CN105325258A - Multi-tree species hybrid-mixing linked-row planting robot - Google Patents
Multi-tree species hybrid-mixing linked-row planting robot Download PDFInfo
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- CN105325258A CN105325258A CN201410383336.0A CN201410383336A CN105325258A CN 105325258 A CN105325258 A CN 105325258A CN 201410383336 A CN201410383336 A CN 201410383336A CN 105325258 A CN105325258 A CN 105325258A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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Abstract
The invention provides a multi-tree species hybrid-mixing linked-row planting robot comprising an unmanned driving traction vehicle, two sets of multi-lined and rowed of planting work modules (A) and (B) and a solar energy windshield cover. Soil drilling bit, an elevating slide rail and an orientation soil sending cover extend from a horizontal platform of the A set work module and drilling bit elevating, hole drilling and orientated soil sending can be achieved. Seedlings can be taken out from a seedling case and supported via a mechanical seedling clamping arm; soil is laid and compacted via a soil laying push plate and a soil compacting plate with a stepping closed plate; the B set can be applied to an inserting planting way; a high-voltage water pump, a tubular type hydraulic giant head drilling and injecting water at the same time, a mechanical seedling clamping hand and an orientated seeding placing auxiliary arm are equipped. Multi-tree species seedlings can be quickly mixed-planted with high efficiency; the method robot is suitable for work under windy and strong-light conditions in a desertification region; and global increasingly server desertification can be strongly changed and desertification treatment can be powerfully promoted.
Description
Technical field
The present invention relates to agriculture and forestry machinery field, particularly, devise a kind of mixed crosslinked row's Machine for planting tree people of many seeds of scale Desert Control.
Background technology
Along with the sharp increase of world population quantity since 20th century, and the various irrational activity of reclaiming wasteland of the mankind, cause day by day serious global desertification, for China, in the area of 9,600,000 square kilometres, ccd area has accounted for 27.4%, and according to statistics, desertification of land enlarged areas speed since 20 century 70s, reaches annual 2460 square kilometres.Meanwhile, desertification causes serious society and environmental problem, comprise that arable land is reduced, frequent, the overall Water Conservation Capacity of Five in soil of sandstorm activity declines, and the annual precipitation caused reduces etc. year by year, the severe exacerbation living environment of the mankind.
Kind of a grass of planting trees effectively contains desertification aggravation situation, efficient fundamental solution of administering global desertification.But from world wide, the biggest problem that this work is carried out is not do not have sapling, or not to be determined, fund, but there is no a kind of gardening requirement that can ensure, can efficiently, scale, and even the tree planting Work machine of automation.
The trial of research and development Machine for planting tree people is only had at present both at home and abroad in scientific contest field, but it is reported the plantation being only limitted to individual plant sapling, not only individual plant cost of planting is high, inefficiency, and do not take into full account the gardening requirement of sapling links of planting completely, such as plant the steady and sure link of soil after seedling.This type of attempts the operating type also not considering factory's formula, scale simultaneously, can not adapt to the time urgency requirement of administering wide desert.
Summary of the invention
The object of the invention is by combining two kinds of crucial cropping patterns, take into full account the gardening requirement of often kind of cropping pattern, make each cropping pattern in order, a kind of imitative pipelining of design, support the automation Machine for planting tree people of many seeds mongrel implant model, robot of the present invention can adapt to the strong wind weather of Desert Area simultaneously, and the favourable solar energy resources of the long-term intense light irradiation in this type of area can be made full use of, carry out unattended, rapidly and efficiently, environmental protection is sustainable, operation of planting trees on a large scale.
Two kinds of cropping patterns that the present invention supports are common tree planting of digging pit respectively, and the high pressure punching being applicable to slotting Defend formula afforestation is planted trees.Common formula of digging pit is planted trees, the present invention devise especially orientation of digging pit send soil, get seedling plant seedlings, fast earthing, water and a whole set of Working mechanism of high frequency vibrating dynamic formula soil having peace of mind.For Cha Defend formula afforestation, in conjunction with the development of up-to-date agronomy planting technique, devise giant test punching, water, orientation is put seedling and is assisted, and the Working mechanism of seedling is put in automation.
