CN117063675A - Integrated desert plant intelligent conservation robot - Google Patents

Abstract

The invention provides an integrated intelligent desert plant conservation robot which comprises five main devices, namely a ditching device, a seeding device, a discharging device, a laying device and a spraying device. The ditching device is used for ploughing a furrow in sandy land, the seeding device is used for scattering sandy plant seeds into the furrow, the discharging device is used for peeling off a single layer of the grass roll and conveying the single layer of the grass roll to the laying device, the laying device is used for carrying out inserting and pressing on the straw mat by using the disc type grass pressing wheel, the earthing wheel is used for filling sand soil for reinforcing the straw mat, and the spraying device is used for spraying chemical sand-fixing materials for enhancing the sand-fixing effect. The invention realizes the full-automatic single-layer stripping and discharging of the straw mat rolls, ditches and then lays and finally covers soil to deepen the insertion depth of the straw mat, has a field passable vehicle chassis, realizes an engineering-biological-chemical combined sand control mode through the combined operation of all devices, reduces the labor intensity, improves the sand control efficiency and contributes to the desert control.

Description

Integrated desert plant intelligent conservation robot

Technical field

The invention relates to the field of automated desert management, and in particular to an integrated desert plant intelligent conservation robot.

Background technique

At this stage, sand fixation technology mainly includes sand barrier sand fixation technology and sand fixation afforestation technology. In desert prevention and control engineering projects, it is essential to fix the drifting sand and prevent its migration. Therefore, setting up sand barriers is the most important thing to fix the sand dunes. a measure. Sand barrier and sand fixation technology are generally divided into mechanical sand barriers and industrial material sand fixation. Today, wind barriers are mainly formed by laying crop straw, nylon and other materials through low-automation agricultural and forestry machinery, manual and power storage. However, due to the huge amount of work, low-intelligence agricultural and forestry machinery or manual operation efficiency is low, and the construction of sand barriers is disorganized, making it impossible to complete the laying of large-area sand barriers.

Another technology is to use a variety of sand-fixing agent materials and spray them on the surface of quicksand to achieve the purpose of sand-fixing. However, it mainly uses manual work, which is expensive and the treated desert surface is not conducive to the growth of plants. , the cycle of desertification control is relatively long. In addition, although there has been some research on sand fixation equipment, most of the equipment has a low degree of automation and still requires more manual investment. Although there are some sand-fixing trucks, they are based on trucks and still require a certain amount of manual input when working.

Therefore, it is very necessary to develop a machine for laying sand-fixing grass squares with a higher degree of automation, and there is an urgent need to research a mechanized sand-fixing equipment with a higher degree of intelligence.

Contents of the invention

In order to solve the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide an integrated desert plant intelligent conservation robot, which can solve the defects of low efficiency of artificial grass planting grids, high human labor intensity and high investment in large equipment, and has a high degree of intelligence. High, it can conserve desert plants with high efficiency.

Specifically, the present invention provides an integrated desert plant intelligent conservation robot, which includes a self-propelled chassis, a sowing device, a discharging device, a spraying device, a trenching device and a laying device. The sowing device, the discharging device and the spraying device They are arranged on the self-propelled chassis in turn, and the trenching device and the laying device are both arranged on the bottom of the self-propelled chassis;

The trenching device is arranged at the front end of the lower part of the self-propelled chassis. The trenching device includes a first electric push rod, a plow support rod and a furrowing plow that are connected in sequence. The first electric push rod and the plow support rod are connected in sequence. The middle opening is connected, and the furrowing plow is arranged at the outer end of the plow support rod. When the first electric push rod extends, it drives the movement of the plow support rod and further drives the movement of the furrowing plow;

The laying device is arranged behind the trenching device. The laying device includes a second electric push rod, a connecting rod assembly, a disc-type grass pressing wheel and two soil covering wheels arranged in a symmetrical V-shaped structure. ; The disc-type grass-pressing wheel and the soil-covering wheel are respectively connected to the first end of the connecting rod assembly, and the second end of the connecting rod assembly is connected to the second electric push rod; the second electric push rod is used to control all The introduction and retraction of the laying device;

