamping plate 20 adopts a concave arc-shaped curved surface structure. The curvature of the curved surface is adapted to the outer circle contour of tree trunks of different thicknesses. The clamping plate 20 can be slightly rotated in the horizontal plane for adaptive fine adjustment, which can fit against the outer wall of the tree trunk to form a surface contact clamping, avoiding point contact compression damage to the tree trunk bark. Two sets of first hydraulic cylinders 18 are synchronously connected to the hydraulic control system. During operation, the first hydraulic cylinders 18 on both sides extend and retract synchronously, pushing the Y-shaped connecting rod 19 to swing synchronously around the hinge fulcrum, thereby driving the two arc-shaped clamping plates 20 on both sides to move towards each other and synchronously hug the trunk. Relying on the mechanical constraint of the synchronous clamping on both sides, the skewed posture of the trunk is forcibly corrected, so that the center of the trunk, the center of the frame, and the center of the subsequent circular arc guide rail are kept highly coaxial, realizing high-precision automatic centering and positioning. This effectively solves the drawbacks of traditional manual alignment with large deviations and reliance on experience for correction, ensuring that the subsequent cutting of the soil ball is round and uniform.

[0040] A vertically movable mounting frame is arranged in the lower inner space of the frame. This mounting frame serves as the overall load-bearing base for the arc-shaped guide rail and the first drive mechanism, providing stable vertical lifting and lowering adjustment. Specifically, the mounting frame is composed of a fixed plate 21, an auxiliary plate 22, and an L-shaped connecting plate 23, all fixedly connected together. The fixed plate 21 and auxiliary plate 22 are arranged parallel to each other vertically and are fastened together on both sides by symmetrically arranged L-shaped connecting plates 23 with bolts, forming an integral frame-type load-bearing frame with high structural rigidity and uniform stress distribution. The upper center of the fixed plate 21 is fixedly connected to the telescopic output end of the second hydraulic cylinder 13. The second hydraulic cylinder 13 is vertically arranged, with its bottom fixed to the frame base 14. The telescopic movement of the second hydraulic cylinder 13 directly drives the entire mounting frame to perform vertical lifting and lowering motion. Multiple vertical guide columns 24 are symmetrically arranged on the frame base 14. The guide columns 24 are made of high-precision solid round steel with a surface hardened and wear-resistant treatment. Vertical guide holes are opened at the ends of the L-shaped connecting plate 23. The guide holes and the vertical guide columns 24 are precisely slidably engaged. During the lifting process, the vertical guide columns 24 provide limiting guidance, effectively counteracting horizontal lateral forces and preventing the installation frame from tilting, jamming, or shaking during lifting, ensuring smooth lifting and accurate positioning. During operation, the overall height of the installation frame can be precisely adjusted by the second hydraulic cylinder 13 according to the diameter of the sapling's root ball, the depth of the root ball burial, and the height of the trunk from the ground. This changes the relative position of the lower arc guide rail with the ground and the root ball, flexibly adapting to excavation operations with root balls of different sizes from 300mm to 1500mm, greatly improving the equipment's versatility and adaptability.

[0041] Both the fixed plate 21 and the auxiliary plate 22 have annularly arranged connecting grooves 25 on their bottom end faces. The connecting grooves 25 are closed-loop arc groove structures with trapezoidal limiting groove cross-sections, providing sliding limiting and anti-detachment limiting functions. The arc guide rail is assembled under the mounting frame and consists of an arc plate 1 and an arc guide rod 2 fixed to the inner side of the arc plate 1. The arc guide rod 2 is concentrically arranged along the inner arc surface of the arc plate 1, and its curvature matches the curvature of the standard soil ball sphere. Cylindrical connecting pins 26 are symmetrically fixed at the upper and lower ends of the arc plate 1. The outer diameter of the connecting pins 26 is precisely matched with the groove width of the annular connecting groove 25. The connecting pins 26 are embedded in the annular connecting groove 25 at the bottom of the mounting frame and can slide freely along the groove. Through the sliding fit constraint between the connecting pin 26 and the annular connecting groove 25, the arc plate 1 can rotate smoothly around the vertical axis with the center of the tree trunk as the rotation center. At the same time, it restricts the vertical displacement and radial offset of the circular arc guide rail, ensuring that the revolution trajectory is regular, without eccentricity or jump, and providing a stable motion reference for spherical cutting.

