CN112931136A - Full-automatic tree planter and tree planting method - Google Patents
Full-automatic tree planter and tree planting method Download PDFInfo
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- CN112931136A CN112931136A CN202110341605.7A CN202110341605A CN112931136A CN 112931136 A CN112931136 A CN 112931136A CN 202110341605 A CN202110341605 A CN 202110341605A CN 112931136 A CN112931136 A CN 112931136A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 239000002689 soil Substances 0.000 claims abstract description 29
- 238000004140 cleaning Methods 0.000 claims description 25
- 238000005553 drilling Methods 0.000 claims description 22
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000013461 design Methods 0.000 claims description 3
- 238000012546 transfer Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/04—Machines for making or covering holes for sowing or planting
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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
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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
- A01G23/099—Auxiliary devices, e.g. felling wedges
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Soil Sciences (AREA)
- Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
Abstract
The invention discloses a full-automatic tree planting machine and a tree planting method, belonging to the technical field of garden tree planting, the tree planting machine comprises a movable base, the upper surface of the movable base is provided with a drill bit bracket and a tray bracket, at least three mechanical arms with the same structure are arranged in the drill bit bracket, each mechanical arm comprises a plurality of mutually rotatably connected rotating rods, the rotating rod at one end of each mechanical arm is hinged at the top of the drill bit bracket, the other end of each mechanical arm is hinged on a horizontal plate, a drill bit is arranged at the central position of the horizontal plate, the movable base is provided with a drill hole coaxial with the drill bit, the upper surface of the tray bracket is provided with a plurality of trays, the trays can rotate on the tray bracket in a circulating way, the movable base is also provided with a clamping arm assembly, the clamping arm assembly can move in the vertical direction to place clamped tree seedlings in the drill holes on the ground, the bottom of the movable base is sequentially provided with a soil filling wheel, the fill wheel can scoop soil above the ground onto the conveyor belt.
Description
Technical Field
The disclosure belongs to the technical field of garden tree planting, and particularly relates to a full-automatic tree planter and a tree planting method.
Background
The statements herein merely provide background related to the present disclosure and may not necessarily constitute prior art.
Traditional tree planting mainly uses manpower as the main, especially consumes a lot of manpower, material resources in the place that the condition is abominable to efficiency is also low, in order to improve planting efficiency, reduces the human cost, and machine tree planting has gradually become the mainstream, and machine tree planting seems very important in the gardens field at present, therefore also constantly more updated research and development at home and abroad.
Although the current design idea of the tree planter is that a robot replaces a human to automatically complete various working processes of tree planting, the existing tree planting device has low automation degree, needs a plurality of people for auxiliary operation during operation, has large volume and single function, is not suitable for planting various nursery stocks, and limits the popularization and application of the tree planter.
Disclosure of Invention
Aiming at the technical problems in the prior art, the disclosure provides a full-automatic tree planter and a tree planting method.
The invention discloses at least one embodiment provides a full-automatic tree planting machine, which comprises a movable base, wherein the upper surface of the movable base is provided with a drill bit support and a tray support, at least three mechanical arms with the same structure are arranged in the drill bit support, each mechanical arm comprises a plurality of rotating rods which are mutually rotatably connected, the rotating rod at one end of each mechanical arm in the length direction is hinged to the top of the drill bit support, the other end of each mechanical arm is hinged to a horizontal plate, a vertically-arranged drill bit is arranged at the central position of the horizontal plate, a drill hole coaxial with the drill bit is formed in the movable base, the upper surface of the tray support is provided with a plurality of trays for placing tree seedlings, the trays can rotate on the tray support in a circulating manner, a clamping arm assembly for clamping the tree seedlings is further arranged on the movable base, the clamping arm assembly can move in the vertical direction to place the clamped tree seedlings in the drill holes on the, the soil filling device is characterized in that a soil filling wheel and a conveyor belt are sequentially arranged at the bottom of the movable base in the direction opposite to the movement direction of the movable base, and the soil filling wheel can shovel soil on the ground onto the conveyor belt.
