CN109699432A - A kind of autonomous implant system of sapling and method - Google Patents
A kind of autonomous implant system of sapling and method Download PDFInfo
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- CN109699432A CN109699432A CN201910172212.0A CN201910172212A CN109699432A CN 109699432 A CN109699432 A CN 109699432A CN 201910172212 A CN201910172212 A CN 201910172212A CN 109699432 A CN109699432 A CN 109699432A
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- 239000007943 implant Substances 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 title abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 238000010899 nucleation Methods 0.000 claims abstract description 9
- 239000007921 spray Substances 0.000 claims description 16
- 238000005259 measurement Methods 0.000 claims description 10
- 239000000463 material Substances 0.000 claims description 7
- 239000007787 solid Substances 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 5
- 229920000747 poly(lactic acid) Polymers 0.000 claims description 4
- 239000004626 polylactic acid Substances 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 2
- 230000000694 effects Effects 0.000 claims description 2
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 claims description 2
- 238000005192 partition Methods 0.000 claims description 2
- 239000010959 steel Substances 0.000 claims description 2
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- 239000004372 Polyvinyl alcohol Substances 0.000 claims 2
- 229920002451 polyvinyl alcohol Polymers 0.000 claims 2
- 230000008569 process Effects 0.000 abstract description 8
- 239000003814 drug Substances 0.000 abstract description 7
- 239000002689 soil Substances 0.000 abstract description 7
- 229940079593 drug Drugs 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 9
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000036433 growing body Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000004083 survival effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004146 energy storage Methods 0.000 description 2
- 239000003337 fertilizer Substances 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 229920001875 Ebonite Polymers 0.000 description 1
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 description 1
- 239000004698 Polyethylene Substances 0.000 description 1
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- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- Catching Or Destruction (AREA)
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Abstract
The present invention relates to a kind of autonomous implant system of sapling and methods, including car body, automatic seeding delivering mechanism, automatic planting mechanism, navigation module and fertilising module, sapling is carried by car body, industrial personal computer controls the mobile distance of trolley, Xia Miaokou alignment heatable adobe sleeping platform position is just moved to after so that trolley has been dug heatable adobe sleeping platform, subsequent industrial personal computer issues instruction control and dials the work of seedling motor, sapling is pushed in lower seedling mouth, it is fallen in the heatable adobe sleeping platform that seedling mechanism has been dug under until, it is by automatic planting mechanism firming plate that soil pressure is real again, then automatic device for administration of drugs application, complete planting process, trolley is walked by the path navigation module planned, planting process is set to become efficient.
Description
Technical field
The present invention relates to agriculture forestry planting fields, and in particular to a kind of autonomous implant system of sapling and method.
Background technique
Trees are beneficial to purify air, beautify the environment, and have a great benefit to the society that promotes a conservation culture, generation it is straight
Economic benefit and indirect ecology Benefit are connect, has huge facilitation for social development.
It is usually the method for taking the plantation of artificial and semi-machine that traditional tree seed, which is planted, but there are many problems, such as: labor
Fatigue resistance is big, and plantation is of low quality, time-consuming and laborious etc., there is very big room for improvement.Automatic planting device, generally comprises and digs pit
The design feature of device, seedling launching mechanism, firming device and running gear, mutually coordinated realization automatic planting, seedling launching mechanism determines
The efficiency of plantation, the design feature of running gear determine the landform for adapting to plantation, and existing automatic planting lacks effectively
Fertilising link is to guarantee the survival rate planted.
Therefore by design, seedling device and running gear are sent in optimization, are realized and are accurately positioned, are applied fertilizer by reasonable drug,
Autonomous planting process can be made more efficiently and intelligent.
Summary of the invention
The object of the present invention is to provide a kind of autonomous implant system of sapling and method, from sapling plantation principle, growing body,
Implementation etc. is made that innovation improves, and by way of automatic planting sapling, maximizes and improves actual production efficiency.
