A small, all-around grass checkerboard laying vehicle
The small, all-around grass checkerboard laying vehicle, which uses a tracked chassis and a slewing support device in conjunction with a worm gear lifting mechanism, solves the problem of grass stalks being crushed during grass checkerboard laying, and achieves all-around grass checkerboard laying and sand control effects.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- LIAOCHENG UNIV
- Filing Date
- 2025-05-29
- Publication Date
- 2026-05-26
AI Technical Summary
When laying grass checkerboard, the wheels of existing grass checkerboard laying vehicles are prone to crushing the already laid grass stalks, causing the grass stalks to break or fall over, which affects the effectiveness of sand control and cannot be effectively solved.
The small, all-around grass grid laying vehicle consists of a tracked chassis, a slewing support device, a laying device, and a camera. Through the differential rotation of the tracked chassis and the 90-degree rotation of the slewing support device, it can lay grass grids in U-shapes and L-shapes, avoiding crushing the already laid grass stalks. It also uses a worm gear lifting mechanism and a grass feeding module to achieve uniform delivery and pressing of the grass mat.
This method enables the all-round laying of straw checkerboard, avoids crushing of straw stalks, ensures the upright state of straw stalks, and improves the effect of sand prevention and control.
Smart Images
Figure CN224281216U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to agricultural and forestry machinery, specifically a small, all-around grass checkerboard laying vehicle. Background Technology
[0002] Straw checkerboard sand barriers are a method of sand control that prevents wind erosion and conserves moisture. They are made by binding straw, rice straw, reeds, and other materials into checkerboard shapes in the desert to form checkerboard windbreaks on shifting sand dunes. The straw checkerboards can roughen the ground and reduce wind erosion, while also trapping moisture and increasing the water content of the sand layer, which is conducive to the survival of sand-fixing plants. Therefore, the construction of straw checkerboards is of great significance for wind erosion and sand fixation.
[0003] Based on desertification control practices, square straw checkerboard patterns are more effective at preventing sand erosion than other shapes. There are two methods for laying square straw checkerboard patterns: manual laying and laying by a vehicle.
[0004] When laying straw manually, first mark the construction grid lines on the sand dunes, then lay evenly trimmed wheat straw or rice straw horizontally on the grid lines. Use a shovel or similar tool to insert the straw into the middle of the straw, pushing it in firmly so that the straw is inserted into the sand layer about 10-15 cm deep, with both ends of the straw sticking up and standing upright on the sand surface. The height of the straw protruding above the ground should be about 20 cm. The diameter of the square straw grid is generally about 1 meter. The part of the straw protruding above the ground prevents the wind from carrying sand particles within 10 cm of the ground surface, thus achieving the effect of sand prevention and fixation.
[0005] The problem with manual laying is that it is labor-intensive and has low efficiency.
[0006] A machine-based paving system, such as a grass checkerboard paving vehicle, is disclosed in application number 202410930499.X. This vehicle includes a frame and a wheel assembly located at the bottom of the frame. A grass-laying mechanism is located in the middle of the frame, comprising a hopper for holding grass stalks. The bottom of the hopper has a strip-shaped discharge port along the width of the frame. A conveyor belt assembly is connected below the strip-shaped discharge port, and the conveying direction of the conveyor belt assembly is along the travel path of the frame. A grooving mechanism for grooving sand is located on the front side of the paving mechanism, and a pressing mechanism for pressing grass stalks into the sand is located on the rear side of the paving mechanism. Both the grooving mechanism and the pressing mechanism are located on the central axis of the frame. The straw is placed in the hopper. During the straw grating process, the vehicle moves in a straight line, and the straw falls through the strip-shaped discharge port at the bottom of the hopper into the feed trough of the mixing cylinder. The straw is then placed onto the conveyor belt assembly, and finally, the conveyor belt lays the straw horizontally on the ground. Two lifting mechanisms alternately compact the straw. When one lifting mechanism is compacting, it moves towards the rear of the vehicle along its corresponding rail under the reaction force from the ground, while the other lifting mechanism moves towards the front of the vehicle along its corresponding rail under the pull of a flexible cable. This alternation of positions between the two lifting mechanisms can be completed without additional driving force, making the straw compaction operation smoother.
[0007] The problem is that when the vehicle travels in a straight line, laying a row of straw stalks, and then laying more stalks at intervals parallel to the already laid rows, parallel straw stalks can be achieved. However, if a grass square is to be laid, straw stalks need to be laid in a direction perpendicular to the already laid rows. But when laying straw squares perpendicular to the already laid rows, the vehicle's wheels inevitably run over the already laid squares. Since the grass squares are typically 1 meter in size, a large portion of the already laid squares will be crushed. Because the ends of the laid straw stand upright on the sand, with about 20 centimeters of straw protruding above the ground, the crushing can cause the upright straw to break or fall over, severely affecting its sand control and desertification prevention effect. Utility Model Content
[0008] The technical problem to be solved by this utility model is to provide a small, all-around grass checkerboard laying vehicle. This vehicle can complete the laying of grass checkerboards and avoid crushing the already laid grass stalks during the entire laying process, ensuring that the grass stalks of the laid grass checkerboards are upright and guaranteeing the sand prevention and control effect.
[0009] To solve the above-mentioned technical problems, the present invention adopts the following technical means:
[0010] A small, all-around grass checkerboard laying vehicle includes: a tracked chassis, a slewing support device, a laying device, a control box, and a camera;
[0011] The tracked chassis serves as the installation base, and a slewing support device, a laying device, a control box, and a camera are connected and installed thereon; the tracked chassis is driven to move.