The sowing device is arranged at the front end of the upper part of the self-propelled chassis. The sowing device includes a screw motor, a screw rod, a cylinder arranged outside the screw rod, a feed port and a discharge port. The screw motor is supported by a support. The base is installed and connected to the screw rod. The cylinder is supported and fixed with the help of the support seat and is arranged outside the screw rod. The upper and lower parts of the cylinder are respectively provided with a feed port and a discharge port. The screw rod The motor drives the screw rod to rotate so that the seeds are broadcast from the discharge port;

The discharging device is arranged behind the sowing device. The discharging device includes a grass grabbing unit and a grass feeding unit. The entire material box is funnel-shaped. The grass grabbing unit and the grass feeding unit are arranged on The grass grabbing unit is inside the material box and is arranged above the grass feeding unit. The grass grabbing unit includes a first transmission unit arranged on both sides of the material box. The first transmission unit includes a first power shaft, The first driven shaft, the first synchronous wheel and the first conveyor belt. The first power shaft is connected to the first reduction motor via the first sprocket. The first driven shaft is arranged on the first power shaft. Above, the first power shaft and the first driven shaft are provided with a plurality of synchronous wheels, and the first conveyor belt is provided outside the synchronous wheels on the first power shaft and the first driven shaft. The shaft is connected to the output shaft of the first reduction motor by means of the first chain;

The grass feeding unit includes a second transmission unit and a claw unit arranged oppositely on both sides. The claw unit and the second transmission unit are arranged alternately. The second transmission unit includes a second power shaft, a second slave unit, and a second transmission unit. a driving shaft, a second synchronous wheel and a second conveyor belt; the second power shaft is connected to the second reduction motor via a second sprocket; the second driven shaft is arranged above the second power shaft, so A plurality of synchronous wheels are provided on both the second power shaft and the second driven shaft, and the second conveyor belt is provided outside the synchronous wheels on the second power shaft and the second driven shaft. The second power shaft uses The second chain is connected to the output shaft of the second reduction motor; the claw unit includes a claw and a third chain, the third chain is connected to the second reduction motor, and the claw is arranged on the third The outside of the chain; the grapple on the first conveyor belt of the grass grabbing unit captures the grass roll and pulls the grass roll into the grass feeding unit below. The second conveyor belt and the claw unit pull the grass roll out to the ground through squeezing and friction. ;

The spraying device is arranged behind the discharging device. The spraying device includes a micro water pump, a water tank and evenly distributed nozzles. The liquid in the water tank is transported to multiple nozzles by means of the micro water pump and sprayed out;

The furrowing plow is a replaceable blade, and the two ends of the blade are respectively fixed on the blade bracket and the furrowing plow. The middle part of the plow support rod is connected to the first electric push rod, and the end of the plow support rod is connected to the chassis; using The blade cuts the laid grass rolls to achieve cross-shaped laying.

Preferably, the nozzle is a narrow-angle fan-shaped atomizing nozzle.

Preferably, the grass roll is a bidirectional grass roll with two layers of same-direction grass rolls on the outer ring.

Preferably, the self-propelled chassis is a wheeled power chassis, and the self-propelled chassis is provided with a steering gear and multiple sets of suspensions. The multiple sets of suspensions include two upper and lower sets of cross arms and shock absorbing springs.

Preferably, the claw is driven to open or close by a micro motor.

Preferably, four first conveyor belts and four second conveyor belts are provided on each side.

Preferably, the connecting rod assembly includes a first connecting rod, a second connecting rod, a third connecting rod and two fourth connecting rods, and the output end of the second electric push rod is connected to the first end of the second connecting rod. , the second end of the second link is rotatably connected to the first end of the third link and the middle position of the two fourth links, and the second end of the third link is rotatably connected to the middle position of the first link. One end of the fourth connecting rod is connected to the center of a soil-covering wheel, and the end of the first connecting rod is connected to the center of the disc-type grass pressing wheel.

Preferably, the water tank contains medicine.

Preferably, the furrowing plow is arranged at an angle.

Preferably, the electric push rod and the plow support rod are both provided with mounting holes in the middle.

Compared with the prior art, the present invention has the following beneficial effects:

(1) The structure of the present invention is an integrated desert plant intelligent conservation robot. Its overall structure includes an integrated trenching device, a seeding device, a discharging device, a laying device and a spraying device, which can realize multiple functions; the entire working process combines It eliminates multiple work processes such as trenching, discharging, pressing grass, backfilling, spreading, and spraying, and achieves more efficient work such as laying grass grids, reducing the amount of manual labor, greatly improving work efficiency, and improving the quality of laying. .