To achieve the above object, present invention provide the technical scheme that
A kind of autonomous implant system of sapling includes car body, automatic seeding delivering mechanism, automatic planting mechanism, navigation module, fertilising
Module and power supply system；The automatic seeding delivering mechanism is fixed on above hull bottom plate, and the automatic seedling mechanism is fixed on car body
Below bottom plate, the navigation module and fertilising module are set on car body；
The car body includes shell, bottom plate, tire and driving steering system, and the tire is fixed on driving steering system
On bogie, the driving steering system includes electric expansion cylinder, linking arm, steering motor, bogie and driving motor；
The automatic seeding delivering mechanism is described to send seedling drum including sending seedling track, edge to send seedling track including sending seedling drum and dialling seedling frame
What sapling seedling pipe, the promotion sapling seedling pipe fed outward was fed outward send seedling turntable；Sapling is placed in sapling seedling pipe, described to send
Seedling track, which is arranged in, to be sent on seedling drum bottom plate, described that seedling turntable is sent to be divide into upper part and lower part and separated by several partitions, is sending seedling drum
Center be equipped with scrollwork spring, scrollwork spring connect with seedling turntable is sent；Scrollwork spring inner end is fixed in shaft, and shaft is roused with seedling is sent
Bottom connection, can drive scrollwork spring center rotating around the shaft, and sapling is pushed to enter the guide plate for sending seedling track；It is described to send seedling track
Bottom offers Xia Miaokou, there is wedge-shaped spring lock block between the lower seedling mouth and sapling, and the spring lock block bottom and spring connect
It connects to be fixed on and send below seedling track；Described group of seedling frame includes motor and group seedling piece, and the motor, which is fixed on, to be sent on the outside of seedling track, institute
Group seedling piece is stated to be located above motor；
The automatic planting mechanism packet spectrometer, cylinder, pit-picker, lower seedling channel and firming mechanism, the spectrometer are solid
On the downside of cart base plate, for detecting ground to determine whether to be planted；The pit-picker is connected with cylinder piston rod,
The lower seedling channel is fixed on the downside of cart base plate, and described lower seedling the bottom of the channel is equipped with cylinder, the piston rod and pressure of the cylinder
Native mechanism upper end is fixed；
The navigation module includes GPS module, industrial personal computer, infrared range-measurement system and ultrasonic range finder, and the GPS module is solid
Above carbody shell, the industrial personal computer is fixed on above battery and medicine-chest, and the infrared range-measurement system is symmetrically fixed on trolley
On the upside of bottom plate, the ultrasonic range finder is fixed on small front side；The GPS module, infrared range-measurement system and ultrasonic range finder
It is connected to industrial personal computer.
The fertilising module includes application spray head and medicine-chest, and the application spray head is fixed on the downside of cart base plate, the medicine
Case is located on the upside of cart base plate, and right above spray head；
The power supply system includes battery and solar panel, and the battery is fixed on the upside of cart base plate, it is described too
Positive energy solar panel is fixed on trolley upper surface of outer cover.
The described group of seedling piece radius of gyration is greater than sapling to the distance for the motor center for making to dial the rotation of seedling piece, turns so that dialling seedling piece
The sapling nearest from lower seedling mouth can be stirred just by, which moving, falls into Xia Miaokou.
The sapling seedling Guan Weike voluntarily degrades new material, and material can be selected from: PLA polylactic acid or PVA polyethylene
Alcohol.
The lower seedling channel is aligned with lower seedling mouth, and the internal diameter in the lower seedling channel is greater than lower seedling mouth diameter, the packer
Structure includes several blocks of firming plates, and an entirety is connected between the firming plate, and bottom is that open annulus is tubaeform.
Described that seedling is sent to rouse shape as cydariform, inside has vortex filament shape to send seedling track, and sapling edge send seedling track to feed outward.
The automatic planting mechanism has the firming plate of four pieces of symmetrical aperture integrated connections, and the firming plate has good
Intensity and elasticity, material are vulcanie, are under natural conditions the state expanded outwardly, tighten in firming plate outer cylinder.
The non-telescoping end in electric expansion cylinder bottom portion is welded and fixed with linking arm, and linking arm can freely turn around steering motor
Dynamic, fixed on the downside of piston rod and cart base plate, cart base plate installs fixed electric expansion cylinder piston rod, and control trolley lifting makes
Can be directed to variety classes, the sapling of different height be planted.