[0042] The first drive mechanism is specifically designed to drive the arc-shaped plate 1 and the overall arc-shaped guide rail to revolve around the center of the tree trunk. Specifically, it includes an internal gear ring 6 fixed inside the mounting bracket, a first gear 7 fixed to the upper end of the arc-shaped plate 1, and a first motor 8 that drives the first gear 7. The internal gear ring 6 is horizontally fixed between the fixed plate 21 and the auxiliary plate 22, with its center coaxial with the center of the tree trunk. The first motor 8 is vertically fixed to the mounting base at the upper end of the arc-shaped plate 1, and its output shaft is coaxially connected to the first gear 7. The first gear 7 meshes with the internal gear ring 6 for transmission. During operation, the first motor 8 drives the first gear 7 to rotate. The gear moves in a planetary circular motion along the fixed internal gear ring 6, which in turn drives the entire arc plate 1 and arc guide rod 2 to slowly revolve around the center. The gear meshing transmission method of the gear ring 6 provides large transmission torque, smooth operation, and precise transmission ratio. It can achieve stepless speed regulation, and the revolution speed is controllable and adjustable to meet the cutting speed requirements under different soil types and root densities. It also has a self-locking anti-reverse characteristic, and can stably stay at any revolution angle position after stopping, which is convenient for fixed-point maintenance and alignment operations.

[0043] The second driving mechanism is used to drive the slider 3 to slide along the arc-shaped guide rod 2 in an arc-shaped trajectory. Specifically, it includes an arc-shaped rack 10, a second gear 11, and a second motor 12. A through slot 9 is opened in the middle of the arc plate 1 along the arc direction. An arc-shaped rack 10 is fixedly laid on the side of the slot 9 along the arc direction. The arc of the rack 10 is completely concentric with the arc-shaped guide rod 2. The slider 3 is slidably fitted on the outside of the arc-shaped guide rod 2 and can slide freely along the arc direction of the arc-shaped guide rod 2. The second motor 12 is fixedly installed on the side of the slider 3. The output shaft of the second motor 12 is connected to the second gear 11. The second gear 11 meshes with the arc-shaped rack 10. During operation, the second motor 12 drives the second gear 11 to rotate. The gear rolls along the arc-shaped rack 10, causing the slider 3 to slide smoothly along the arc-shaped guide rod 2 according to the preset arc trajectory. The rack 10 gear has high positioning accuracy and no slippage during arc meshing transmission. It can accurately control the arc position and sliding speed of the slider 3, forming a composite trajectory with the revolution of the arc guide rail, matching the cutting path of the spherical contour of the soil ball.

[0044] The cutting assembly is mounted on the slider 3. Each cutting assembly consists of the slider 3, the radial drive mechanism 4, and the arc-shaped cutting blade 5. The slider 3 is a closed sliding sleeve structure with a precise sliding fit between its inner hole and the arc-shaped guide rod 2. A wear-resistant bushing is built-in, resulting in low sliding resistance and a long wear life. A radial sliding mounting cavity is reserved at the front end of the slider 3, and the arc-shaped cutting blade 5 is vertically slidably mounted inside the mounting cavity, allowing it to extend and retract radially along the soil ball. The radial drive mechanism 4 is integrally embedded and fixed inside the slider 3. It can adopt a miniature lead screw and nut mechanism or a small hydraulic telescopic mechanism, with a compact structure that does not occupy external space. The output end of the radial drive mechanism 4 is connected to the tail of the arc-shaped cutting blade 5. Through power drive, the arc-shaped cutting blade 5 is driven to extend and retract radially relative to the slider 3, and the radial distance between the cutting blade 5 and the soil ball surface is finely adjusted in real time, so that the cutting tip always follows the contour of the soil ball surface, achieving adaptive contour cutting and ensuring that the excavated soil ball surface is round, regular, and of uniform thickness.