[0012] The slewing support device is equipped with a slewing support base body that is driven by a slewing motor to rotate along the top surface of the track platform;
[0013] The laying devices are symmetrically arranged on both sides of the slewing support base. Each laying device has the same structure, including a worm gear lifting mechanism and a grass-pressing mechanism. The grass-pressing mechanism is connected to the slewing support base via the worm gear lifting mechanism, which drives the grass-pressing mechanism to rise and fall. The grass-pressing mechanism rises until its bottom surface is higher than the tracked chassis. Then, the slewing motor of the slewing support device operates, driving the slewing support base to rotate 90°. After rotation, the grass-pressing mechanism is driven to descend to the working position to perform the laying work. The structure includes a slide screw module, a scissor lifting mechanism, a grass feeding module, a grass pressing box, and grass pressing blades. The slide screw module is located at the top of the grass pressing box along its length. The slide screw module drives the scissor lifting mechanism to move along the length of the grass pressing box. The grass pressing blades are hinged to a blade shaft below the scissor lifting mechanism. The operation of the scissor lifting mechanism causes the grass pressing blades to rise or fall. Grass pressing grooves are provided on the bottom plate of the grass pressing box at positions corresponding to the grass pressing blades. The grass pressing blades are driven to move along the grass pressing grooves to complete the grass pressing work. The grass feeding module delivers grass mats to the grass pressing box.
[0014] The control box is electrically connected to the tracked chassis, slewing bearing device, laying device, and camera;
[0015] The system has two cameras, which are fixed on the front and rear sides of the slewing support base. The cameras are respectively connected to the center of the base plate of the slewing support base. Both cameras transmit image information to the control box.
[0016] As a further improvement to this technical solution:
[0017] The tracked chassis includes tracks, a motor reducer, a track drive motor, a track support platform, track rollers, a bracket, guide wheels, support rollers, and drive wheels. The track drive motor is connected to the drive wheels via the motor reducer. The drive wheels are located at one end of the track and connected to drive the track. A guide wheel is located at the other end of the track. The track has a bracket, and the upper side of the bracket is connected to and supports the top surface of the track via track rollers. A support roller is located on the upper side of the bracket and connected to the track. A track support platform is located above the track, and the track support platform is used to connect and install a slewing support device.
[0018] The track support platform is connected to the axle of the drive wheel and the axle of the guide wheel. The track drive motors on the left and right sides achieve turning and U-turns through differential rotation.
[0019] The slewing support device includes vertical guide rails, a slewing motor, a slewing support base, an outer slewing ring, an inner slewing ring, an external gear, studs, a slewing support, and an internal gear. Four vertical guide rails are provided, bolted together and fixed to both sides of the slewing support base. The slewing support bears the load and is connected to the track support platform. The slewing support is fixedly engaged with the inner slewing ring via studs, and the external gear is fitted and fixed inside the inner slewing ring. The inner slewing ring rotates with the outer slewing ring via ball bearings and spacers, and the outer slewing ring is fixedly engaged with the slewing support base via studs. The slewing motor is bolted to the slewing support base and drives the internal gear. The internal gear meshes with the external gear, and when the slewing motor operates, it drives the internal gear to rotate along the external gear, thereby rotating the slewing support base.
[0020] The feature is that: two identical worm gear lifting mechanisms are provided, located on both sides of the rotary support base; each worm gear lifting mechanism includes a worm gear primary reducer, a first transmission rod, a worm gear lifting motor, a reducer support plate, a lead screw sleeve, a second transmission rod, a worm gear secondary reducer, a lifting lead screw, and a lead screw seat; the reducer support plate is bolted to the side of the rotary support base and extends outward to support the entire worm gear lifting mechanism; the output end of the worm gear lifting motor is connected to the beginning end of the first transmission rod; two identical worm gear primary reducers are provided. The worm gear reducer is fixed on the reducer support plate. The worm gear reducer is spaced apart and connected to the first transmission rod. There are two second transmission rods with the same structure. The middle part of the second transmission rod is connected to the worm gear reducer, and both ends of the second transmission rod are connected to the worm gear reducer. The worm gear reducer is connected to the reducer support plate. The worm gear reducer drives the lifting screw. The upper part of the worm gear reducer is provided with a screw sleeve. The top of the lifting screw is fitted into the screw sleeve, and the lifting screw moves up and down along the screw sleeve. The bottom end of the lifting screw is connected to the straw pressing mechanism through a screw seat.
[0021] The grass pressing mechanism has two parts, which are located at the lower part of the two worm gear lifting mechanisms. The grass feeding module is fixed to one end of the grass pressing box. The grass feeding module includes a grass feeding ratchet, a grass feeding ratchet shaft, a grass feeding box, a grass feeding motor, a V-belt, and a V-belt pulley. The grass feeding module is fixedly connected to one end of the grass pressing box. The bottom of the grass feeding box facing the grass pressing knife has a grass outlet, and the top opening of the grass feeding box is set as a grass inlet. The grass feeding ratchet shaft is provided inside the grass feeding box. The grass feeding ratchet shaft has grass feeding ratchets arranged at intervals. The grass feeding ratchet shaft is driven by the grass feeding motor to evenly feed the grass curtain into the grass pressing box through the grass outlet.
[0022] The feeding ratchet shaft is rotatably mounted on the feeding box. One end of the feeding ratchet shaft is connected to a V-belt pulley pin. The feeding motor is located under an inclined plate on one side of the feeding box. The feeding motor drives the V-belt pulley to rotate, thereby driving the feeding ratchet shaft to rotate. After the straw mat enters the feeding box through the straw inlet, the feeding ratchet rotates, pushing the straw mat to one side of the inclined plate. It is then transported downwards along the inclined plate and conveyed into the pressing box through the straw outlet.