It is described that seedling drum is sent to be fixed on the upside of hull bottom plate by positioning plate, so that sapling is sent seedling outside by guide plate guided-moving to drum
When track, the direction of motion and the spectrometer, the first cylinder, the second cylinder, pit-picker, Xia Miaokou, application spray head, lower seedling are logical
Road and firming mechanism are on same straight line.
The guide plate is elastic steel sheet, send seedling track and outside to send between seedling track positioned at sending seedling to rouse inside, described to draw
Guide card, which is fixed on, send seedling drum drum internal surface, and is located at and send above seedling turntable.
Described that seedling turntable shape is sent to be made of solid discoid and work grid shape, outer edge motion profile is circle,
And the circular radius, less than the seedling disc radius that drum drum is formed in vivo is sent, the face turntable of sending can be under the internal scrollwork spring effect of drum around drum
Internal shaft rotation；Described that seedling turntable is sent to be made of upper layer and lower layer, there are certain intervals with seedling drum is sent for lower layer, and seed plate is sent to have centainly
Thickness, to guarantee that single sapling locally not will receive too big pressure and destroy.
Compared with prior art, the beneficial effects of the present invention are:
Of the invention is simple and reliable for structure, can be worked by spring energy-storage to sending the seedling operation process to terminate, expend energy
Few, the sapling quantity that can disposably carry greatly increases, and controls the mobile distance of trolley by industrial personal computer, trolley is made to have dug soil
Xia Miaokou alignment heatable adobe sleeping platform position is just moved to behind hole, subsequent industrial personal computer issues instruction control and dials the work of seedling motor, sapling is dialled
It into lower seedling mouth, is fallen in the heatable adobe sleeping platform that seedling mechanism has been dug under, then by automatic planting mechanism firming plate that soil pressure is real, with
Automatic device for administration of drugs application afterwards, completes planting process, and trolley is walked by the path navigation module planned, makes to plant
Process becomes efficient.
Detailed description of the invention
Fig. 1 is this patent general structure schematic diagram.
Fig. 2 is the complete assembling schematic diagram of this patent.
Fig. 3 is that this patent send seedling structural scheme of mechanism.
Fig. 4 is this patent Song Miao mechanism exploded view.
Fig. 5 is this patent Song Miao mechanism cross-sectional view.
Fig. 6 is this patent pit-picker schematic diagram.
Fig. 7 is this patent growing body front view.
Fig. 8 is this patent growing body vertical view and cross-sectional view.
Fig. 9 is this patent walking structure schematic diagram.
Figure 10 is this patent fertilizer apparatus schematic diagram.
Figure 11 is this patent specific works schematic diagram.
Figure 12 is that this patent plants route schematic diagram.
In figure: 1- infrared range-measurement system, 2- spectrometer, 3- dial seedling motor, the first cylinder of 4-, and 5- send seedling drum, 6- air accumulator, 7-
Air pump, 8- industrial personal computer, 9- dial seedling pieces, 10- medicine-chest, 11- battery, and 12- digs pit drill bit, 13- firming plate outer cylinder, 14- spray head, 15-
GPS module, 16- ultrasonic range finder, 17- solar panel, 18- motor, 19- spring lock block, seedling mouth under 20-, 21- positioning
Plate, 22- guide plate, 23- shaft connecting rod, 24- send seedling turntable, 25- sapling seedling pipe, and 26- send seedling track, 27- electric expansion cylinder,
28- steering motor, 29- linking arm, 30- bogie, 31- tire, the second cylinder of 33-, 34- scrollwork spring, 35- firming plate, 36- pressure
The outer boom of native plate, 37- firming plate fabrication hole, the outer boom sliding slot of 38- firming plate, 141- grug transportation tube, the outer boom of 142-, 143- spray
Head.
Specific embodiment
The present invention is further explained in the light of specific embodiments.
