CN106416926B - A kind of Machine for planting tree people - Google Patents
A kind of Machine for planting tree people Download PDFInfo
- Publication number
- CN106416926B CN106416926B CN201611134399.8A CN201611134399A CN106416926B CN 106416926 B CN106416926 B CN 106416926B CN 201611134399 A CN201611134399 A CN 201611134399A CN 106416926 B CN106416926 B CN 106416926B
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- connecting rod
- fixed
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- motor
- stepper motor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
- A01G23/02—Transplanting, uprooting, felling or delimbing trees
- A01G23/04—Transplanting trees; Devices for grasping the root ball, e.g. stump forceps; Wrappings or packages for transporting trees
- A01G23/043—Transplanting devices for grasping, undercutting or transporting the root ball
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of Machine for planting tree people, including four driving devices, bottom plate, the first stepper motor, video camera, fixed plate, mechanical arm, vibrating bunker, central axis, two setting gauges, second stepper motor, slope board, third stepper motor, hinged-support, first connecting rod, second connecting rod, third connecting rod, runner, two pin shafts, two vertical plates, it is characterised in that: the bottom plate is one piece of rectangular flat plate；The present invention can prevent the intrinsic sapling of hopper to be stuck by being provided with the vibrating bunker of vibrating function, it can guarantee only to take one tree seedling every time by dispenser, sapling can be automatically grabbed using manipulator and is put into tree well, tree well can be filled up by ejector dozer, sapling is planted in tree well automatically.
Description
Technical field
The present invention relates to environmental greening technical field, in particular to a kind of Machine for planting tree people.
Background technique
Afforestation for regulating the climate, water conservation, mitigate atmosphere pollution be of great significance, traditional tree-planting method
Using manually digging pit, sapling is then placed in hole, is finally planted with the method that soil is buried, this implantation methods cannot be protected
The verticality for demonstrate,proving sapling plantation, influences beauty, it is therefore desirable to the equipment that one kind can plant tree seedlings automatically.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of Machine for planting tree people, by the vibrating bunker for being provided with vibrating function
The intrinsic sapling of hopper can be prevented to be stuck, can guarantee only to take one tree seedling every time by dispenser, utilize manipulator
Sapling can be automatically grabbed and be put into tree well, tree well can be filled up by ejector dozer, sapling is planted in tree well automatically.
Technical solution used in the present invention is: a kind of Machine for planting tree people, including four driving devices, bottom plate, the first steps
Into motor, video camera, fixed plate, mechanical arm, vibrating bunker, central axis, two setting gauges, second stepper motor, slope board,
Three stepper motors, hinged-support, first connecting rod, second connecting rod, third connecting rod, runner, two pin shafts, two vertical plates, feature exist
In: the bottom plate is one piece of rectangular flat plate, and there are four driving device, bottom plate upper right position is arranged side by side for installation below bottom plate
Two pieces of vertical plates are installed, a pin shaft is fitted on the inside of every piece of vertical plate, one fixed plate is installed in the leftward position of bottom plate,
One mechanical arm is installed in fixed plate, one the first stepper motor, the first stepping electricity are installed in the front of bottom plate
Machine is installed straight up, and a video camera is equipped on the motor shaft of the first stepper motor；
The vibrating bunker includes hopper ontology, two supporting legs, two transverse plates, pin, two the first circular holes, two
Second circular hole, the hopper ontology are inverted trapezoidal cross sectional shape, and feed hopper bottom is equipped with an outlet leaked down for sapling,
There are two supporting legs, each supporting leg lower section to be fitted with a transverse plate, the middle position of two supporting legs for installation below hopper ontology
Fixed one piece of slope board, slope board bottom are equipped with one for the movable notch of Pneumatic clamping jaw；Two second circles
Hole is separately positioned on two supporting legs and is located above slope board, and a central axis, center are rotatably equipped in the second circular hole
It is fixedly mounted on axis there are two setting gauge, a U-shaped groove is provided on the setting gauge for accommodating sapling, described two
A first circular hole is separately positioned on the inner opposite end on two transverse plates and being located at transverse plate, and the pin is arranged in a cross
Plate outer end is set, vibrating bunker is rotatably assorted with two pin shafts respectively by two the first circular holes, the pin on transverse plate and
The rotation connection of three-link upper end, third connecting rod and first connecting rod upper end, second connecting rod rear end are hinged, and first connects
The lower end of bar is hinge on the floor；The third stepper motor is horizontally arranged above bottom plate, the electricity of third stepper motor
Runner is installed on arbor, an eccentric shaft is equipped at the eccentric position of runner, runner is turned by the eccentric shaft and second connecting rod
Dynamic connection.