(2) The self-propelled chassis of the present invention is equipped with an independent suspension, has good shock absorption function, has strong overall adaptability, and is suitable for use in desert environments.

(3) The discharging device of the present invention realizes the automatic single-layer peeling of the straw roll, and can realize the discharging of the straw roll without manual intervention, which greatly reduces the workload of personnel and improves the overall degree of automation.

(4) The grass pressing device of the present invention is equipped with a soil covering wheel, which can backfill the soil on both sides of the ditch, deepen the insertion depth, and make the grass grid more stable. The V-shaped soil covering wheel can better cover the soil and compress the grass. .

(5) The device of the present invention realizes the combination of three methods: mechanical device trenching and laying grass squares, plant roots for sand fixation, and chemical sand fixation agents to enhance the sand fixation effect. It effectively improves the overall sand fixation effect and the whole process is highly efficient.

Description of the drawings

Figure 1 is a schematic side view of the integrated desert plant intelligent conservation robot of the present invention;

Figure 2 is a three-dimensional schematic diagram of the integrated desert plant intelligent conservation robot of the present invention;

Figure 3 is a schematic diagram of the trenching device of the present invention;

Figure 4 is a schematic structural diagram of the sowing device of the present invention;

Figure 5 is a schematic structural diagram of the discharging device of the present invention;

Figure 6 is a schematic structural diagram of the laying device of the present invention;

Figure 7 is a schematic structural diagram of the spray device of the present invention;

Figure 8 is a schematic structural diagram of a grass roll in an embodiment of the present invention.

Some of the reference marks are as follows:

1-furrowing device, 101-furrowing plow, 102-plow support rod, 103-first electric push rod;

2-seeding device, 201-round cover, 202-support seat, 203-feed port, 204-cylinder, 205-discharge port, 206-screw rod, 207-support, 208-screw motor;

3-discharging device, 30-material box; 301-first driving sprocket, 302-second power shaft, 303-first power shaft, 304-first reduction motor, 305-first chain, 306-second Driving sprocket, 307-second chain, 308-second reduction motor; 309-claw unit; 310-second transmission unit; 311-first transmission unit;

4-laying device, 401-first connecting rod, 402-second electric push rod, 403-disc grass pressing wheel, 404-second connecting rod, 405-third connecting rod, 406-fourth connecting rod, 407-soil covering wheel;

5-spray device, 501-sprinkler head, 502-water tank, 503-micro water pump;

6-Self-propelled chassis; 100-Grass roll.

Detailed ways

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

The present invention provides an integrated desert plant intelligent conservation robot, as shown in Figures 1 to 2, which includes a self-propelled chassis 6, a trenching device 1, a seeding device 2, a discharging device 3, a laying device 4 and a spraying device 5 . The sowing device 2, the discharging device 3 and the spraying device 5 are arranged on the self-propelled chassis in sequence, and the trenching device 1 and the laying device 4 are both arranged on the bottom of the self-propelled chassis 6.

As shown in Figure 3, the trenching device 1 is provided at the front end of the lower part of the self-propelled chassis and includes a first electric push rod 103, a plow support rod 102 and a furrowing plow 101 connected in sequence. The electric push rod 103 is connected to the plow support rod 102. In the middle part, the support rod 102 and the plow 101 are connected to form the furrowing device 1, and the furrowing plow 101 is tilted at a certain angle with the ground. When the electric push rod 103 is extended, it pushes the plow support rod 102 to move, thereby causing the plow 101 to move forward and down. In the specific embodiment, the first electric push rod 103 is connected to the middle opening of the plow support rod 102, the furrowing plow 101 is arranged at the front end of the plow support rod 102, and the movement of the first electric push rod 103 drives the movement of the plow support rod 102. And further drives the furrowing plow 101 to move forward and downward to perform the furrowing action.

The main component of the furrowing device is the furrowing plow. The furrowing device uses an electric push rod to control the launch and retraction of the furrowing plow. Driven by the electric push rod, it can effectively save the chassis space of the sand fixing truck and adapt to the working state (push out). and idle state (reclaimed). The furrow plow is equipped with replaceable blades, and the blades of the furrow plow can be replaced as needed during use.