A kind of autonomous implant system of sapling as shown in Figure 1, 2, comprising: infrared range-measurement system 1, spectrometer 2 dial seedling motor 3, the
One cylinder 4 send seedling drum 5, air accumulator 6, air pump 7, industrial personal computer 8, group seedling piece 9, medicine-chest 10, battery 11, drill bit 12 of digging pit, firming plate
Outer cylinder 13, spray head 14, GPS module 15, ultrasonic range finder 16, solar panel 17, motor 18, spring lock block 19, lower seedling
Mouth 20, positioning plate 21, guide plate 22, shaft connecting rod 23 send seedling turntable 24, and sapling seedling pipe 25 send seedling track 26, electric expansion
Cylinder 27, steering motor 28, linking arm 29, bogie 30, tire 31, driving motor 32, the second cylinder 33, scrollwork spring 34, firming
Plate 35, the outer boom 36 of firming plate, firming plate fabrication hole 37, the outer boom sliding slot 38 of firming plate.The driving motor 32 is automatic kind
Tree planting seedling trolley provides power, and the motor 18 makes to dig pit drill bit rotation, first cylinder 4 push it is described dig pit drill bit 12 to
Lower movement, completes pit excavation work, and the infrared range-measurement system 1 is used for the avoidance from main carriage, institute with the ultrasonic range finder 16
State GPS module 15 for be accurately positioned plan with realizing route, the rotation of the described group of seedling motor 3 makes described group of seedling piece 9 stir sapling
The sapling for including in seedling pipe 25 enters the lower seedling mouth 20 and then falls to heatable adobe sleeping platform from lower seedling channel 35, described that seedling drum 5 is sent to realize
The storage and feeding of sapling, the air accumulator 6 provide working media for cylinder, and the air pump 7 makes compressed gas enter cylinder, institute
Stating electric expansion cylinder 27 is for adapting to the plantation of variety classes sapling and can realize the lifting of plantation dolly chassis, the medicine
Case 10, which sprays drug by the spray head 14, can guarantee sapling survival rate, and the battery 11 is trolley power supply, and the spectrometer 2 is
Terrestrial information is detected to judge whether to plant, the spring lock block 19 is to stop outermost sapling due to making in torque spring
Uncontrolled under to enter lower seedling mouth, the positioning plate 21 is used to send the positioning and fixation of seedling drum, and the guide plate 22 is for drawing
Lead sapling leave send seedling drum, the shaft 23 that scrollwork spring 34 is driven to screw after for the feeding of sapling provide power, it is described to send seedling rail
Road 26 send seedling drum for guiding sapling to leave, and the solar panel 17 works outside for a long time for trolley and provides energy storage
In battery, the firming mechanism 23 is the soil being compacted around after sapling falls, and second cylinder 33 pushes packer
It is described that structure is compacted sapling surrounding soil, and the steering motor 28 turns to trolley by differential, and the linking arm 29 is used for
Multi-stage expansion cylinder and steering motor and bogie are connected, the bogie 30 is realized and is turned to for connecting steering motor and wheel,
The industrial personal computer 8 plays the role of controlling trolley.
The GPS module 15 completes reading, the parsing, conversion process of data, is transferred on industrial personal computer 8 by string line,
Industrial personal computer 8 corrects route according to the route set；After infrared range-measurement system 1 and the work of ultrasonic range finder 16 are collected into signal,
Industrial personal computer processing is transferred data to by string line, after obtaining obstacle distance, industrial personal computer 8 issues instruction control motor and hides
Barrier.
As shown in figure 3, it includes sending seedling drum 5 and group seedling frame that the Song Miao mechanism, which includes the automatic seeding delivering mechanism, described group
Seedling frame includes motor and group seedling piece, and the motor, which is fixed on, to be sent on the outside of seedling track, and described group of seedling piece is located above motor.Send seedling drum
Group seedling piece 9 of seedling piece rotation dialled seedling motor 3 and sapling is made to be dialled in lower seedling mouth is dialled in 5 drivings.It is described as shown in Figure 4 to send in seedling drum 5
It including lower seedling mouth 20, positioning plate 21, guide plate 22, shaft 23, send seedling turntable 24, sapling seedling pipe 25 and send seedling track 26.It is described
Shaft 23 send seedling turntable 24 to connect with described, described to send seedling turntable 24 be together around axis rotation, to push away with the shaft 23
The dynamic sapling seedling pipe 25 comprising sapling is fed outward, described when the sapling seedling pipe 25 moves to the guide plate 22
Guide plate 22 guides the feeding outward of sapling seedling pipe 25, and the positioning plate 21 is fixed conveniently with car bottom plate to be sent the positioning of seedling drum and fix.