Further, the mechanical arm includes first servo motor, the second servo motor, square socket, electric cylinders, stretches
Bar, third servo motor, Pneumatic clamping jaw, ejector dozer, the first servo motor are mounted on straight up above fixed plate, institute
The side for the second servo motor stated is fixed on the motor shaft of first servo motor, the square socket side and the second servo
The motor shaft of motor is fixed, and the telescopic rod is slidably mounted on inside square socket, and the sliding of telescopic rod is controlled by electric cylinders
, electric cylinders one end is fixed on square socket side, and the other end is fixed on telescopic rod side, front end face and third the servo electricity of telescopic rod
The bottom of machine is fixed, and the front end face of third servo motor and the bottom of Pneumatic clamping jaw are fixed, and the Pneumatic clamping jaw is to open in parallel
It holds one's breath pawl, ejector dozer is installed below a clamping jaw of pneumatic clamper.
The invention has the advantages that:
1. the present invention can prevent the intrinsic sapling of hopper to be stuck by being provided with the vibrating bunker of vibrating function,
It can guarantee only to take one tree seedling every time by dispenser, sapling can be automatically grabbed using manipulator and be put into tree well, lead to
Tree well can be filled up by crossing ejector dozer, and sapling is planted in tree well automatically.
Detailed description of the invention
Fig. 1, Fig. 2 are whole assembly schematic perspective view of the invention.
Fig. 3 is third stepper motor scheme of installation of the invention.
Fig. 4 is vibrating bunker structural schematic diagram of the invention.
Drawing reference numeral: 1- driving device；2- bottom plate；The first stepper motor of 3-；4- video camera；5- fixed plate；6- mechanical arm；
7- vibrating bunker；8- central axis；9- setting gauge；10- second stepper motor；11- slope board；12- third stepper motor；13- hinge
Support；14- first connecting rod；15- second connecting rod；16- third connecting rod；17- runner；18- pin shaft；19- vertical plate；701- hopper sheet
Body；702- supporting leg；703- transverse plate；704- pin；The first circular hole of 705-；The second circular hole of 706-.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment
As shown in Figure 1, Figure 2, Figure 3, Figure 4, a kind of Machine for planting tree people, including four driving devices 1, bottom plate 2, the first stepping
Motor 3, video camera 4, fixed plate 5, mechanical arm 6, vibrating bunker 7,8, two setting gauges 9 of central axis, second stepper motor 10, tiltedly
Ramp 11, third stepper motor 12, hinged-support 13, first connecting rod 14, second connecting rod 15, third connecting rod 16, runner 17, two pins
18, two vertical plates 19 of axis, it is characterised in that: the bottom plate 2 is one piece of rectangular flat plate, and there are four drive for installation below bottom plate 2
Dynamic device 1,2 upper right position of bottom plate is equipped with two pieces of vertical plates 19 side by side, a pin shaft is fitted on the inside of every piece of vertical plate 19
18, one fixed plate 5 is installed in the leftward position of bottom plate 2, a mechanical arm 6 is installed, before bottom plate 2 in fixed plate 5
Portion is equipped with first stepper motor 3, and first stepper motor 3 is installed straight up, the motor of the first stepper motor 3
One video camera 4 is installed on axis；
The vibrating bunker 7 includes the supporting leg 702, two of hopper ontology 701, two transverse plate 703, pin 704, two
First the second circular hole 706 of circular hole 705, two, the hopper ontology 701 are inverted trapezoidal cross sectional shape, and feed hopper bottom is equipped with one
A outlet leaked down for sapling, there are two supporting legs 702, each 702 lower section of supporting leg to install for installation below hopper ontology 701
There are a transverse plate 703, the fixed one piece of slope board 11 in the middle position of two supporting legs 702,11 bottom of slope board is equipped with one