[0045] The curved cutting blade 5 is made of high-strength alloy steel in one piece. The overall curvature matches the curvature of the target soil ball. Both sides of the blade 5 are machined with dense serrated cutting edges. The cutting edges are sharp and wear-resistant. It can not only cut and break hard soil, but also directly saw and cut off fibrous roots, lateral roots and medium-thickness main roots. It has high cutting efficiency and a smooth cut surface. A vibration auxiliary device is fixedly installed on the back side of the arc-shaped cutting blade 5. The vibration auxiliary device is a pneumatic vibrator or a hydraulic vibrator, and its vibration direction is strictly arranged along the tangential direction of the arc-shaped cutting blade 5. During operation, the vibration auxiliary device generates high-frequency micro-amplitude vibrations of 50Hz to 200Hz. The vibration energy is transmitted to the blade and the part that enters the soil, which can effectively break up hard soil, reduce the frictional cutting resistance between the blade 5 and the soil, and prevent the blade 5 from getting stuck or stopping. At the same time, the micro-impact effect of high-frequency vibration can easily cut the deeply buried thick taproot without manual prying or knocking. This fundamentally eliminates the problem of soil ball compression cracking and loosening caused by forced operation, and greatly improves the soil ball integrity rate and the survival rate of transplanted seedlings.

[0046] This invention also includes an electrical control unit, which uses a PLC programmable controller or embedded microcontroller as its core control element. It is electrically connected to the first motor 8, the second motor 12, the first hydraulic cylinder 18, the second hydraulic cylinder 13, the radial drive mechanism 4, and the vibration auxiliary device via wiring. The control unit has multiple preset standard operating programs, which can retrieve corresponding control parameters based on the root ball diameter, soil hardness, and sapling diameter at breast height. During operation, the control unit coordinates and manages the action logic and motion parameters of each actuator, precisely matching the revolution speed of the arc guide rail, the sliding trajectory of the slider 3 along the arc guide rod 2, the radial extension and retraction of the arc-shaped cutting blade 5, the lifting height of the mounting frame, and the start / stop and vibration frequency of the vibration auxiliary device. This achieves fully automatic coordinated operation of the timing, speed, and stroke of multiple mechanisms. The entire device requires no manual step-by-step operation; after a single button start, it automatically completes the entire process of alignment, clamping, lifting and adjusting, revolution and sliding, radial conformal cutting, and vibration root pruning. This high degree of automation significantly reduces manual intervention, lowers labor intensity, and improves the construction efficiency and standardization of greening sapling transplantation.

[0047] The entire machine's workflow is complete and coherent: First, move the equipment next to the sapling to be transplanted, open the frame's split hinge 28, and slide it laterally into the sapling from the side, then close and lock it; activate the first hydraulic cylinders 18 on both sides of the locator to simultaneously clamp the trunk, completing automatic centering and coaxial positioning; adjust the mounting frame and arc guide rail to a suitable working height according to the depth and diameter of the root ball using the second hydraulic cylinder 13; then, the control unit starts the first motor 8 to drive the arc guide rail to rotate as a whole, while simultaneously starting the second motor 12 to drive the slider 3 to slide along the arc-shaped guide rod 2 radially. The moving mechanism 4 adjusts the radial extension of the arc-shaped cutting blade 5 in real time, so that the blade 5 moves in close contact with the surface of the soil ball; the vibration auxiliary device is activated simultaneously, and high-frequency vibration assists in reducing resistance when entering the soil and cutting the root system; multiple sets of movements work together to gradually complete the circumferential cutting of the outer surface of the soil ball and the severing of the roots at the bottom. After the operation is completed, each mechanism is reset, the positioning clamp 20 is released, and the frame is opened, so that the seedling with the complete soil ball can be lifted out for subsequent planting and transportation. The whole process is simple to operate, has good shaping effect, and is suitable for a wide range of scenarios, and has strong engineering practical value and promotion and application prospects.