Furthermore, the end part of the movable base close to the drill bit support is connected with a plurality of cleaning rods which are parallel to each other and form included angles with the ground, the cleaning rods can slide along the inclined direction of the cleaning rods, and the end parts of the cleaning rods far away from the ground are connected with the movable base through elastic pieces.
Further, the soil filling wheel comprises a rotating shaft and rotating blades arranged in the circumferential direction of the rotating shaft, and the rotating blades are U-shaped.
Further, drilling, fill out soil wheel and conveyer belt all are located the central line of removal base bottom.
Furthermore, the top of the movable base is provided with a top plate, the top plate is provided with a transverse guide rail along the moving direction, the transverse guide rail is provided with a transverse sliding block, the transverse sliding block is connected with a first vertical guide rail perpendicular to the transverse guide rail, the first vertical guide rail is provided with a vertical sliding block, the clamping arm assembly is connected with the vertical sliding block through a second vertical guide rail, and the clamping arm assembly is fixed on the second vertical guide rail in a sliding mode.
Further, the bottom of the transverse sliding block is connected with the vertical sliding block through an air cylinder.
Further, the centre gripping arm subassembly includes a plurality of pairs of superimposed arc splint each other, and these arc splint are rotatory to be set up on the centre gripping base, be equipped with drive arc splint pivoted motor on the centre gripping base, the edge that the arc splint are used for the centre gripping seedling is the wave design.
Furthermore, an attitude adjusting sensor is arranged at the hinged position of the end part of the rotating rod, the rotating rod at one end of the mechanical arm in the length direction is connected with the steering engine, and the attitude adjusting sensor is connected with the steering engine; and an ultrasonic ranging sensor is arranged at the center of the top of the drill bit support.
Furthermore, the rotary table is fixed on the base through a rotary table seat, a circulating groove is formed in the rotary table seat, a closed circulating chain corresponding to the circulating groove is arranged in the rotary table seat, the rotary table is fixed on the circulating groove and connected with the circulating chain, and the rotary table can slide along the circulating groove under the transmission of the circulating chain.
At least one embodiment of the present disclosure further provides a tree planting method of a full-automatic tree planter based on any one of the above, the method including the following processes:
the movable base moves to a first drilling position, and the drill bit is controlled to move downwards to penetrate through the drill hole in the movable base to drill a hole on the ground;
when the drill bit drills to a specified depth, the drill bit is controlled to move upwards, then the movable base is moved forwards to a second drilling position, the seedling on the tray is clamped through the clamping arm assembly, then the clamping arm is controlled to move downwards to place the seedling in the drilling hole in the ground, and meanwhile, the tray on the tray support continues to rotate;
when the drill bit drills a second drilling hole, the soil filling wheel is controlled to rotate to shovel soil around the second drilling hole to the conveyor belt, and the soil is conveyed into the first hole through the conveyor belt.
The beneficial effects of this disclosure are as follows:
(1) the full-automatic tree planting machine can realize hole digging, sapling placing and pit filling through the movement of the base, full-automatic tree planting is realized, manual participation is avoided, and labor force is saved.
(2) The full-automatic tree planter of this disclosure accessible arm of every steering wheel independent control guarantees that the horizontal plate of arm bottom is in the horizontality, can come the angle of continuous adjustment drill bit according to the environment on ground like this and make it keep perpendicular to excavate the tree hole with ground, improves the quality of digging the hole.
(3) The full-automatic tree planter that this disclosure provided is equipped with a plurality of carousels on the base, can carry the seedling to the position that is used for the centre gripping seedling through the cyclic motion of carousel, places the drilling on ground with the seedling through the centre gripping arm, has just so avoided the centre gripping arm to remove to the position of every seedling many times, and control mode is simple.