[0023] The hay-pressing box consists of a top plate, a bottom plate, and support columns at the corners. The top plate has two slots at its upper part, and a slide screw module connects to its lower part. The two ends of the slide screw module are fixed to connecting rods on the front and rear sides of the hay-pressing box, which provide connection and support. A vertical slide is fitted and fixed in the slots to increase connection stability. The vertical slide is fixed to a vertical slider, which slides in conjunction with a vertical guide rail. The vertical guide rail is bolted to a rotary support base. Driven by a worm gear lifting mechanism, the hay-pressing mechanism can move up and down along the vertical guide rail, maintaining stable movement.
[0024] The slide block screw module includes a screw, a stepper motor, a slide block, a linear double guide rail, a screw bearing seat, and a slider. The linear double guide rail is bolted to the top plate of the straw pressing box, the slider slides on the linear double guide rail, and the slide block is fixed on the slider. The stepper motor drives the first end of the screw, and the second end of the screw is connected to the straw pressing box through the screw bearing seat. When the stepper motor operates, it drives the screw to rotate, thereby causing the slider and the slide block to move linearly.
[0025] The paving method using a paving vehicle includes the following steps:
[0026] (1) The paving vehicle moves in a straight line and lays U-shaped grass squares. First, the first grass square is laid. The grass pressing mechanism is located on both sides of the travel axis. The grass pressing mechanism is driven to work and lay the grass. After the grass is laid, the grass pressing mechanism is driven to rise and the slewing support device rotates 90 degrees so that the grass pressing mechanism is located on the front and rear sides of the paving vehicle. The grass pressing mechanism on the rear side of the paving vehicle lays the grass (at this time, the grass pressing mechanism on the rear side of the paving vehicle does not work), thus completing the first U-shaped laying. Then the grass pressing mechanism is driven to rise and the slewing support device rotates 90 degrees so that the grass pressing mechanism is located on both sides of the travel axis. The paving vehicle moves in a straight line and lays the second grass square. The bottom of the U-shape of the second grass square closes the opening of the first grass square, thus completing the laying of the first row of grass squares in sequence.
[0027] (2) After reaching the end point, the paving vehicle turns 180 degrees and moves in the opposite direction to lay the first L-shaped grass square. The grass pressing mechanism is located on both sides of the travel axis. The grass pressing mechanism away from the first row of grass squares is driven to work and lay the grass. After the grass is laid, the grass pressing mechanism is driven to rise and the slewing support device rotates 90 degrees so that the grass pressing mechanism is located on the front and rear sides of the paving vehicle. The grass pressing mechanism on the rear side of the paving vehicle lays the grass (at this time, the grass pressing mechanism on the rear side of the paving vehicle does not work), thus completing the first L-shaped paving. The laid L-shaped paving and the side of the laid U-shaped paving form a U-shaped paving. Then the grass pressing mechanism is driven to rise and the slewing support device rotates 90 degrees so that the grass pressing mechanism is located on both sides of the travel axis. The paving vehicle moves in a straight line to lay the second grass square. The bottom of the L-shaped second grass square closes the opening of the first grass square, thus completing the second row of grass squares in sequence.
[0028] (3) After the paving reaches the end point, the paving vehicle turns 180 degrees and moves in the opposite direction to lay the right L-shaped grass square. The right L-shaped grass square is laid in the same way as the left L-shaped grass square in step (2).
[0029] (4) Repeat steps two and three until the work is completed.
[0030] After step (4) is completed, in order to improve the sand control effect of the paving area, the paving vehicle goes around the side edge of the grass square in the paved area, and uses the grass pressing mechanism on the side of the grass square that is close to the paved grass square to lock the edge, further improving the working life of the edge of the paved grass square and improving the sand control effect. Attached Figure Description
[0031] Figure 1 A 3D model of a small, all-around grass checkerboard paving vehicle;
[0032] Figure 2 A 3D view of the tracked chassis;
[0033] Figure 3 A 3D view of the tracked chassis to conceal the track support platform;
[0034] Figure 4 This is a perspective view of the slewing support device;
[0035] Figure 5 To conceal the slewing support base, the slewing support device is designed in a three-dimensional manner. Figure 1 ;
[0036] Figure 6 To conceal the slewing support base, the slewing support device is designed in a three-dimensional manner. Figure 2 ;
[0037] Figure 7Front view of the slewing support device before and after rotating 90 degrees;
[0038] Figure 8 This is a three-dimensional diagram of a single-sided worm gear lifting mechanism and a rotary support device.
[0039] Figure 9 A front view of the worm gear lifting mechanism during lifting and lowering;
[0040] Figure 10 This is a 3D view of a worm gear lifting mechanism;
[0041] Figure 11 This is a three-dimensional diagram of the straw pressing mechanism;
[0042] Figure 12 A perspective view of the vertical guide rail and its connectors;
[0043] Figure 13 This is a top view of the slide screw module;
[0044] Figure 14 This is a diagram showing the combination of the scissor lift mechanism and the slide screw module.
[0045] Figure 15 This is a diagram showing the combination of the straw feeding module and the straw pressing mechanism;
[0046] Figure 16 A cross-sectional view perpendicular to the axis of the grass-feeding ratchet;
[0047] Figure 17 A 3D view of the hay delivery module;
[0048] Figure 18 A schematic diagram showing three omnidirectional grass checkerboard laying modes;
[0049] Figure 19 A schematic diagram of a comprehensive grass checkerboard paving scheme.