For the long-term strong wind weather taking precautions against desertificated area may on the impact in operation process, comprise may damage Work machine service life, and utilize such regional intense light irradiation resource better, devise the solar panels support in adjustable solar panels direction especially, and convenient that splice, that edge circular arc effectively can reduce windage monoblock type hurricane globe.
The mixed crosslinked row's Machine for planting tree people of many seeds provided by the invention, comprises unmanned tractor, the A of multiple lines and multiple rows, B two groups of tree planting operation modules, solar energy hurricane globe; Unmanned tractor connects the A of multiple lines and multiple rows by draft arm, B two groups of tree planting operation modules.
Each tree planting operation module all comprises waterwheel, and is arranged on waterwheel: water pump, removable seedling car, operation fingerprint block, solar energy hurricane globe support and solar panels and stitching portion are with the hurricane globe of zip; Seedling car is absolute construction, can link together rapidly with waterwheel, and seedling bassinet structure is divided into upper and lower three layers, and it is regular that upper two layers puts seedling for perforation thin plate is beneficial to, and be convenient to machinery folder seedling manual task, basecoat is the spill chassis interior can containing nutrient solution.
The operation fingerprint block of A group tree planting operation module comprises telescopic arm, watering tube, and the brill soil hand that telescopic arm is installed, earthing hand, A type folder seedling hand; Telescopic arm comprises master arm, cantilever arm and connects the electric cylinder of master arm and cantilever arm.
Preferably, master arm is arranged on waterwheel, and master arm and cantilever arm are isosceles triangle three-tube type structure, have alternating expression reinforcement between three pipes.Cantilever arm three pipe rear end is nested in master arm three manages respectively, and there is gantry type mounting rack cantilever arm front end; Bore native hand to comprise the revoliving arm be arranged on gantry type mounting rack, revoliving arm drive unit, bore native part mounting rack.
Preferably, revoliving arm drive unit is electric cylinder, and boring native part mounting rack is arc stent, bores and native part mounting rack has installed slide rail, bores native motor, brill earth boring auger head, orientation send soil cover, and comprise the lifter that slide rail is installed, preferably lifter is screw lifter.
Preferably, there is the sliding sleeve of connecting sliding rail the mounting flange both sides of boring native motor, and sliding sleeve is nested on the screw rod of screw lifter by the nut at the back side, and there is drive motors on screw riser top; Orientation send native cover to be the thin cylinder of a nearly quarter turn of opening; Earthing hand comprises the earthing revoliving arm be arranged on gantry type mounting rack, drives electric cylinder, the earthing push pedal installing rack of earthing revoliving arm, and the motor-driven tread closure plate that the U-shaped earthing push pedal on earthing push pedal installing rack, U-shaped soil compaction plate, the squeeze board elevator be made up of squeeze board slide rail and squeeze board electric cylinder and soil compaction plate adhere to and soil high frequency stampede body; Tread closure plate is arranged on below soil compaction plate bottom surface; Soil high frequency stampede body is motor-driven eccentric wheel structure; A type folder seedling hand is arranged on gantry type mounting rack, and be a multiple degrees of freedom, front end is with the multistage mechanical arm type manipulator of holding hand; Watering tube rear end is connected to water pump, and delivery port aims at hole of planting seedlings.
The operation fingerprint block of B group tree planting operation module comprises bath punching hand, orientation puts seedling nondominant hand, Type B folder seedling hand; Bath punching hand comprises bath punching revoliving arm, revoliving arm drive unit, perforating device installing rack, slide rail, perforated steel pipes, and the lifter that slide rail is installed.
Preferably, revoliving arm drive unit is an electric cylinder, and lifter is screw structure; Perforated steel pipes upper end is by sleeve connection slide rail, and sleeve is by can the nut connecting screw rod of movement on screw rod.