It is a for the movable notch of Pneumatic clamping jaw；Two second circular holes 706 are separately positioned on two supporting legs 702 and are located at oblique
11 top of ramp is rotatably equipped with a central axis 8 in the second circular hole 706, and there are two setting gauges for fixed installation on central axis 8
9, a U-shaped groove is provided on the setting gauge 9 for accommodating sapling, two first circular holes 705 are respectively set
Inner opposite end on two transverse plates 703 and positioned at transverse plate 703, the pin 704 are arranged outside a transverse plate 703
End, vibrating bunker 7 are rotatably assorted with two pin shafts 18 respectively by two the first circular holes 705, the pin on transverse plate 703
704 are rotatablely connected with 16 upper end of third connecting rod, 14 upper end of third connecting rod 16 and first connecting rod, 15 rear end of second connecting rod hinge
It is connected together, the lower end of first connecting rod 14 is hingedly on a base plate 2；The third stepper motor 12 is horizontally arranged at bottom plate 2
Top is equipped with runner 17 on the motor shaft of third stepper motor 12, is equipped with an eccentric shaft at the eccentric position of runner 17, turns
Wheel 17 is rotatablely connected by the eccentric shaft and second connecting rod 15.
Further, the mechanical arm 6 includes first servo motor, the second servo motor, square socket, electric cylinders, stretches
Bar, third servo motor, Pneumatic clamping jaw, ejector dozer, the first servo motor are mounted on 5 top of fixed plate straight up,
The side of second servo motor is fixed on the motor shaft of first servo motor, and the square socket side is watched with second
The motor shaft for taking motor is fixed, and the telescopic rod is slidably mounted on inside square socket, and the sliding of telescopic rod is by electric cylinders control
System, electric cylinders one end is fixed on square socket side, and the other end is fixed on telescopic rod side, the front end face and third servo of telescopic rod
The bottom of motor is fixed, and the front end face of third servo motor and the bottom of Pneumatic clamping jaw are fixed, and the Pneumatic clamping jaw is parallel
It is opened and closed pneumatic clamper, ejector dozer is installed below a clamping jaw of pneumatic clamper.
Working principle of the present invention: mechanical arm 6 of the invention controls the rotation of the second servo motor by first servo motor；
Pass through the rotation of the second Serve Motor Control square socket；The flexible of telescopic rod is controlled by electric cylinders；Pass through third servo motor control
The rotation of Pneumatic clamping jaw processed；Sapling is clamped by Pneumatic clamping jaw；The present invention places tree first in vibrating bunker 7 when in use
Seedling judges surrounding objects position by video camera 4 when in use, is run in the hole dug by driving device 1, then
It controls runner 17 by third stepper motor 12 to rotate, runner 17 drives second connecting rod 15 to operate, and second connecting rod 15 drives third
Connecting rod 16 moves up and down, and third connecting rod 16 drives vibrating bunker 7 to swing up and down, and is dialled in next step by the driving of second stepper motor 10
Glassware 9 rotates, and falls into sapling in the U-shaped groove of the top of setting gauge 9, and setting gauge 9 is made to rotate 180 ° in next step, allows U-shaped groove
In sapling fall on slope board 11, sapling is clamped by the Pneumatic clamping jaw of 6 front end of mechanical arm in next step, then passes through first
Servo motor drives mechanical arm 6 to rotate 180 °, rotates 180 ° by third Serve Motor Control Pneumatic clamping jaw in next step, makes sapling
Positioned at the surface of tree well and in a vertical state, next step Pneumatic clamping jaw unclamps, and allows sapling to fall into tree well, then mechanical arm
The ejector dozer of 6 linkage control Pneumatic clamping jaw lower parts buries sapling around the soil embedment tree well around tree well.