[0050] Explanation of reference numerals in the attached figures:
[0051] Tracked chassis 1: Track 101, motor reducer 102, track drive motor 103, track support platform 104, track roller 105, bracket 106, guide wheel 107, track roller 108, drive wheel 109;
[0052] Slewing support device 2: vertical guide rail 201, slewing motor 202, slewing support base 203, outer slewing ring 204, inner slewing ring 205, external gear 206, stud 207, slewing support 208, internal gear 209;
[0053] Laying device 3: Worm gear lifting mechanism 31, worm gear first-stage reducer 311, first transmission rod 312, worm gear lifting motor 313, reducer support plate 314, lead screw sleeve 315, second transmission rod 316, worm gear second-stage reducer 317, lifting lead screw 318, lead screw seat 319; grass pressing mechanism 32, slide table lead screw module 321, lead screw 3211, stepper motor 3212, slide table 3213, linear double guide rail 3214, lead screw bearing seat 3215, slider 3216, scissor lifting mechanism 322, sliding support frame 32 21. Telescopic rod 3222. Stepper electric push rod 3223. Inner scissor lift 3224. Outer scissor lift 3225. Scissor lift support frame 3226. Sliding link 3227. Fixed support frame 3228. Scissor lift shaft 3229. Hay feeding module 323. Hay pressing box 3201. Hay pressing knife 3202. Slot 3203. Vertical slider 3204. Vertical slide table 3205. Photoelectric switch 3206; Hay feeding ratchet 3231. Hay feeding ratchet shaft 3232. Hay feeding box 3233. Hay feeding motor 3234. V-belt 3235. V-belt pulley 3236;
[0054] Control box 4;
[0055] Camera 5. Detailed Implementation
[0056] The present invention will be further described below with reference to the embodiments.
[0057] See Figure 1-19 As can be seen, this utility model is a small all-around grass checkerboard laying vehicle, which consists of a tracked chassis 1, a slewing support device 2, a laying device 3, a control box 4, and a camera 5.
[0058] The tracked chassis 1 serves as the installation base, and is connected to and equipped with a slewing support device 2, a laying device 3, a control box 4, and a camera 5; the tracked chassis 1 is driven to move.
[0059] The slewing support device 2 is provided with a slewing support base 203 that is driven by a slewing motor 202 to rotate along the top surface of the track platform;
[0060] The laying devices 3 are symmetrically arranged on both sides of the rotary support base 203. Each laying device 3 has the same structure, including a worm gear lifting mechanism 31 and a grass pressing mechanism 32. The grass pressing mechanism 32 is connected to the rotary support base 203 through the worm gear lifting mechanism 31, and the worm gear lifting mechanism 31 drives the grass pressing mechanism 32 to rise and fall. The grass pressing mechanism 32 is driven to rise until its bottom surface is higher than the track chassis 1. Then, the rotary motor 202 of the rotary support device 2 works, driving the rotary support base 203 to rotate 90°. After rotation, the grass pressing mechanism 32 is driven to fall to the working position to carry out the laying work. The grass pressing mechanism 32 includes a slide screw module 321 and a scissor lift. Mechanism 322, grass feeding module 323, grass pressing box 3201, grass pressing blade 3202, and slide screw module 321 are arranged at the top inside the grass pressing box 3201 along the length direction of the grass pressing box 3201. The slide screw module 321 drives the scissor lifting mechanism 322 to move along the length direction of the grass pressing box 3201. The grass pressing blade 3202 is hinged to the blade shaft below the scissor lifting mechanism 322. The operation of the scissor lifting mechanism 322 causes the grass pressing blade 3202 to rise or fall. A grass pressing groove is provided on the bottom plate of the grass pressing box 3201 at a position corresponding to the grass pressing blade 3202. The grass pressing blade 3202 is driven to move along the grass pressing groove to complete the grass pressing work. The grass feeding module 323 feeds grass mats to the grass pressing box 3201.
[0061] The control box 4 is electrically connected to the tracked chassis 1, the slewing support device 2, the laying device 3, and the camera 5; the control box 4 is used to control the operation of electrical components such as the tracked chassis 1, the slewing support device 2, the laying device 3, and the camera 5.
[0062] Two cameras 5 are provided, and the two cameras 5 are fixed on the front and rear sides of the rotary support base 203; the cameras 5 are respectively connected to the center of the base plate of the rotary support base 203; both cameras 5 transmit image information to the control box 4.
[0063] See Figures 1-3 It can be seen that the tracked chassis 1 serves as the installation base, and is connected to the slewing support device 2, the laying device 3, the control box 4, and the camera 5; the tracked chassis 1 is driven to move.
[0064] The tracked chassis 1 includes a track 101, a motor reducer 102, a track drive motor 103, a track support platform 104, track rollers 105, a bracket 106, guide wheels 107, support rollers 108, and drive wheels 109. The track drive motor 103 is connected to the drive wheel 109 through the motor reducer 102. The drive wheel 109 is located at one end of the track 101 and is connected to drive the track 101. The guide wheel 107 is located at the other end of the track 101. The track 101 is provided with a bracket 106. The upper side of the bracket 106 is connected to and supports the top surface of the track 101 through the track rollers 105. The support rollers 108 are located on the upper side of the bracket 106 and are connected to the track 101. The track support platform 104 is located above the track 101 and is used to connect and install the slewing support device 2.
[0065] The track support platform 104 is connected to the axle of the drive wheel 109 and the axle of the guide wheel 107. The track drive motors 103 on the left and right sides achieve turning and U-turns through differential rotation.