The water pump of B group tree planting operation module is high-pressure pump, and perforated steel pipes rear end is connected on high-pressure hydraulic pump; Orientation puts the lifter that seedling nondominant hand comprises directed auxiliary funnel and is arranged on Miao Cheshang, and lifter is an electric cylinder; Type B folder seedling hand is a multiple degrees of freedom, and front end with the multistage mechanical arm type manipulator of holding hand, and is arranged on waterwheel by the slide rail type mounting bracket with electric cylinder.
Each tree planting operation module is according to the difference of its present position in whole tree planting module queues, be divided into internal module and edge module, the solar energy hurricane globe support of internal module only comprises solar panels installing rack, and the solar energy hurricane globe support of edge module comprises solar panels installing rack and the windproof flaring cover stent of circular arc type.
Solar panels installing rack forms with the Multi-section telescopic rod of universal ball joint mounting points, solar energy grillage, hurricane globe mounting bar by adjusting multiple tops of solar panels towards angle; Solar panel is arranged on solar energy grillage.
Preferably, hurricane globe mounting bar is ring type sheet type, has through hole, fixes hurricane globe by the mode of bolt and the clamping of solar energy grillage; Hurricane globe is arranged in each operation module by hurricane globe mounting bar, windproof flaring cover stent, and and the monoblock type solar energy hurricane globe of solar panel composition edge circular arc.
Preferably the windproof flaring cover stent of circular arc type is connected to solar panels installing rack by two arc-shaped steel tubes and forms.
Described monoblock type hurricane globe, at the rear of direct of travel, passes through mouth in sapling position of planting for leaving sapling.
Hurricane globe is manufactured by transparent high-elasticity rubber.
Accompanying drawing explanation
Fig. 1 is overall appearance figure of the present invention;
Fig. 2 is the overall rear perspective view not comprising windproof flaring cover of the present invention;
Fig. 3 is the A group tree planting operation module top perspective view being positioned at queue edge of the present invention;
Fig. 4 is the A group tree planting operation module side examination stereogram being positioned at queue edge of the present invention;
Fig. 5 is the front perspective view that A group tree planting operation module of the present invention does not comprise seedling car;
Fig. 6 is A group tree planting operation module telescopic arm of the present invention and operation hand side isometric view;
Fig. 7 is A group tree planting operation module telescopic arm of the present invention and operation hand top perspective view;
Fig. 8 is A group tree planting operation module earthing hand top perspective view of the present invention;
Fig. 9 is the top perspective view that B group tree planting operation module of the present invention does not comprise solar panels installing rack;
Figure 10 is B group tree planting operation module operation hand top perspective view of the present invention;
Figure 11 is B group tree planting operation module top perspective view of the present invention;
Figure 12 is B group tree planting operation module waterwheel seedling car face upwarding stereogram of the present invention.
Embodiment
Below in conjunction with example, substantive distinguishing features of the present invention and advantage are further described, but the present invention is not limited to listed embodiment.
Shown in Fig. 1 ~ 6, after unmanned tractor 1 of the present invention, draft arm 2 is installed, A group tree planting operation module 3 and the B group group tree planting operation module 4 of multiple lines and multiple rows are all articulated in draft arm 2 rear, and monoblock type solar energy hurricane globe 5 covers all tree planting operation modules.
Be solar panel 6 in the middle of the hurricane globe 84 of modules, there is zip 7 at hurricane globe edge, and monoblock type hurricane globe, at the rear of direct of travel, plants position for leaving sapling by mouth 8 sapling.
The seedling car 11, the operation fingerprint block 13 being arranged on waterwheel 9 bottom, solar energy hurricane globe support 14 and the solar panel 6 that the waterwheel 9 of A group tree planting operation module 3 is provided with water pump 10, are connected by connecting plate 12 with waterwheel 9 and stitching portion are with the hurricane globe 17 of zip 16; Seedling car 11 structure is divided into upper and lower three layers, and upper two layers is perforation thin plate 18, and basecoat is the spill chassis 19 interior can containing nutrient solution.