(4) The full-automatic tree planter that this disclosure provided can constantly clear up the barrier of base the place ahead operation process through the clearance pole on the base, avoids the in-process that carries out the drilling for ground to the drilling rod on the base to produce the influence.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
Fig. 1 is an overall structural view of a full-automatic tree planter provided in an embodiment of the present disclosure;
fig. 2 is a front view of the fully automatic tree planter provided in the embodiment of the present disclosure;
fig. 3 is a schematic structural view of a movable base in the fully automatic tree planter according to the embodiment of the disclosure;
fig. 4 is a schematic structural view of a cleaning rod member in the fully automatic tree planting machine according to the embodiment of the present disclosure;
fig. 5 is a schematic structural view of a drill rod support in the fully automatic tree planter provided in the embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a three-axis parallel robot in the fully automatic tree planter provided in the embodiment of the present disclosure;
fig. 7 is a schematic structural view of a seedling conveying device in the fully automatic tree planter according to the embodiment of the present disclosure;
fig. 8 is a schematic structural view of a base of a conveying disc in the fully automatic tree planter according to the embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of a robot grasping assembly in the fully automatic tree planter according to the embodiment of the disclosure;
fig. 10 is a schematic structural view of a clamping hand in the fully automatic tree planter provided in the embodiment of the present disclosure;
fig. 11 is a schematic structural view of the full-automatic tree planter provided in the embodiment of the present disclosure at another angle;
fig. 12 is a schematic structural view of a filling wheel in the full-automatic tree planter provided in the embodiment of the present disclosure;
fig. 13 is a schematic structural diagram of a conveyor belt in the fully automatic tree planter provided in the embodiment of the present disclosure;
FIG. 14 is a flowchart of a parallel robot working space search algorithm in the fully automatic tree planter according to an embodiment of the present disclosure;
fig. 15 is a flow chart of linear interpolation of parallel robots in the full-automatic tree planting machine according to the embodiment of the disclosure.
In the figure: 1. moving base, 11, moving wheel, 12, bottom plate, 13, top plate, 14, solar panel, 2, drill support, 201, side prism, 202, triangle top plate, 203, beam, 204, three-axis parallel robot, 2041, upper transmission rod, 2042, lower transmission rod, 2043, upper triangle plate, 2044, lower triangle plate, 2045, steering engine, 205, drill rod, 3, sapling conveyer, 31, conveyer base, 32, conveyer plate, 33, circulation groove, 4, mechanical hand grasping component, 401, transverse plate, 402, ball screw, 403, screw motor, 404, first slide block, 405, first guide rail rod, 406, second slide block, 407, cylinder, 408, second guide rail rod, 409, clamping hand, 4091, arc clamping plate, 4092, vertical plate, 4093, upper horizontal plate, 4094, launching flat plate, 5, rotating motor, 4095, soil-filling wheel, 51, wheel carrier, 52, rotating blade, 6, 4093, upper horizontal plate, 4094, launching flat plate, 4095, and soil-filling wheel, The device comprises a conveyor belt, 61, a roller frame, 62, a mounting frame, 7, a cleaning rod component, 71, a supporting frame, 72, a cleaning rod, 73, a supporting shaft, 74, a spring, 75 and a supporting beam.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
As shown in fig. 1-2, the present disclosure provides a full-automatic tree planting machine, which mainly includes a movable base 1, a drill support 2 disposed on the movable base, a sapling conveying device 3, and a manipulator grasping assembly 4.
Specifically, as shown in fig. 3, it is used for controlling the removal of moving the base to be equipped with four removal wheels 11 on the removal base, and four removal wheels are fixed on the bottom plate 12 of moving the base through the support, bottom plate top four corners is connected with roof 13 through four support columns, the top of roof is equipped with solar panel 14, absorbs solar energy through solar panel and carries out access power to the relevant equipment on the tree planter, as the stand-by energy.
As shown in fig. 4, the cleaning rod 7 is connected to the front of the movable base, i.e. the front part along the moving direction of the base, wherein the cleaning rod 7 includes a plurality of cleaning rods 72 parallel to each other, and the cleaning rods are obliquely arranged and form an acute angle with the ground, and are mainly used for cleaning impurities and the like in the advancing direction of the tree planting machine, so as to facilitate the drill to drill on the ground.
Referring to fig. 4 in particular, the moving base 1 extends two supporting frames 71 outwards along the end of the moving direction, the two supporting frames 71 are connected through two supporting beams 75, a plurality of cleaning rods 72 are mounted on the two supporting beams 75, the cleaning rods 72 are obliquely arranged and form a certain angle with the ground, a certain gap is formed between the bottom of each cleaning rod 72 and the ground, and therefore obstacles in front, such as stones and the like, are cleaned through the cleaning rods along with the continuous advance of the base, and the subsequent drilling work is prevented from being influenced.