[0066] See Figure 1 , Figures 4-6 It can be seen that the slewing support device 2 includes vertical guide rails 201, a slewing motor 202, a slewing support base 203, a slewing outer ring 204, a slewing inner ring 205, an external gear 206, a stud 207, a slewing support 208, and an internal gear 209. Four vertical guide rails 201 are provided, and the four vertical guide rails 201 are bolted together and fixed to both sides of the slewing support base 203. The slewing support 208 bears the load and is connected to the track support platform 104. The slewing support 208 is fixedly engaged with the slewing inner ring 205 via the stud 207, and the external gear 206 is engaged and fixed. Inside the inner rotating ring 205; the inner rotating ring 205 is rotatably engaged with the outer rotating ring 204 through balls and spacers, and the outer rotating ring 204 is fixedly engaged with the rotating support body 203 through studs; the rotating motor 202 is fixedly connected to the rotating support body 203 by bolts, and the rotating motor 202 is connected to drive the internal gear 209; the internal gear 209 meshes with the external gear 206, the rotating motor 202 works, driving the internal gear 209 to rotate along the external gear 206, thereby driving the rotating support body 203 to rotate.
[0067] See Figures 8-17It can be seen that there are two worm gear lifting mechanisms 31 with identical structures, located on both sides of the rotary support base 203. Each worm gear lifting mechanism 31 includes a worm gear first-stage reducer 311, a first transmission rod 312, a worm gear lifting motor 313, a reducer support plate 314, a lead screw sleeve 315, a second transmission rod 316, a worm gear second-stage reducer 317, a lifting lead screw 318, and a lead screw seat 319. The reducer support plate 314 is bolted to the side of the rotary support base 203 and extends outward to support the entire worm gear lifting mechanism 31. The output end of the worm gear lifting motor 313 is connected to the beginning end of the first transmission rod 312. There are two worm gear first-stage reducers 311 with identical structures. Device 311 is fixed on reducer support plate 314. Worm gear first-stage reducer 311 is spaced apart and connected to first transmission rod 312. There are two second transmission rods 316 with the same structure. The middle part of the second transmission rod 316 is connected to worm gear first-stage reducer 311, and the two ends of the second transmission rod 316 are connected to worm gear second-stage reducer 317. Worm gear second-stage reducer 317 is connected and installed on reducer support plate 314. Worm gear second-stage reducer 317 drives lifting screw 318. The upper part of worm gear second-stage reducer 317 is provided with screw sleeve 315. The top of lifting screw 318 is fitted into screw sleeve 315. Lifting screw 318 rises and falls along screw sleeve 315. The bottom end of lifting screw 318 is connected to grass pressing mechanism 32 through screw seat 319.
[0068] Two grass-pressing mechanisms 32 are provided, located at the lower part of two worm gear lifting mechanisms 31. The grass-feeding module 323 is fixed to one end of the grass-pressing box 3201. The grass-feeding module 323 includes a grass-feeding ratchet 3231, a grass-feeding ratchet shaft 3232, a grass-feeding box 3233, a grass-feeding motor 3234, a V-belt 3235, and a V-belt pulley 3236. The grass-feeding module 323 is fixedly connected to one end of the grass-pressing box 3201. The bottom of the grass-feeding box 3233 facing the grass-pressing knife 3202 has a grass outlet, and the top opening of the grass-feeding box 3233 is set as a grass inlet. The grass-feeding ratchet shaft 3232 is provided inside the grass-feeding box 3233. The grass-feeding ratchet 3231 is provided at intervals on the grass-feeding ratchet shaft 3232. The grass-feeding ratchet shaft 3232 is driven by the grass-feeding motor 3234 to evenly transport the grass curtain into the grass-pressing box 3201 through the grass outlet.
[0069] The feeding ratchet shaft 3232 is rotatably mounted on the feeding box 3233. One end of the feeding ratchet shaft 3232 is pin-connected to the V-belt pulley 3236. The feeding motor 3234 is located under the inclined plate on one side of the feeding box 3233. The feeding motor 3234 drives the V-belt pulley 3236 to rotate, thereby driving the rotation of the feeding ratchet shaft 3232. After the straw mat enters the feeding box 3233 through the straw inlet, the feeding ratchet 3231 rotates, pushing the straw mat to one side of the inclined plate. After being transported downward along the inclined plate, it is conveyed into the pressing box 3201 through the straw outlet.
[0070] To make grass feeding control more convenient, a photoelectric switch 3206 is provided at the end of the grass pressing box 3201 away from the grass feeding box 3233. The photoelectric switch is electrically connected to the control box 4 and sends information to the control box 4 that the grass rod or grass fence / mat feeding is complete, so that the control box 4 can control the grass feeding motor 3234 to stop working.
[0071] In addition, to facilitate even grass delivery and improve the sand control and stabilization effect, the grass stalks can be woven into grass curtains before being transported, thus ensuring even delivery and laying of the grass stalks, and better stability after laying.
[0072] The hay-pressing box 3201 consists of a top plate, a bottom plate, and support columns at the corners. The upper part of the top plate of the hay-pressing box 3201 has two slots 3203, and the lower part of the top plate is connected to a slide screw module 321. The two ends of the slide screw module 321 are fixed to the connecting rods on the front and rear sides of the hay-pressing box 3201, and the connecting rods provide connection and support. A vertical slide 3205 is fitted and fixed within the slots 3203 to increase connection stability. The vertical slide 3205 is fixed to a vertical slider 3204, which slides in conjunction with a vertical guide rail 201. The vertical guide rail 201 is bolted to the rotary support base 203. Driven by the worm gear lifting mechanism 31, the hay-pressing mechanism 32 can move up and down along the vertical guide rail 201, maintaining stability during movement.