The operation fingerprint block 13 of A group tree planting operation module 3 comprises telescopic arm 21, bores native hand 22, earthing hand 23, A type folder seedling hand 24, watering tube 20; Telescopic arm 21 comprises the electric cylinder 28 being arranged on master arm 26 bottom waterwheel 9, cantilever arm 27 and connecting master arm 26 and cantilever arm 27.
Master arm 26 is three-tube type structure, has alternating expression reinforcement 29 between three pipes; Cantilever arm 27 is similarly three-tube type structure, and three pipe rear ends are nested in master arm three manages respectively, and there is alternating expression reinforcement front end, and has gantry type mounting rack 30; Gantry type mounting rack 30 has reinforcement 31.
Bore that native hand 22 comprises the revoliving arm 32 be arranged on gantry type mounting rack 30, the revoliving arm electric cylinder 33 be arranged on the installing plate 57 of cantilever arm 27 front end, and half-ring arm 35, and the slide rail 36 that half-ring arm is installed, orientation send the two ends up and down of soil cover 39. screw lifters 40 and slide rail 36 to be installed together; There is the sliding sleeve 42 of connecting sliding rail 36 mounting flange 41 both sides of boring native motor 37, be provided with below mounting flange 41 and bore earth boring auger head 38, the nut 43 that sliding sleeve 42 back side connects is nested on the screw rod 44 of screw lifter, and there is drive motors 45 on screw riser 40 top; Orientation send native cover 39 to be the thin cylinder of a nearly quarter turn of opening.
Earthing hand 23 comprises the earthing revoliving arm 46 be arranged on gantry type mounting rack 30, the earthing revoliving arm electric cylinder 47 be arranged on the installing plate 57 of cantilever arm 27 front end, earthing push pedal installing rack 48.Earthing push pedal installing rack 48 is equipped with U-shaped earthing push pedal 49 and squeeze board slide rail 51.
Slide block 52 on squeeze board slide rail 51 is connected with U-shaped soil compaction plate 50 by linking arm 53, is provided with electric cylinder 54 between earthing push pedal installing rack 48 and linking arm 53.
Soil compaction plate 50 upper surface is equipped with the drive motors 56 of tread closure plate 55, and tread closure plate 55 is arranged on the bottom surface of the steady and sure plate 50 of soil.The steady and sure plate 50 of soil is provided with high-frequency electric machines 58 and its eccentric wheel 59 driven.
It is a multiple degrees of freedom that A type folder seedling hand 24 is arranged on gantry type mounting rack, and front end is with the multistage mechanical arm type manipulator of holding hand 34; Watering tube 20 rear end is connected to water pump, and delivery port aims at hole of planting seedlings.
A pair B group tree planting operation module 3 is arranged on two independent seedling cars 61 of waterwheel 60 both sides.
Bath punching revoliving arm 61, bath punching revoliving arm electric cylinder 62 are installed on the installing rack 63 of on seedling car 61.
Perforating device installing rack 64 is equipped with in bath punching revoliving arm 61 front end, the two ends of slide rail 65, screw lifter 66 are all installed together with perforating device installing rack 64 two ends, perforated steel pipes 67 is arranged on slide rail 65 by 2 sliding sleeves 68, the sub-assembly that one of them sliding sleeve 68 is integrally formed with the nut 69 that screw lifter is installed; The high-pressure pump 70 of B group tree planting operation module 3 is connected with perforated steel pipes 67 by water pipe 71; The electric cylinder 72 that orientation puts seedling nondominant hand is arranged on seedling car 61, visits a gripping arm 73 and be connected with directed auxiliary funnel 74 outside electric cylinder 72 front end; Type B folder seedling hand 75 is multiple degrees of freedoms, and front end, with the multistage mechanical arm type manipulator of holding hand 76, is arranged on waterwheel 60 by the slide rail type mounting bracket 78 with electric cylinder 77.
Each tree planting operation module is according to the difference of its present position in whole tree planting module queues, be divided into internal module and edge module, the solar energy hurricane globe support of internal module only comprises solar panels installing rack 79, and the solar energy hurricane globe support of edge module comprises solar panels installing rack 79 and the windproof flaring cover stent 25 of circular arc type.