The cleaning bar 72 is connected to each support beam 75 by a cover plate, and the cleaning bar can slide on the two support beams 75 under the constraint of the cover plate.
The top of the cleaning rod 72 is connected with the base through a spring 74, and it should be noted that one end of the spring 74 is connected to a supporting shaft 73 through a connecting block, and the other end is hinged with the top of the cleaning rod, so that the cleaning rod can slide up and down on the supporting beam 75.
Further, as shown in fig. 5, a drill bit support 2 is arranged on the top surface of one end of the bottom plate of the movable base, which is close to the cleaning rod member 7, and the drill bit support 2 is integrally formed into a triangular prism frame and vertically fixed on the upper surface of the movable base. The triangular prism support comprises three side prisms 201, the tops of the three side prisms are fixed together through a triangular top plate 202, and the bottoms of the three side prisms are fixed through three cross beams 203. And a drilling hole is formed in the center of the bottom of the triangular prism support on the movable base.
The three-axis parallel robot is characterized in that three vertically-placed three-axis parallel robots 204 with the same structure are arranged inside the triangular prism frame, the three-axis parallel robots are formed by mutually hinging three rotating rods, the bottoms of the three parallel robots are connected with a drill rod 205, the drill rod 205 is controlled to move up and down through the three parallel robots and then passes through a drill hole in the bottom plate 12 of the movable base, and the ground is drilled.
Further, as shown in fig. 6, the three-axis parallel robot 204 includes three mechanical arms formed by upper rotating rod 2041 and lower rotating rod 2041 through ball hinge, wherein the tops of the three upper rotating rods 2041 are uniformly connected to the same upper triangular plate 2043, the bottoms of the three lower rotating rods 2042 are also uniformly connected to the same lower triangular plate 2044 through ball hinge, the lower triangular plate 2044 is used for connecting the drill rod 205, and the upper triangular plate 2043 is fixed in the center position of the triangular top plate 202 of the triangular prism frame, so that the central line of the whole drill rod 205 and the drilling coaxial line on the moving base are ensured.
Go up set up a steering wheel 2045 on the three apex angle of set-square 2043 respectively, steering wheel 2045's output shaft is articulated with the tip of last rotation pole 2041 respectively to these three steering wheel mutually independent motion under considering present conventional tree planting environment, often be hollow under the road surface environment, automatic tree planting dolly goes and can not keep perpendicular all the time with ground in the subaerial drill bit work that will lead to the dolly to bear of unevenness, needs constantly adjust the angle of drill bit according to the environment at any time and make it keep perpendicular to excavate the tree hole with ground. In order to accurately adjust the angle of the drill bit at any time, the bottoms of the three same three-axis parallel robots are connected to the same lower triangular plate, the top of each parallel robot is independently controlled by one steering engine, and therefore the three parallel robots can continuously adjust the working angle of the drill bit according to the inclination angle of the base, the drill bit can be perpendicular to the ground all the time, and the drilling quality is improved.
Furthermore, in order to enable the drill bit to be perpendicular to the ground in any working environment, in the embodiment, attitude adjusting sensors are installed on the parallel robot, three attitude adjusting sensors are arranged on the rotating shafts between the two adjacent rotating rods respectively, and the attitude adjusting sensors are connected with the steering engine at the top and used for detecting the angle of each rotating shaft, and further controlled by the steering engine.
In order to realize quick and accurate response to a control signal from a master controller, a driving module on the parallel robot 204 in the embodiment adopts a digital steering engine, the digital steering engine mainly comprises a motor, a reduction gear and a potentiometer, the angle can be locked unchanged by sending a signal once, and the steering engine has the advantages of high control precision, good linearity, high response speed and rapider acceleration and deceleration.
The lower rotating rods 2042 in the parallel robot 204 in the embodiment are all composed of two connecting rods which are parallel to each other, so that the single parallel robot formed by the two connecting rods is large in rigidity, stable in structure, small in error and high in precision.