[0073] The slide block screw module 321 includes a screw 3211, a stepper motor 3212, a slide block 3213, a linear double guide rail 3214, a screw bearing seat 3215, and a slider 3216. The linear double guide rail 3214 is bolted to the top plate of the hay pressing box 3201. The slider 3216 slides with the linear double guide rail 3214, and the slide block 3213 is fixed on the slider 3216. The stepper motor 3212 drives the first end of the screw 3211, and the end of the screw 3211 is connected to the hay pressing box 3201 through the screw bearing seat 3215. When the stepper motor 3212 operates, it drives the screw 3211 to rotate, thereby causing the slider 3216 and the slide block 3213 to move linearly.
[0074] The scissor lift mechanism 322 is fixed to the lower part of the slide table 3213 and includes a sliding support frame 3221, a telescopic rod 3222, a stepper electric push rod 3223, an inner scissor fork 3224, an outer scissor fork 3225, a shear lift support frame 3226, a sliding connecting rod 3227, a fixed support frame 3228, and a scissor fork shaft 3229.
[0075] The scissor lift support frame 3226 has two parts, an upper part and a lower part, and the two parts have the same structure. An inner scissor fork 3224 and an outer scissor fork 3225 are connected between the upper and lower scissor lift support frames 3226. The inner scissor fork 3224 and the outer scissor fork 3225 are hinged together by a scissor fork shaft 3229. The upper scissor lift support frame 3226 is fixedly connected to the slide table 3213 by bolts. A stepper electric push rod 3223 is also connected between the upper and lower scissor lift support frames 3226. The base and telescopic rod 3222 of the stepper electric push rod 3223 are respectively hinged to the upper and lower scissor lift support frames 3226. The two ends of the inner scissor fork 3224 and the outer scissor fork 3225 are also hinged to the upper and lower scissor lift support frames 3226 respectively. The hinge connection hole on one side between the upper and lower scissor lift support frames 3226 is a long slot hole, which provides space for the inner scissor fork 3224 and the outer scissor fork 3225 to move. The stepper electric push rod 3223 drives the telescopic rod 3222 to extend and retract, thereby driving the angle between the inner scissor fork 3224 and the outer scissor fork 3225 of the scissor lift support frame 3226, thus realizing the lifting and lowering of the scissor lift support frame 3226.
[0076] The control box 4 is electrically connected to the worm gear lifting motor 313, rotary motor 202, camera 5, stepper motor 3212, stepper electric push rod 3223, photoelectric switch, and track drive motor 103 to realize information transmission and control.
[0077] To achieve omnidirectional paving of grass checkerboard, the workflow of this utility model is as follows:
[0078] See Figure 8-10 A small, all-around grass checkerboard laying vehicle. Before operation, the worm gear lifting mechanism 31 lifts and suspends the grass pressing mechanism 32, and the laying vehicle moves to the laying area in the desert to prepare for laying.
[0079] The operation of the worm gear lifting motor 313 drives the rotation of the lifting screw 318, which in turn causes the grass pressing mechanism 32 to descend until it contacts the ground.
[0080] See Figure 11-14 When the scissor lifting mechanism 322 is working, the grass pressing blade 3202 is lifted by the drive.
[0081] Then see Figure 15-17Through the operation of the grass feeding motor 3234 in the grass feeding module 323, and the rotation of the grass feeding ratchet 3231, the grass curtain is pushed onto the bottom plate of the grass pressing box 3201 of the grass pressing mechanism 32.
[0082] See Figure 11-14 When the scissor-type lifting mechanism 322 operates, the straw-pressing blade 3202 is driven to descend, pressing the straw mat directly below it into the sand. Through the operation of the stepper motor 3212 in the slide screw module 321, the straw-pressing blade 3202 moves along the pressing groove to complete the straw pressing work. When the straw-pressing blade 3202 presses down on the straw, the two ends of the straw mat's stalks rise upright. The middle part of the stalks is first pressed into the sand surface 20-30cm below the sand surface through the pressing groove, and the two ends of the stalks remain upright on the sand surface after passing through the pressing groove. Afterwards, the straw-pressing blade 3202 rises back to its original position, ready for the next operation.
[0083] See Figure 18 The image shows three paving schemes: U-shaped paving, left L-shaped paving, and right L-shaped paving. The dotted line in the image represents the state of the paving vehicle after the slewing support device 2 rotates 90 degrees.
[0084] See Figure 19 As shown, a method for laying a small, all-around grass checkerboard paving vehicle includes the following steps:
[0085] (1) The paving vehicle moves in a straight line and lays U-shaped grass squares. The first grass square is laid first. The grass pressing mechanism 32 is located on both sides of the travel axis. The grass pressing mechanism 32 is driven to work and lay the grass. After the grass is laid, the grass pressing mechanism 32 is driven to rise and the slewing support device 2 rotates 90 degrees so that the grass pressing mechanism 32 is located on the front and rear sides of the paving vehicle. The grass pressing mechanism 32 on the rear side of the paving vehicle lays the grass (at this time, the grass pressing mechanism 32 on the rear side of the paving vehicle does not work), thus completing the first U-shaped laying. Then the grass pressing mechanism 32 is driven to rise and the slewing support device 2 rotates 90 degrees so that the grass pressing mechanism 32 is located on both sides of the travel axis. The paving vehicle moves in a straight line and lays the second grass square. The bottom of the U-shape of the second grass square closes the opening of the first grass square, thus completing the laying of the first row of grass squares in sequence.