Solar panels installing rack forms with the Multi-section telescopic rod 81 of universal ball joint mounting points 80, solar energy grillage 82 and hurricane globe mounting bar 15 by adjusting multiple tops of solar panels towards angle; Solar panel 6 is arranged on solar energy grillage 82.
Hurricane globe 17 is arranged in operation module by hurricane globe mounting bar 15, windproof flaring cover stent 25.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (3)
1. the mixed crosslinked row's Machine for planting tree people of seeds more than, comprise unmanned tractor, the A of multiple lines and multiple rows, B two groups of tree planting operation modules, solar energy hurricane globe, is characterized in that:
Unmanned tractor connects the A of multiple lines and multiple rows by draft arm, B two groups of tree planting operation modules;
Each tree planting operation module all comprises waterwheel, and is arranged on waterwheel: water pump, removable seedling car, operation fingerprint block, solar energy hurricane globe support and solar panels and stitching portion are with the hurricane globe of zip;
Seedling car is absolute construction, can link together rapidly with waterwheel, and seedling bassinet structure is divided into upper and lower three layers, and it is regular that upper two layers puts seedling for perforation thin plate is beneficial to, and be convenient to machinery folder seedling manual task, basecoat is the spill chassis interior can containing nutrient solution;
The operation fingerprint block of A group tree planting operation module comprises telescopic arm, watering tube, and brill soil hand, earthing hand and the A type folder seedling hand that telescopic arm is installed;
Telescopic arm comprises the cantilever arm that the master arm be arranged on waterwheel, rear end and master arm nest together, and connect the electric cylinder of master arm and cantilever arm, master arm and cantilever arm are isosceles triangle, three-tube type structure, have alternating expression reinforcement to connect between three pipes, there is the gantry type mounting rack for installing drill soil hand, earthing hand and A type folder seedling hand cantilever arm front end;
Boring native hand is arranged on gantry type mounting rack, comprises revoliving arm, revoliving arm drive unit, bores native part mounting rack, and bore slide rail on native part mounting rack, bore native motor, brill earth boring auger head, orientation send soil cover, and comprise the lifter that slide rail is installed;
There is the sliding sleeve of connecting sliding rail the mounting flange both sides of boring native motor, and sliding sleeve is connected with lifter, and lifter is driven by motor;
Orientation send soil cover to be an imperfect thin cylinder having opening;
Earthing hand is arranged on gantry type mounting rack, comprise earthing revoliving arm, revoliving arm drive unit, earthing push pedal installing rack, and the motor-driven tread closure plate that the U-shaped earthing push pedal on earthing push pedal installing rack, U-shaped soil compaction plate, squeeze board elevator and soil compaction plate adhere to and soil high frequency stampede body;
Tread closure plate is arranged on below soil compaction plate bottom surface;
Soil high frequency stampede body is motor-driven eccentric wheel structure;
A type folder seedling hand is arranged on gantry type mounting rack, and be a multiple degrees of freedom, front end is with the multistage mechanical arm type manipulator of holding hand;
Watering tube rear end is connected to water pump, and delivery port aims at hole of planting seedlings;
The operation fingerprint block of B group tree planting operation module comprises bath punching hand, orientation puts seedling nondominant hand, Type B folder seedling hand;
Bath punching hand comprises bath punching revoliving arm, revoliving arm drive unit, perforating device installing rack, slide rail, perforated steel pipes, and the lifter that slide rail is installed;
Revoliving arm and earthing revoliving arm are all made up of in conjunction with reinforcement the bend pipe of two side by side;
The water pump of B group tree planting operation module is high-pressure pump, and perforated steel pipes rear end is connected on high-pressure hydraulic pump;
Orientation is put seedling nondominant hand and is comprised directed auxiliary funnel and elevator;
Type B folder seedling hand is a multiple degrees of freedom, and front end is with the multistage mechanical arm type manipulator of holding hand;
Each tree planting operation module is according to the difference of its present position in whole tree planting module queues, be divided into internal module and edge module, the solar energy hurricane globe support of internal module only comprises solar panels installing rack, and the solar energy hurricane globe support of edge module comprises solar panels installing rack and the windproof flaring cover stent of circular arc type;
Solar panels installing rack forms with the Multi-section telescopic rod of universal ball joint mounting points, solar energy grillage, hurricane globe mounting bar by adjusting multiple tops of solar panels towards angle;
Solar panel is arranged on solar energy grillage;
Hurricane globe mounting bar is sheet type, has through hole, to fix hurricane globe by the mode of bolt and the clamping of solar energy grillage;
Hurricane globe is arranged in each operation module by hurricane globe mounting bar, windproof flaring cover stent, and and the monoblock type solar energy hurricane globe of solar panel composition edge circular arc.