As shown in Figure 4, the sowing device 2 is arranged at the front end of the upper part of the self-propelled chassis. The sowing device 2 includes a support base 202, a stand 207, a screw motor 208, a screw 206, a cylinder 204 arranged outside the screw 206, Inlet 203 and outlet 205. The screw motor 208 is installed with the help of a support and connected to the screw 206. The cylinder 204 is supported and fixed with the help of the support seat 202 and is arranged outside the screw 206. Feed ports 203 are respectively provided above and below the cylinder 204. There is a discharge port 205, and a round cover 201 is provided on the side of the cylinder 204. The screw motor 208 in the sowing device 2 drives the screw 206, and then the screw 206 spreads the seeds in the cylinder 204 into the ditch through the discharge port 205. The seeding device uses a screw conveyor mechanism to sow grass seeds. The screw motor 208 drives the screw 206 to rotate, so that grass species such as mugwort and sand rice are transported to the outlet 205 along with their rotation. The outlet 205 uses Connect the delivery hose to the seed opening on the furrow plow. The screw motor 208 is generally a stepper motor.

The seeding device is a plant sand-fixing mode adopted to address the shortcomings of grass grids. The seeding device uses a screw conveyor mechanism to sow grass seeds, and a stepper motor drives the screw to rotate, so that grass species such as mugwort and sand rice are transported to the outlet along with their rotation. Through the connection of the feeding hose between the outlet and the seeding opening installed on the furrowing plow, the grass seeds fall into the ditch as the furrowing plow operates. During the four or five years when the grass grid is effective, it will provide a reliable rooting and growth condition for the seeds. In this way, after the grass grid loses its effectiveness in four or five years, the sown grass seeds and tree seeds have already been planted in the weathered and sand-eroded grass grid. The deep roots grow and form a new layer of plant grass grid, making the sand fixation effect more significant.

As shown in Figure 5, the discharging device 3 is arranged behind the sowing device 2. The discharging device 3 includes a material box 30, a grass grabbing unit and a grass feeding unit. The material box 30 is funnel-shaped as a whole, and grass rolls are placed in the material box 30. . The grass grabbing unit and the grass feeding unit are arranged inside the material box, and the grass grabbing unit is arranged above the grass feeding unit. The grass grabbing unit includes a first transmission unit 311 arranged on both sides of the material box. The first transmission unit 311 includes a first power shaft. 303. The first driven shaft, the first synchronous wheel and the first conveyor belt. The first power shaft 303 is connected to the first reduction motor 304 by means of the first sprocket. The first driven shaft is arranged above the first power shaft. A plurality of synchronous wheels are provided on both the first power shaft and the first driven shaft. A first conveyor belt is provided outside the synchronous wheels on the first power shaft 303 and the first driven shaft. The first power shaft 303 relies on a first chain. 305 is connected to the output shaft of the first reduction motor 304.

The grass feeding unit includes a second transmission unit 310 and a claw unit 309 arranged oppositely on both sides. The claw unit 309 and the second transmission unit 310 are arranged alternately. The second transmission unit 310 includes a second power shaft 302 and a second driven shaft. , the second synchronous wheel and the second conveyor belt, the second power shaft is connected to the second reduction motor by means of the second sprocket, the second driven shaft is arranged above the second power shaft, the second power shaft and the second driven shaft A plurality of synchronous wheels are provided on the shafts. A second conveyor belt is provided outside the synchronous wheels on the second power shaft and the second driven shaft. The second power shaft 302 relies on the second chain 307 and the output shaft of the second reduction motor 308. connection, a first driving sprocket 301 and a second driving sprocket 306 are provided between the first chain 305 and the first reduction motor 304 and between the second chain 307 and the second reduction motor 308; the claw unit 309 includes a claw and a third Three chains, the third chain is connected to the second reduction motor, and the claw is set on the outside of the third chain; the grapple on the first conveyor belt of the grass grabbing unit captures the grass roll and pulls the grass roll into the grass feeding unit below. The two conveyor belts and the claw unit pull the grass roll out to the ground through squeezing and friction. The claws are driven by a micro motor. When the motor rotates forward, the claws extend to grab the grass. When the motor rotates reversely, the claws reset and release the grass roll.