Claims

1. A device for transplanting and planting green seedlings, characterized in that, include The openable frame is fitted over the sapling and locked in place, with its axis coinciding with the center of the trunk. The locator, located on the upper part of the frame, is used to hold the tree trunk and perform centering positioning; The mounting bracket, located at the bottom of the rack, is movable in the vertical direction; The arc guide rail is located below the mounting frame and includes an arc plate (1) and an arc guide rod (2) fixed inside the arc plate (1). The arc plate (1) is rotatably connected to the mounting frame and can revolve around the center of the tree trunk. The cutter assembly includes a slider (3), a radial drive mechanism (4), and an arc-shaped cutter blade (5). The slider (3) is slidably mounted on the arc-shaped guide rod (2). The arc-shaped cutter blade (5) is slidably mounted on the front end of the slider (3) and can extend and retract radially. The radial drive mechanism (4) is fixed inside the slider (3) and is used to drive the arc-shaped cutter blade (5) to slide radially relative to the slider (3). The first drive mechanism is used to drive the arc plate (1) to revolve relative to the mounting frame; The second driving mechanism is used to drive the slider (3) to slide along the arc-shaped guide rod (2).

2. The greening seedling transplanting and planting device according to claim 1, characterized in that, The first drive mechanism includes a gear ring (6) fixed inside the mounting bracket, a first gear (7) fixed to the upper end of the arc plate (1), and a first motor (8) that drives the first gear (7).

3. The greening seedling transplanting and planting device according to claim 1, characterized in that, The second driving mechanism includes a rack (10) set on the side of the slot (9) in the middle of the arc plate (1), a second gear (11) set on the slider (3), and a second motor (12) driving the second gear (11). The direction of the slot (9) is consistent with the curvature of the arc guide rod (2).

4. The greening seedling transplanting and planting device according to claim 1, characterized in that, The frame includes a base (14), a top plate (15) and a support frame (16). The base (14) and the top plate (15) are connected by the support frame (16). The locator is set above the top plate (15), and a caster wheel (17) is set below the base (14).

5. The greening seedling transplanting and planting device according to claim 4, characterized in that, The positioner includes a first hydraulic cylinder (18) fixed above the top plate (15). The telescopic arm end of the first hydraulic cylinder (18) is connected to a Y-shaped connecting rod (19). The end of the Y-shaped connecting rod (19) is hinged to a clamping plate (20). The clamping plate (20) can rotate in a horizontal plane. There are two sets of Y-shaped connecting rods (19) distributed on both sides of the top plate (15).

6. The greening seedling transplanting and planting device according to claim 4, characterized in that, The mounting frame is driven to lift by the second hydraulic cylinder (13) and guided by the vertical guide column (24). The mounting frame includes a fixed plate (21) and an auxiliary plate (22). The fixed plate (21) and the auxiliary plate (22) are fixedly connected by an L-shaped connecting plate (23). The upper end of the fixed plate (21) is connected to the telescopic arm of the second hydraulic cylinder (13) and the lifting is controlled by the second hydraulic cylinder (13). The L-shaped connecting plate (23) is vertically engaged with the vertical guide column (24) set on the base (14). The bottom of the fixed plate (21) and the auxiliary plate (22) are both provided with annular connecting grooves (25) for sliding engagement with the connecting pins (26) of the arc guide rail. The connecting pins (26) are set at the upper and lower ends of the arc plate (1) and slide in the connecting grooves (25).

7. The greening seedling transplanting and planting device according to claim 1, characterized in that, The arc-shaped cutting blade (5) is provided with serrated cutting edges on both sides, and a vibration auxiliary device is provided on the back side of the arc-shaped cutting blade (5). Its vibration direction is along the tangent of the arc-shaped cutting blade (5) to generate high-frequency micro-amplitude vibration of 50-200Hz and reduce soil cutting resistance.

8. The greening seedling transplanting and planting device according to claim 1, characterized in that, The frame consists of a left half frame and a right half frame. Both sides of the left half frame and the right half frame are equipped with split hinges (28). By disassembling and assembling the split hinges (28), the seedling can be inserted and locked from the side.

9. A greening seedling transplanting and planting device according to claim 2, 3, 5 or 6, characterized in that, It also includes a control unit, which is connected to the first motor (8), the second motor (12), the first hydraulic cylinder (18), the second hydraulic cylinder (13) and the vibration auxiliary device (27), respectively. The control unit includes a PLC or an embedded controller, which is used to coordinate the motion trajectory of the first drive mechanism, the second drive mechanism and the radial drive mechanism (4).

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