2. many seeds mixed crosslinked row Machine for planting tree people according to claim 1, is characterized in that, described monoblock type hurricane globe, at the rear of direct of travel, passes through mouth in sapling position of planting for leaving sapling.
3. many seeds mix crosslinked row's Machine for planting tree people according to claim 2, and it is characterized in that, hurricane globe is manufactured by transparent high-elasticity rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410383336.0A CN105325258A (en) | 2014-08-06 | 2014-08-06 | Multi-tree species hybrid-mixing linked-row planting robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410383336.0A CN105325258A (en) | 2014-08-06 | 2014-08-06 | Multi-tree species hybrid-mixing linked-row planting robot |
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| CN105325258A true CN105325258A (en) | 2016-02-17 |
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| CN201410383336.0A Pending CN105325258A (en) | 2014-08-06 | 2014-08-06 | Multi-tree species hybrid-mixing linked-row planting robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106069611A (en) * | 2016-07-06 | 2016-11-09 | 巩莉 | A kind of proportion of crop planting cultivation automatic watering device |
| CN106773808A (en) * | 2016-11-23 | 2017-05-31 | 河池学院 | A kind of robot automation's seedling growth system |
| CN108765763A (en) * | 2018-07-25 | 2018-11-06 | 智慧式控股有限公司 | The unmanned mobile culture equipment of wisdom formula, shared system and business model |
| WO2020000360A1 (en) * | 2018-06-29 | 2020-01-02 | 宿正勇 | Artificial afforestation assembly line |
| CN112740882A (en) * | 2021-01-20 | 2021-05-04 | 河南科技大学 | Rotary automatic seedling supporting device suitable for mechanical transplanting |
| CN113207609A (en) * | 2021-05-13 | 2021-08-06 | 湖南科技大学 | Planting equipment suitable for landscape trees on sloping field |
-
2014
- 2014-08-06 CN CN201410383336.0A patent/CN105325258A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106069611A (en) * | 2016-07-06 | 2016-11-09 | 巩莉 | A kind of proportion of crop planting cultivation automatic watering device |
| CN106773808A (en) * | 2016-11-23 | 2017-05-31 | 河池学院 | A kind of robot automation's seedling growth system |
| WO2020000360A1 (en) * | 2018-06-29 | 2020-01-02 | 宿正勇 | Artificial afforestation assembly line |
| CN110753656A (en) * | 2018-06-29 | 2020-02-04 | 宿正勇 | Afforestation assembly line |
| CN108765763A (en) * | 2018-07-25 | 2018-11-06 | 智慧式控股有限公司 | The unmanned mobile culture equipment of wisdom formula, shared system and business model |
| CN112740882A (en) * | 2021-01-20 | 2021-05-04 | 河南科技大学 | Rotary automatic seedling supporting device suitable for mechanical transplanting |
| CN113207609A (en) * | 2021-05-13 | 2021-08-06 | 湖南科技大学 | Planting equipment suitable for landscape trees on sloping field |
| CN113207609B (en) * | 2021-05-13 | 2022-06-14 | 湖南科技大学 | Planting equipment suitable for landscape trees on sloping field |
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Application publication date: 20160217 |
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