[0086] (2) After reaching the end point, the paving vehicle turns 180 degrees and travels in the opposite direction to lay the left L-shaped grass squares. The first grass square is laid, with the grass pressing mechanism 32 positioned on both sides of the travel axis. The grass pressing mechanism 32, located away from the first grass square, is driven to work and lay the grass. After laying, the grass pressing mechanism 32 is driven to rise, and the slewing support device 2 rotates 90 degrees, positioning the grass pressing mechanism 32 on both the front and rear sides of the paving vehicle. The grass pressing mechanism 32 on the rear side of the paving vehicle then lays the grass (at this time...). (The grass pressing mechanism 32 at the rear of the paving vehicle is not working), thus completing the first L-shaped paving. The paved L-shaped structure and the side of the already paved U-shaped structure form a U-shape. Then the grass pressing mechanism 32 is driven to rise, and the slewing support device 2 rotates 90 degrees, so that the grass pressing mechanism 32 is located on both sides of the travel axis. The paving vehicle travels in a straight line to lay the second grass square. The bottom of the L-shape of the second grass square closes the opening of the first grass square, thus completing the laying of the second row of grass squares in sequence.
[0087] (3) After the paving reaches the end point, the paving vehicle turns 180 degrees and moves in the opposite direction to lay the right L-shaped grass square. The right L-shaped grass square is laid in the same way as the left L-shaped grass square in step (2).
[0088] (4) Repeat steps two and three until the work is completed.
[0089] After step (4) is completed, in order to improve the sand control effect of the paving area, the paving vehicle goes around the side edge of the grass grid in the paved area, and uses the grass pressing mechanism 32 on the side of the grass grid close to the paved grass grid to lock the edge, so as to further improve the working life of the edge of the paved grass grid and improve the sand control effect.
[0090] The above description is only a preferred embodiment of the present utility model and does not limit the scope of the present utility model. All equivalent structural changes made based on the content of the present utility model specification and drawings are included within the scope of the present utility model.
Claims
1. A compact omnidirectional turf-laying vehicle comprising: Tracked chassis (1), slewing bearing device (2), laying device (3), control box (4), camera (5), characterized in that: The tracked chassis (1) serves as the installation base, and is connected to a slewing support device (2), a laying device (3), a control box (4), and a camera (5); the tracked chassis (1) is driven to move. The slewing support device (2) is equipped with a slewing support base (203) driven by a slewing motor (202) to rotate along the top surface of the track chassis; the laying devices (3) are symmetrically arranged on both sides of the slewing support base (203), and each laying device (3) has the same structure, including a worm gear lifting mechanism (31) and a grass pressing mechanism (32); the grass pressing mechanism (32) is connected to the slewing support base (203) through the worm gear lifting mechanism (31), and the worm gear lifting mechanism (31) drives the grass pressing mechanism (32) to rise and fall; the grass pressing mechanism (32) is driven to rise until the bottom surface of the grass pressing mechanism (32) is higher than the track chassis (1), and then the slewing motor (202) of the slewing support device (2) works, driving the slewing support base (203) to rotate 90°, and after rotation, the grass pressing mechanism (32) is driven to fall down to the working position to carry out the laying work; the grass pressing machine The structure (32) includes a slide screw module (321), a scissor lifting mechanism (322), a hay feeding module (323), a hay pressing box (3201), and a hay pressing blade (3202). The slide screw module (321) is located at the top of the hay pressing box (3201) along the length of the hay pressing box (3201). The slide screw module (321) drives the scissor lifting mechanism (322) to move along the length of the hay pressing box (3201). The pressing blade (3202) is hinged to the blade shaft below the scissor lifting mechanism (322). The operation of the scissor lifting mechanism (322) causes the pressing blade (3202) to rise or fall. A pressing groove is provided on the bottom plate of the pressing box (3201) at a position corresponding to the pressing blade (3202). The pressing blade (3202) is driven to move along the pressing groove to complete the pressing work. The grass feeding module (323) feeds the grass mat to the pressing box (3201). The control box (4) is electrically connected to the tracked chassis (1), the slewing support device (2), the laying device (3), and the camera (5); there are two cameras (5), which are fixed on the front and rear sides of the slewing support base (203); the cameras (5) are respectively connected to the center of the base plate of the slewing support base (203); both cameras (5) transmit image information to the control box (4).
2. The compact omnidirectional turf waffle laying vehicle of claim 1, wherein: The tracked chassis (1) includes a track (101), a motor reducer (102), a track drive motor (103), a track support platform (104), track rollers (105), a bracket (106), guide wheels (107), support rollers (108), and drive wheels (109). The track drive motor (103) is connected to the drive wheel (109) through the motor reducer (102). The drive wheel (109) is located at one end of the track (101) and connected to the drive wheel. Track (101), guide wheel (107) is provided at the other end of track (101), track (101) is provided with bracket (106), the upper side of bracket (106) is connected to support the top surface of track (101) through track support wheel (105), support wheel (108) is provided on the upper side of bracket (106) and connected to track (101); track support platform (104) is provided above track (101), track support platform (104) is used to connect and install slewing support device (2).