As shown in figure 5, the shaft 23 is connect with scrollwork spring 34, the scrollwork spring 34, which is placed in, send seedling drum bottom, by rotating shaft 23,
Make scrollwork spring stored energy, send seedling turntable 24 to push.
It as shown in figs 6-8, include pit-picker, the first cylinder, firming mechanism, the pit-picker for the automatic seedling mechanism
Including drill bit 12 of digging pit, motor 18；The firming mechanism includes the second cylinder 33, firming plate outer cylinder 13, firming plate 35, firming plate
Outer boom 36, the outer boom sliding slot 38 of firming plate, the firming plate 35 is an overall structure, has firming plate on the firming plate 35
Fabrication hole 37, the firming plate 35 are made into using elastic hard rubber, and the firming plate 35 is generally tubaeform, and outer wall is provided with four
Road slot is divided into four blocks of firming plates, cooperates the fabrication hole on firming plate, firming plate can be made to be withdrawn outside the firming plate when not working
In cylinder 13, in horn-like inside the firming plate outer cylinder 13, to cooperate firming plate, 35 processing performance of firming plate can be supported
Its intensity and elasticity.Downward, cylinder body is fixed on cart base plate first cylinder, 4 piston rod, piston rod and pit-picker motor
Shell is fixed, 33 piston rod of the second cylinder downward, upper end and lower seedling mouth alignment and fixation.When work, the pit-picker rotation
4 piston rod of the first cylinder of digging pit pushes down on pit-picker and digs pit downwards, and piston rod is replied together with pit-picker after digging pit
Initial position, trolley advance appropriate location make lower seedling mouth be directed at the hole dug, after sapling falls to heatable adobe sleeping platform, the compacting of firming mechanism
Soil around sapling.
As shown in Figure 10, the device for administration of drugs includes grug transportation tube 141, fixed link 142 and spray head 143, small after plantation
Vehicle first advances the distance between one section of spray head and heatable adobe sleeping platform, the subsequent spray head 143 by industrial personal computer control application with terminate to be administered, it is small
Vehicle continuation is regular to carry out plantation operation.
It is as shown in figure 11 trolley specific works schematic diagram, the automatic seeding delivering mechanism, automatic planting mechanism, navigation module
It cooperates to make independently to plant with fertilising module and becomes regular, efficiently.
Route schematic diagram is planted for trolley as shown in figure 12, the region that artificial judgement needs to plant carries out road to trolley in advance
Diameter planning is then worked by trolley independent navigation module and realizes avoidance and navigation, and shown arrow direction is the trolley specifically side of advance
To.
Spectrometer can real-time monitoring ground mask body soil regime by ground information transmission to industrial personal computer processing make conjunction
Physics and chemistry, generalization, digitization analysis feedback, so that automatic seedling trolley is more accurately found the area for being suitble to start seedlings,
And the overall process of plantation of digging pit is completed, makes autonomous implant system and method complete to dig pit by the instruction that industrial personal computer issues, plants
It plants and fertilising operation, the traveling under plantation and complex environment for different types of sapling, by electric expansion cylinder working,
To reach automatic adjustment cart base plate height, the purpose of automatic planting is realized.
It can use solar panel power supply and possess stronger cruising ability, side environmentally friendly using degradable seedling pipe
Just field automatic planting is realized；The innovation of Song Miao mechanism, the sapling for carrying autonomous implant system and method disposably are increased
Add, improves the efficiency of automatic planting；After automatic planting, trolley carries out spring application to the sapling just planted, to improve
Sapling survival rate.Make to plant trolley precision navigation by vehicle mounted guidance module, greatly improves the degree of automation, save people
Power material resources.
The above is only presently preferred embodiments of the present invention, is not intended to limit the present invention in any form, any ripe
Professional and technical personnel is known, without departing from the scope of the present invention, according to the technical essence of the invention, to the above reality
Any simple modifications, equivalent substitutions and improvements etc. made by example are applied, it is fallen within the scope of protection of the technical scheme of the present invention
It is interior.