After the grass roll is put into the feeding device, the middle and upper first driven sprocket will be under the action of the coil spring, so that the timing belt and the grass roll will fit together. Initially, the two first power shafts on both sides of the material box will rotate towards each other. Under the action of the friction of the synchronous belt and the weight of the grass roll, the first layer of the grass roll will be rolled downward and enter the grass feeding unit. After the head of the grass roll enters the grass feeding unit, the grass roll itself will rotate under the drive of the grass feeding unit. Through the detection of the lower torque sensor, the rotation direction of the grass roll is detected, and the steering information is fed back to the drive on both sides through the control system. A motor with a power shaft rotating causes the motor to drive the two first power shafts on both sides to rotate in the same direction as the grass roll to provide assistance for the rotation of the grass roll. At the same time, a pressure sensor module is installed at the bottom of the discharging device 3. When the grass roll is insufficient, the pressure sensor transmits a signal in time, and the forage loading vehicle or manual can load the fodder for the grass square sand fixing vehicle, which is simple and fast.

When the grass roll is placed in the funnel-shaped box, the motor drives the chain to rotate, and the claws on the chain of the claw assembly move accordingly. Driven by its micro motor, the claws straighten and clamp the grass roll through the tip of the front end. At the same time, through the feeding device, the power shaft drives the synchronous belt to promote the rotation of the grass roll, driving the grass into the two-layer conveyor belt of the clump unit. The middle part realizes the unfolding and transportation of cylindrical grass rolls. When the existing part of the grass roll begins to be unfolded and laid, the micro motor will drive the claw to rotate counterclockwise, separate from the straw mat, and reset.

As shown in Figure 8, the type of straw roll 100 is a two-way straw roll, and its production process is different from the original one-way straw roll. During the production process of the two-way straw roll, its outer layer is folded in one circle. If a one-way straw roll is used, during the grabbing process of the claws of the conveyor chain, the straw roll may be stuck due to force collision, and the straw roll cannot be transferred to the conveyor device; if an improved two-way straw roll is used , it can solve the problem of stuck claws.

In the specific working process, the discharging device consists of three parts: a material box, a grass grabbing unit and a grass feeding unit. The discharging work is completed under the cooperation of the three parts. The material box part adopts a funnel-shaped design, with four conveyor belts placed on each side. A grapple is installed on the first chain, and a small spike is installed on the upper end of the second conveyor belt, which can increase the friction between the grass and the conveyor belt, making it easier for the grass rolls to enter.

As shown in Figure 6, the laying device 4 is arranged behind the trenching device 1. The laying device 4 includes a second electric push rod 402, a connecting rod assembly, a disc-type grass pressing wheel 403 and two symmetrical V-shaped push rods connected in sequence. The soil-covering wheel 407 is provided with a type structure; the disc-type grass-pressing wheel 403 and the soil-covering wheel 407 are respectively connected to the first end of the connecting rod assembly, and the second end of the connecting rod assembly is connected to the second electric push rod 402. The connecting rod assembly includes a third A connecting rod 401, a second connecting rod 404, a third connecting rod 405 and a fourth connecting rod 406; the output end of the second electric push rod 402 is connected to the first end of the second connecting rod 404, and the third connecting rod 404 The two ends are rotatably connected to the first end of the third connecting rod 405 and the middle position of the two fourth connecting rods 406. The second end of the third connecting rod 405 is rotatably connected to the middle position of the first connecting rod 401, and the two fourth connecting rods 406 are rotatably connected to each other. One end of the connecting rod 406 is connected to the center position of a soil-covering wheel 407, and the end part of the first connecting rod 401 is connected to the center position of the disc-type lawn pressing wheel 403. The second electric push rod 402 is used to control the push-out and retraction of the laying device. The movement of the second electric push rod 402 drives the movement of the disc-type grass pressing wheel 403 and the soil covering wheel 407 by means of the connecting rod assembly. When the laying device 4 is working, the second electric push rod 402 extends and pushes the second connecting rod 404 forward. Extend, the second link 404 drives the grass inserting disc 403 and the fourth link 406 to lower the soil covering wheel 407 and pile the sand plowed out during the trenching back to the inserted grass roll to reinforce the grass roll to complete the grass roll. Roll laying. The laying device uses an electric push rod to control the push-out and retraction of the working mechanism, which can effectively save the chassis space of the sand fixing truck and adapt to the working state (pull-out) and idle state (retract) at the same time. The grass-inserting disc and soil-covering wheel pass through the connecting rod assembly and the electric The push rods are connected to each other, and the connecting rod assembly is connected to the electric push rod and the vehicle frame.