Claims (2)
1. a kind of Machine for planting tree people, including it is four driving devices (1), bottom plate (2), the first stepper motor (3), video camera (4), solid
Fixed board (5), mechanical arm (6), vibrating bunker (7), central axis (8), two setting gauges (9), second stepper motor (10), slope board
(11), third stepper motor (12), hinged-support (13), first connecting rod (14), second connecting rod (15), third connecting rod (16), runner
(17), two pin shafts (18), two vertical plates (19), it is characterised in that: the bottom plate (2) is one piece of rectangular flat plate, bottom plate
(2) there are four driving device (1), bottom plate (2) upper right position is equipped with two pieces of vertical plates (19) side by side for lower section installation, and every piece vertical
It is fitted with a pin shaft (18) on the inside of plate (19), one fixed plate (5), fixed plate are installed in the leftward position of bottom plate (2)
(5) mechanical arm (6) is installed on, one the first stepper motor (3) is installed in the front of bottom plate (2), described first
Stepper motor (3) is installed straight up, and a video camera (4) is equipped on the motor shaft of the first stepper motor (3)；
The vibrating bunker (7) includes hopper ontology (701), two supporting legs (702), two transverse plates (703), pins
(704), two the first circular holes (705), two the second circular holes (706), the hopper ontology (701) are inverted trapezoidal section shape
Shape, feed hopper bottom are equipped with an outlet leaked down for sapling, are installed below hopper ontology (701) there are two supporting leg (702),
A transverse plate (703) is fitted with below each supporting leg (702), fixed one piece of the middle position of two supporting legs (702) is tiltedly
Ramp (11), slope board (11) bottom are equipped with one for the movable notch of Pneumatic clamping jaw；Two second circular holes
(706) it is separately positioned on two supporting legs (702) and is located above slope board (11), the rotational installation in the second circular hole (706)
There is a central axis (8), is fixedly mounted on central axis (8) there are two setting gauge (9), the setting gauge is provided with one on (9)
A U-shaped groove is for accommodating sapling, and two first circular holes (705) are separately positioned on two transverse plates (703) and position
Inner opposite end in transverse plate (703), the pin (704) are arranged in transverse plate (703) outer end, vibrating bunker
(7) be rotatably assorted with two pin shafts (18) respectively by two the first circular holes (705), the pin (704) on transverse plate (703) with
The rotation connection of third connecting rod (16) upper end, third connecting rod (16) and first connecting rod (14) upper end, second connecting rod (15) rear end
Portion is hinged, and the lower end of first connecting rod (14) is hinged on bottom plate (2)；The horizontal peace of the third stepper motor (12)
Above bottom plate (2), it is equipped with runner (17) on the motor shaft of third stepper motor (12), at the eccentric position of runner (17)
Equipped with an eccentric shaft, runner (17) is rotatablely connected by the eccentric shaft and second connecting rod (15).