Claims (10)
1. a kind of autonomous implant system of sapling, it is characterised in that: including car body, automatic seeding delivering mechanism, automatic planting mechanism, navigation
Module, fertilising module and power supply system；The automatic seeding delivering mechanism is fixed on above hull bottom plate, and the automatic seedling mechanism is solid
Below hull bottom plate, the navigation module and fertilising module are set on car body；
The car body includes that shell, bottom plate, tire and driving steering system, the tire are fixed on the steering of driving steering system
On frame, the driving steering system includes electric expansion cylinder, linking arm, steering motor, bogie and driving motor；
The automatic seeding delivering mechanism is described to send seedling drum including sending seedling track, edge to send seedling track outside including sending seedling drum and dialling seedling frame
What sapling seedling pipe, the promotion sapling seedling pipe of feeding were fed outward send seedling turntable；Sapling is placed in sapling seedling pipe, described to send seedling rail
Road, which is arranged in, to be sent on seedling drum bottom plate, described that seedling turntable is sent to be divide into upper part and lower part and separated by several partitions, in sending seedling drum
The heart is equipped with scrollwork spring, and scrollwork spring is connect with seedling turntable is sent；Scrollwork spring inner end is fixed in shaft, and shaft rouses bottom with seedling is sent
Connection can drive scrollwork spring center rotating around the shaft, and sapling is pushed to enter the guide plate for sending seedling track；It is described to send seedling rail base
Xia Miaokou is offered, there is wedge-shaped spring lock block between the lower seedling mouth and sapling, the spring lock block bottom connect solid with spring
Due to sending below seedling track；Described group of seedling frame includes motor and group seedling piece, and the motor, which is fixed on, to be sent on the outside of seedling track, and described group
Seedling piece is located above motor；
The automatic planting mechanism packet spectrometer, cylinder, pit-picker, lower seedling channel and firming mechanism, the spectrometer are fixed on
On the downside of cart base plate；The pit-picker is connected with cylinder piston rod, and the lower seedling channel is fixed on the downside of cart base plate, under described
Seedling the bottom of the channel is equipped with cylinder, and the piston rod of the cylinder is fixed with firming mechanism upper end；
The navigation module includes GPS module, industrial personal computer, infrared range-measurement system and ultrasonic range finder, and the GPS module is fixed on
Above carbody shell, the industrial personal computer is fixed on above battery and medicine-chest, and the infrared range-measurement system is symmetrically fixed on cart base plate
Upside, the ultrasonic range finder are fixed on small front side；The GPS module, infrared range-measurement system and ultrasonic range finder connection
To industrial personal computer.
The fertilising module includes application spray head and medicine-chest, and the application spray head is fixed on the downside of cart base plate, the medicine-chest position
On the upside of cart base plate, and right above spray head.
2. the autonomous implant system of sapling according to claim 1, it is characterised in that: the described group of seedling piece radius of gyration is greater than tree
Seedling is fallen to the distance for the motor center for making to dial the rotation of seedling piece so that dialling the rotation of seedling piece and can stir the sapling nearest from lower seedling mouth just
Enter Xia Miaokou.
3. the autonomous implant system of sapling according to claim 1, it is characterised in that: the sapling seedling Guan Weike voluntarily degrades
New material, material are selected from PLA polylactic acid or PVA polyvinyl alcohol.
4. the autonomous implant system of sapling according to claim 1, it is characterised in that: the lower seedling channel and lower seedling mouth are right
Together, the internal diameter in the lower seedling channel is greater than lower seedling mouth diameter, and the firming mechanism includes several blocks of firming plates, between the firming plate
An entirety is connected into, bottom is that open annulus is tubaeform.
5. the autonomous implant system of sapling according to claim 1, it is characterised in that: it is described send seedling drum shape be cydariform, it is interior
Portion has vortex filament shape to send seedling track, and sapling edge send seedling track to feed outward.
6. the autonomous implant system of sapling according to claim 1, it is characterised in that: the automatic planting mechanism has four pieces
The firming plate of symmetrical aperture integrated connection, the firming plate have good intensity and elasticity, and material is vulcanie, natural shape
It is the state expanded outwardly under state, is tightened in firming plate outer cylinder.