As shown in Figure 7, the spraying device 5 is arranged behind the discharging device. The spraying device includes a micro water pump 503, a water tank 502 and evenly distributed spray heads 501. The micro water pump 503 is arranged inside the water tank 502, and the water tank 502 contains a medicinal liquid. The medicinal liquid in the water tank 502 is pumped out by the micro water pump 503 and sprayed through the nozzle 501. When the spray device 5 is working, the micro water pump 503 is turned on to pressurize the chemicals in the water tank 502 and spray them out from the spray head 501 .

The water tank of the spraying device is a large-capacity water tank, which makes the working area of the spraying device wider. By using a vehicle-mounted micro water pump and a narrow-angle fan-shaped atomizing nozzle, the sand-fixing agent in the water tank is sprayed in a fan shape on both sides of the paved grass grid to meet the needs of the grass. Grid laying requirements. Chemical reagents and other chemicals are placed inside the water tank, which can treat the sand layer on a moist basis.

When in use, the spray device uses a vehicle-mounted micro water pump and a narrow-angle fan-shaped atomization nozzle to spray the chemical reagents in the water tank on both sides of the paved grass grid in a fan shape. On the one hand, it uses the properties of the liquid to moisten the sand layer and avoid dust; on the other hand, it uses the properties of the liquid to moisten the sand layer and avoid dust; On the one hand, the sand layer in the grass squares is formed into sand blocks, and the sand fixation effect is better when combined with the grass squares. Its large-capacity water tank and narrow-angle fan-shaped atomizing nozzle enable the spraying device to operate in a wider area. In specific embodiments, emulsified asphalt can be used as the chemical sand fixation material, which will not hinder plant growth.

The furrowing plow 101 is a replaceable blade. The two ends of the blade are respectively fixed on the blade bracket and the furrowing plow. The middle part of the plow support rod is connected to the first electric push rod, and the end of the plow support rod is connected to the chassis; the blade is used to The grass rolls are laid and cut to realize the cross-shaped laying of the grass rolls. During the specific application process, the blades can be replaced as needed to meet different cutting needs.

When laying grass squares manually, trenching operations are generally not performed. Instead, a shovel is used to apply pressure and the grass rolls are directly inserted into the sand. In order to make the grass grid deeper, the sand fixing truck uses a furrow plow to plow a furrow in the sand, and then inserts it on the basis of the furrow. By first digging the furrow and then laying it, the burial depth of the straw mat is increased.

The main component of the trenching device is the trenching plow. In the specific application example, the trenching device adopts a four-bar linkage mechanism and controls the launch and retraction of the trenching plow through an electric push rod, which can effectively save the chassis space of the sand fixing vehicle and at the same time adapt to Working state (electric actuator is pushed out) and idle state (electric actuator is retracted), which improves work efficiency while saving space.

In a specific embodiment, as shown in Figure 1, the vehicle chassis is equipped with an independent suspension. The independent suspension consists of two sets of upper and lower wishbones and shock-absorbing springs. Each set of suspension is independently connected to the wheel and the frame, so that it can play a shock-absorbing role and extend the service life of the entire device.

The independent suspension consists of two sets of upper and lower wishbones and shock-absorbing springs. Each set of suspension is independently connected to the wheels and the frame. When passing through bumpy roads, each set of wheels can move independently and is independent of each other, which can reduce the tilt and vibration of the sand-fixing body. During the operation of the sand fixing truck, the vehicle body needs to be kept stable and the grass grid paving system needs to be kept parallel to the ground. Therefore, an independent suspension system is selected to increase driving stability.

The working principle of the present invention is further explained below:

The maximum size of the straw rolls that can be loaded by the sand fixing truck is 60 cm in diameter and 80 cm in width. The thickness of one layer of the straw rolls is 3 mm. The maximum straight-line operating length of each bale of straw rolls is about 95 meters.