2. a kind of Machine for planting tree people according to claim 1, it is characterised in that: the mechanical arm (6) is watched including first
Take motor, the second servo motor, square socket, electric cylinders, telescopic rod, third servo motor, Pneumatic clamping jaw, ejector dozer, described
One servo motor is mounted on straight up above fixed plate, and the side of second servo motor is fixed on first servo motor
Motor shaft on, the motor shaft of the square socket side and the second servo motor is fixed, and the telescopic rod is slidably mounted on
Inside square socket, the sliding of telescopic rod is controlled by electric cylinders, and electric cylinders one end is fixed on square socket side, and the other end is fixed on
The bottom of telescopic rod side, the front end face and third servo motor of telescopic rod is fixed, the front end face of third servo motor and pneumatic
The bottom of clamping jaw is fixed, and the Pneumatic clamping jaw is parallelly opening-and-closing pneumatic clamper, is equipped with ejector dozer below a clamping jaw of pneumatic clamper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611134399.8A CN106416926B (en) | 2016-12-10 | 2016-12-10 | A kind of Machine for planting tree people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611134399.8A CN106416926B (en) | 2016-12-10 | 2016-12-10 | A kind of Machine for planting tree people |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106416926A CN106416926A (en) | 2017-02-22 |
| CN106416926B true CN106416926B (en) | 2019-09-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611134399.8A Active CN106416926B (en) | 2016-12-10 | 2016-12-10 | A kind of Machine for planting tree people |
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| CN (1) | CN106416926B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110402787A (en) * | 2018-04-27 | 2019-11-05 | 北京林业大学 | A kind of technical method for robot high-survival rate planting out of afforesting |
| CN110140630A (en) * | 2019-05-20 | 2019-08-20 | 镇江市丹徒常青农林科技有限公司 | A kind of Chinese garden planting fixture |
| CN113940249B (en) * | 2021-10-18 | 2022-10-04 | 南华大学 | Tree planting robot |
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| US7661684B2 (en) * | 2006-03-07 | 2010-02-16 | Westrate William P | Landscape dolly having collapsible legs for facilitating movement of trees for transportation |
| CN104145779A (en) * | 2014-06-19 | 2014-11-19 | 铜陵翔宇商贸有限公司 | Tree planting robot |
| CN203968837U (en) * | 2014-08-06 | 2014-12-03 | 北京时代沃林科技发展有限公司 | The mixed crosslinked row's Machine for planting tree people of many seeds |
| CN205105862U (en) * | 2015-11-16 | 2016-03-30 | 宋俊山 | Be used for extensive automatic planting machine of artificial forest |
| CN106069589A (en) * | 2016-06-21 | 2016-11-09 | 邢永安 | A kind of Machine for planting tree people |
| CN205756086U (en) * | 2016-03-31 | 2016-12-07 | 河南龙源花木有限责任公司 | Trees tuber planter |
-
2016
- 2016-12-10 CN CN201611134399.8A patent/CN106416926B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7661684B2 (en) * | 2006-03-07 | 2010-02-16 | Westrate William P | Landscape dolly having collapsible legs for facilitating movement of trees for transportation |
| CN104145779A (en) * | 2014-06-19 | 2014-11-19 | 铜陵翔宇商贸有限公司 | Tree planting robot |
| CN203968837U (en) * | 2014-08-06 | 2014-12-03 | 北京时代沃林科技发展有限公司 | The mixed crosslinked row's Machine for planting tree people of many seeds |
| CN205105862U (en) * | 2015-11-16 | 2016-03-30 | 宋俊山 | Be used for extensive automatic planting machine of artificial forest |
| CN205756086U (en) * | 2016-03-31 | 2016-12-07 | 河南龙源花木有限责任公司 | Trees tuber planter |
| CN106069589A (en) * | 2016-06-21 | 2016-11-09 | 邢永安 | A kind of Machine for planting tree people |
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| CN106416926A (en) | 2017-02-22 |
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Effective date of registration: 20190808 Address after: 213152 No. 57 Chengzhang New Street, Jiaze Town, Wujin District, Changzhou City, Jiangsu Province Applicant after: Changzhou Environmental Garden Greening Engineering Co., Ltd. Address before: Nangang District of Heilongjiang city in Harbin province 150000 school district 506 Building 5 large Xing Loucq unit 101 room Applicant before: Ning Xiufen |
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