7. the autonomous implant system of sapling according to claim 1, it is characterised in that: electric expansion cylinder bottom portion is non-telescoping
End is welded and fixed with linking arm, and linking arm can be freely rotated around steering motor, fixed on the downside of piston rod and cart base plate, trolley bottom
Plate installs fixed electric expansion cylinder piston rod.
8. the autonomous implant system of sapling according to claim 1, it is characterised in that: described that seedling drum is sent to be fixed on by positioning plate
On the upside of hull bottom plate, when sapling being made to send seedling track outside by guide plate guided-moving to drum, the direction of motion and the spectrometer, the
One cylinder, the second cylinder, pit-picker, Xia Miaokou, application spray head, lower seedling channel and firming mechanism are on same straight line；It is described
Guide plate is elastic steel sheet, and positioned at sending seedling drum inside that seedling track and outside is sent to send between seedling track, the guide plate, which is fixed on, to be sent
The internal surface of seedling drum drum, and be located at and give above seedling turntable.
9. the autonomous implant system of sapling according to claim 1, it is characterised in that: the power supply system includes battery and too
Positive energy solar panel, the battery are fixed on the upside of cart base plate, and the solar panel is fixed on trolley upper surface of outer cover.
10. the autonomous implant system of sapling according to claim 1, it is characterised in that: described to send seedling turntable shape by solid
Discoid and work grid shape is constituted, and outer edge motion profile is circle, and the circular radius is less than and send seedling drum drum internal shape
At disc radius, the face turntable of sending can be under drum internal scrollwork spring effect around the internal shaft rotation of drum.
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| CN201910172212.0A CN109699432B (en) | 2019-03-07 | 2019-03-07 | Autonomous planting system and method for seedlings |
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|---|---|---|---|
| CN201910172212.0A CN109699432B (en) | 2019-03-07 | 2019-03-07 | Autonomous planting system and method for seedlings |
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| CN109699432B CN109699432B (en) | 2024-02-02 |
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| CN112470857A (en) * | 2020-12-30 | 2021-03-12 | 南京艺时仁贸易有限公司 | Photovoltaic power generation's desert is with afforestation equipment |
| CN112796657A (en) * | 2021-01-18 | 2021-05-14 | 杨泽昆 | 10KV power transmission line foundation excavation device |
| CN113040021A (en) * | 2021-03-23 | 2021-06-29 | 威海福参生物科技有限公司 | Tree seedling planting equipment and using method thereof |
| WO2021205069A1 (en) * | 2020-04-06 | 2021-10-14 | Ponsse Oyj | Planting apparatus |
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| CN115361862A (en) * | 2020-04-06 | 2022-11-18 | 蓬塞有限公司 | Planting equipment |
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| CN113853961A (en) * | 2021-10-15 | 2021-12-31 | 江西泰晟农业生态有限责任公司 | Kiwi fruit is planted with seedling pole cuttage equipment |
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| CN114402940A (en) * | 2022-01-10 | 2022-04-29 | 南通大学 | Desert area unmanned salix mongolica planting device |
| CN114830986A (en) * | 2022-04-25 | 2022-08-02 | 浙江机电职业技术学院 | All-terrain multifunctional automatic tree planting robot and tree planting method thereof |
| CN114830989A (en) * | 2022-06-13 | 2022-08-02 | 哈尔滨剑桥学院 | Full-automatic desert tree planting vehicle |
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| CN115413553A (en) * | 2022-07-26 | 2022-12-02 | 哈尔滨理工大学 | Automatic tree planting machine of high-pressure water jet of wicresoft for planting sand stabilization shrubs in batches |
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| CN116267493B (en) * | 2023-03-24 | 2023-10-20 | 广州市从化华隆果菜保鲜有限公司 | Fruit tree planting system based on Internet of things |
| CN117769940A (en) * | 2024-02-23 | 2024-03-29 | 贵州省天然产物研究中心 | Self-propelled rhizome class chinese-medicinal material outcrop tectorial membrane transplanter |
| CN117999932A (en) * | 2024-04-09 | 2024-05-10 | 山西省农业机械发展中心 | Intelligent planting device and planting method for agricultural machinery |
| CN117999932B (en) * | 2024-04-09 | 2024-06-07 | 山西省农业机械发展中心 | Intelligent planting device and planting method for agricultural machinery |
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