When the sand fixing vehicle moves forward, it uses a furrow plow to plow a furrow in the sand. In order to prevent the hook of the grass discharging mechanism from catching the two-layer grass rolls and causing the machine to jam, the grass rolls are designed to have two layers on the outer ring. For grass rolls in the same direction, whether the claws are hooked to one or two layers, the grass removal work can be completed smoothly. When the grass roll is placed in the material box, the power shaft drives the chain to rotate, and the claws on the chain move accordingly, and the claws are stretched. Straight, through the tip part of the front end, the grass roll is stuck, and at the same time, through the feeding device, the power shaft drives the conveyor belt to promote the rotation of the grass roll, driving the grass into the middle part of the two-layer conveyor belt, realizing the unfolding and transportation of the cylindrical grass roll. When the grass roll The existing part begins to be unfolded and laid. The motor will drive the claws to rotate counterclockwise, separate from the grass rolls, and reset. The claws will capture the grass rolls and pull them into the grass-out part below. The conveyor belt below will pull the grass rolls out through squeezing and friction. to the ground. When the unfolded grass rolls are transported from the discharging device to the ground, the furrow plow cuts them. The electric push rod at the rear end of the sand fixing truck extends, lowering the grass inserting disc and soil covering wheel. When the sand fixing truck moves forward, the grass inserting disc is inserted. The grass rolls can be continuously inserted and pressed. At the same time, the covering wheel will pile up the sand plowed out during the trenching and insert it back to the installed grass rolls to reinforce the grass rolls and complete the laying of the grass rolls. Due to the speed of the sand fixing truck during laying work, It is slower and the grass-inserting disc can roll, so the resistance has less impact on the insertion work. The seeding device spreads seeds through the discharging opening, so that the grass seeds fall into the ditch along with the furrowing plow operation.

In specific applications, the present invention integrates the "engineering-biology-chemistry" joint sand control model, which includes a ditching device, a seeding device, a discharging device, a laying device and a spraying device, and can achieve a variety of tasks. Since the sand-fixing truck performs paving work at a slow speed and the grass-inserting disc can roll, the resistance has little impact on the insertion work. The seeding device sows seeds through the outlet, so that the grass seeds fall into the ditch with the operation of the furrow plow. During the validity period of the grass grid, it will provide a reliable rooting and growth condition for the seeds. In this way, after the validity period, the grass grid will After losing their effectiveness, the sown grass seeds and tree seeds have taken root and grown deeply in the weathered and sand-eroded grass squares, forming a new layer of plant squares, making the sand fixation effect more significant and lasting. The sprinkler head of the device sprays the sand-fixing agent in the water tank on both sides of the paved grass grid in a fan shape. The sand fixing truck combines three sand control modes, and the three modes complement each other to significantly improve the sand fixing effect.

The above-described embodiments are only descriptions of preferred embodiments of the present invention and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, those of ordinary skill in the art may make various modifications to the technical solutions of the present invention. All modifications and improvements shall fall within the protection scope determined by the claims of the present invention.

Claims (10)

1. An integrated desert plant intelligence conservation robot which characterized in that: the device comprises a self-propelled chassis, a seeding device, a discharging device, a spraying device, a ditching device and a laying device, wherein the seeding device, the discharging device and the spraying device are sequentially arranged on the self-propelled chassis, and the ditching device and the laying device are arranged at the bottom of the self-propelled chassis;

the ditching device is arranged at the front end of the lower part of the self-propelled chassis and comprises a first electric push rod, a plough support rod and a ditching plough which are sequentially connected, the first electric push rod is connected with a hole in the middle of the plough support rod, the ditching plough is arranged at the outer end part of the plough support rod, and when the first electric push rod stretches out, the plough support rod is driven to move so as to further drive the ditching plough to move;

the laying device is arranged behind the ditching device and comprises a second electric push rod, a connecting rod assembly, a disc type grass pressing wheel and two earthing wheels which are symmetrically arranged in a V-shaped structure, wherein the second electric push rod, the connecting rod assembly, the disc type grass pressing wheel and the two earthing wheels are sequentially connected; the disc grass pressing wheel and the soil covering wheel are respectively connected with the first end of the connecting rod assembly, and the second end of the connecting rod assembly is connected with the second electric push rod; the second electric push rod is used for controlling pushing out and withdrawing of the paving device;

the seeding device is arranged at the front end of the upper part of the self-propelled chassis and comprises a screw rod motor, a screw rod, a cylinder arranged outside the screw rod, a feed inlet and a discharge outlet, wherein the screw rod motor is installed by means of a support and connected with the screw rod, the cylinder is supported and fixed by means of a supporting seat and arranged outside the screw rod, the feed inlet and the discharge outlet are respectively arranged above and below the cylinder, and the screw rod motor drives the screw rod to rotate so as to broadcast seeds from the discharge outlet;