3. The compact omnidirectional turf waffle laying vehicle of claim 1, wherein: The slewing support device (2) includes vertical guide rails (201), a slewing motor (202), a slewing support base (203), an outer slewing ring (204), an inner slewing ring (205), an external gear (206), a stud (207), a slewing support (208), and an internal gear (209). Four vertical guide rails (201) are provided, and the four vertical guide rails (201) are bolted to both sides of the slewing support base (203). The slewing support (208) bears the load and is connected to the track support platform (104). The slewing support (208) is fixedly engaged with the inner slewing ring (205) via the stud (207), and the external gear (206) is engaged. The inner ring (205) is fixed inside the inner ring of the rotary motion; the inner ring (205) rotates with the outer ring (204) through balls and spacers, and the outer ring (204) is fixed with the rotary support body (203) through studs; the rotary motor (202) is fixed to the rotary support body (203) by bolts, and the rotary motor (202) is connected to drive the internal gear (209); the internal gear (209) meshes with the external gear (206), the rotary motor (202) works, and drives the internal gear (209) to rotate along the external gear (206), thereby driving the rotary support body (203) to rotate.
4. The compact omnidirectional turf waffle laying vehicle of claim 1, wherein: Two identical worm gear lifting mechanisms (31) are provided, located on opposite sides of the rotary support base (203). Each worm gear lifting mechanism (31) includes a worm gear first-stage reducer (311), a first transmission rod (312), a worm gear lifting motor (313), a reducer support plate (314), a lead screw sleeve (315), a second transmission rod (316), a worm gear second-stage reducer (317), a lifting lead screw (318), and a lead screw seat (319). The reducer support plate (314) is bolted to the side of the rotary support base (203) and extends outward to support the entire worm gear lifting mechanism (31). The output end of the worm gear lifting motor (313) is connected to the beginning end of the first transmission rod (312). Two identical worm gear first-stage reducers (311) are provided. Fixed on the reducer support plate (314), the worm gear first stage reducer (311) is spaced and connected to the first transmission rod (312). There are two second transmission rods (316) with the same structure. The middle part of the second transmission rod (316) is connected to the worm gear first stage reducer (311), and the two ends of the second transmission rod (316) are connected to the worm gear second stage reducer (317). The worm gear second stage reducer (317) is connected and set on the reducer support plate (314). The worm gear second stage reducer (317) drives the lifting screw (318). The upper part of the worm gear second stage reducer (317) is provided with a screw sleeve (315). The top of the lifting screw (318) is fitted into the screw sleeve (315). The lifting screw (318) rises and falls along the screw sleeve (315). The bottom end of the lifting screw (318) is connected to the grass pressing mechanism (32) through the screw seat (319).
5. The compact omnidirectional sod-laying vehicle of claim 1, wherein: Two grass-pressing mechanisms (32) are provided, located at the lower part of two worm gear lifting mechanisms (31); the grass-feeding module (323) is fixed to one end of the grass-pressing box (3201); the grass-feeding module (323) includes a grass-feeding ratchet (3231), a grass-feeding ratchet shaft (3232), a grass-feeding box (3233), a grass-feeding motor (3234), a V-belt (3235), and a V-belt pulley (3236), and the grass-feeding module (323) is fixedly connected to one end of the grass-pressing box (3201). At the end, the bottom of the feeding box (3233) facing the pressing knife (3202) is provided with a grass outlet, and the top opening of the feeding box (3233) is provided as a grass inlet. The feeding box (3233) is provided with a feeding ratchet shaft (3232), and the feeding ratchet shaft (3232) is provided with feeding ratchets (3231) spaced apart. The feeding ratchet shaft (3232) is driven by the feeding motor (3234) to evenly convey the grass curtain into the pressing box (3201) through the grass outlet.
6. The compact omnidirectional turf waffle laying vehicle of claim 5, wherein: The feeding ratchet shaft (3232) is rotatably mounted on the feeding box (3233). One end of the feeding ratchet shaft (3232) is pin-connected to the V-belt pulley (3236). The feeding motor (3234) is located under the inclined plate on one side of the feeding box (3233). The feeding motor (3234) drives the V-belt pulley (3236) to rotate, thereby driving the feeding ratchet shaft (3232) to rotate. After the straw curtain enters the feeding box (3233) through the straw inlet, the feeding ratchet (3231) rotates, pushing the straw curtain to one side of the inclined plate. After being transported downward along the inclined plate, it is conveyed into the pressing box (3201) through the straw outlet.
7. The small all-around grass checkerboard laying vehicle according to claim 5, characterized in that: The ballast box (3201) consists of a top plate, a bottom plate, and support columns at the corners. The top plate of the ballast box (3201) has two slots (3203) on its upper part, and the lower part of the top plate is connected to a slide screw module (321). The two ends of the slide screw module (321) are fixed to the connecting rods on the front and rear sides of the ballast box (3201), and the connecting rods play a connecting and supporting role. The vertical slide (3205) is fitted and fixed in the slots (3203) to increase the stability of the connection. The vertical slide (3205) is fixed on the vertical slider (3204), and the vertical slider (3204) slides with the vertical guide rail (201). The vertical guide rail (201) is fixed to the rotary support base (203) by bolts. Under the drive of the worm gear lifting mechanism (31), the ballast mechanism (32) can move up and down along the vertical guide rail (201) to maintain the stability of the movement.
8. The small all-around grass checkerboard laying vehicle according to claim 7, characterized in that: The slide block screw module (321) includes a screw (3211), a stepper motor (3212), a slide block (3213), a linear double guide rail (3214), a screw bearing seat (3215), and a slider (3216). The linear double guide rail (3214) is bolted to the top plate of the hay pressing box (3201). The slider (3216) slides with the linear double guide rail (3214). The slide block (3213) is fixed on the slider (3216). The stepper motor (3212) drives the first end of the screw (3211). The end of the screw (3211) is connected to the hay pressing box (3201) through the screw bearing seat (3215). When the stepper motor (3212) works, it drives the screw (3211) to rotate, thereby driving the slider (3216) and the slide block (3213) to move linearly.