the discharging device is arranged at the rear of the seeding device and comprises a grass grabbing unit and a grass conveying unit, the whole of the feed box is funnel-shaped, the grass grabbing unit and the grass conveying unit are arranged inside the feed box, the grass grabbing unit is arranged above the grass conveying unit, the grass grabbing unit comprises first conveying units arranged at two sides of the feed box, each first conveying unit comprises a first power shaft, a first driven shaft, a first synchronous wheel and a first conveying belt, the first power shafts are connected with a first speed reducing motor by means of first chain wheels, the first driven shafts are arranged above the first power shafts, a plurality of synchronous wheels are arranged on the first power shafts and the first driven shafts, the first conveying belts are arranged outside the synchronous wheels on the first power shafts and the first driven shafts, and the first shafts are connected with output shafts of the first speed reducing motors by means of first chains;

the grass feeding unit comprises second conveying units and claw units, the two sides of the second conveying units are oppositely arranged, the claw units and the second conveying units are alternately arranged, the second conveying units comprise second power shafts, second driven shafts, second synchronous wheels and second conveying belts, the second power shafts are connected with a second speed reduction motor by means of second chain wheels, the second driven shafts are arranged above the second power shafts, a plurality of synchronous wheels are arranged on the second power shafts and the second driven shafts, the second conveying belts are arranged outside the synchronous wheels on the second power shafts and the second driven shafts, and the second power shafts are connected with output shafts of the second speed reduction motor by means of second chains; the claw unit comprises a claw and a third chain, the third chain is connected with the second speed reduction motor, and the claw is arranged on the outer side of the third chain; the grass feeding unit is used for pulling the grass roll below after the grass roll is captured by a grapple on a first conveyor belt of the grass capturing unit, and the grass roll is pulled out to the ground by a second conveyor belt and a claw unit through extrusion friction;

the spraying device is arranged behind the discharging device and comprises a miniature water pump, a water tank and evenly distributed spray heads, and liquid in the water tank is conveyed to the spray heads by the miniature water pump and sprayed out;

the ditching plow is a replaceable blade, two ends of the blade are respectively fixed on the blade bracket and the ditching plow, the middle part of the plow support rod is connected with a first electric push rod, and the end part of the plow support rod is connected with the self-propelled chassis; the cutter blade is used for cutting the laid grass coils so as to realize cross-shaped laying.

2. The integrated desert plant intelligent conservation robot of claim 1, wherein: the spray head is a narrow-angle fan-shaped atomization spray head.

3. The integrated desert plant intelligent conservation robot of claim 1, wherein: the grass roll is a bidirectional grass roll with two layers of grass rolls in the same direction on the outer ring.

4. The integrated desert plant intelligent conservation robot of claim 1, wherein: the self-propelled chassis is a wheeled power chassis, the self-propelled chassis is provided with a steering engine and a plurality of groups of suspensions, and the plurality of groups of suspensions comprise an upper group of cross arms, a lower group of cross arms and damping springs.

5. The integrated desert plant intelligent conservation robot of claim 1, wherein: the claw is driven to open or close by a micro motor.

6. The integrated desert plant intelligent conservation robot of claim 1, wherein: the first conveyor belt and the second conveyor belt on each side are provided with four.

7. The integrated desert plant intelligent conservation robot of claim 1, wherein: the connecting rod assembly comprises a first connecting rod, a second connecting rod, a third connecting rod and two fourth connecting rods, wherein the output end of the second electric push rod is connected with the first end of the second connecting rod, the second end of the second connecting rod is respectively and rotatably connected with the first end of the third connecting rod and the middle positions of the two fourth connecting rods, the second end of the third connecting rod is rotatably connected with the middle position of the first connecting rod, one end part of the two fourth connecting rods is respectively connected with the center position of one earthing wheel, and the end part of the first connecting rod is connected with the center position of the disc grass pressing wheel.

8. The integrated desert plant intelligent conservation robot of claim 1, wherein: the water tank is filled with a medicament.

9. The integrated desert plant intelligent conservation robot of claim 1, wherein: the ditching plow is obliquely arranged.

10. The integrated desert plant intelligent conservation robot of claim 1, wherein: and mounting holes are formed in the middle parts of the electric push rod and the plow support rod.