Further, the tree planter that this embodiment provided needs to set for the degree of depth that the drill bit bored before the work, consequently needs a detection device to examine whether the drilling rod has reached the degree of depth that the work required, so adopted ultrasonic ranging sensor. The ultrasonic ranging sensor is arranged at the center of the upper triangular plate 2043, measures the distance between the drill bit and the ranging module when the drill bit is static during working, then sets the distance as the initial distance, and measures the distance once every 5 seconds during working, and stops the working of the drill bit when the initial distance is subtracted from the returned measuring distance to reach the working set value.
In addition, the hole position of general tree planting all should be set for earlier, consequently still need install big dipper orientation module, big dipper orientation module is located the below of removing the base.
In order to drill holes and put saplings into the holes, the sapling conveying device 3 and the mechanical hand grasping assembly 4 arranged on the top plate 13 are arranged on one side of the drill support on the movable base.
Specifically, referring to fig. 7-8, the seedling transfer device 3 comprises a transfer plate base 31 disposed on the bottom plate of the mounting base and a plurality of transfer plates 32 mounted on the upper portion of the transfer plate base, so that the transfer plates 32 are mainly used for placing seedlings, and the seedlings are continuously transferred by the transfer plates 32 circulating on the transfer plate base 31.
As shown in fig. 8, a closed circulation groove 33 is formed on the transfer tray base 31, the width of the whole circulation groove 33 is the same, and the circulation groove 33 is distributed over the whole upper surface of the transfer tray base 31 to form a circulation line.
Each of the transfer trays 32 is inserted into the circulation groove 33 through a connecting rod, and then a closed driving chain, the driving direction of which corresponds to the circulation groove 33, is installed inside the transfer tray base 31, and the connecting rod is directly fixed to the driving chain, so that the circulation motion of the transfer trays 32 is achieved by the circulation motion of the driving chain. After one of the conveying discs conveys the designated position where the seedling clamping piece clamps the seedling, the seedling on the conveying disc is taken down through the clamping piece, then the conveying disc is controlled to move, the next conveying disc is driven to the designated position, the next clamping action is carried out, and therefore the automatic conveying of the seedling and the clamping operation can be achieved.
In the embodiment shown in fig. 7, the driving plate 32 is not a circular plate as a whole, but is a circular plate with a quarter of the whole, so that the driving plates can be arranged closely together and stacked, and a large space can be saved.
The rotary tables can be used for placing the same saplings or different saplings, when a certain rotary table rotates to a position where the manipulator grabs the corresponding saplings, the manipulator grabs the saplings, and then the rotary tables rotate for a certain distance, so that the next rotary table rotates to a position where the manipulator corresponds, and the automatic conveying function of the saplings can be achieved.
Further, as shown in fig. 9, the robot gripper assembly 4 mainly comprises a transverse plate 401 provided at the bottom of the top plate, a horizontally arranged ball screw 402 is installed on the transverse plate 401, a screw motor 403 is fixed at one end of the transverse plate 401 in the length direction, the screw motor 403 is connected with the ball screw 402 for controlling the rotation of the ball screw, the ball screw is connected with a first slide block 404, two first guide rails 405 are vertically arranged at the bottom of the slide block, and a second slide block 406 is fixed on the two first guide rails in a sliding way, in order to realize the up-and-down movement of the second slide block, two air cylinders 407 which are parallel to each other are arranged at the bottom of the first slide block, the cylinder body of the cylinder is fixed at two ends of the first slide block 404, the telescopic rod is connected with the second slide block 406, thus, the second slider 406 is controlled to move up and down on the first rail rod 405 by the expansion and contraction of the air cylinder.
Further, a second guide rail rod 408 is fixed at the bottom of the second slide block 406, a clamping hand 409 is slidably arranged on the second guide rail rod 408, and the clamping hand 409 is used for picking up the saplings on the conveying disc 32.
Further, as shown in fig. 10, the clamping hand 409 in this embodiment includes a U-shaped fixing base, a vertical plate 4092 of the U-shaped fixing base is slidably disposed on the second guide rail 408, can be adjusted in height on the second guide rail 408, and is fixed at a certain position, a plurality of pairs of arc-shaped clamping plates 4091 are installed between two horizontal plates in a direction facing the conveying disc on the U-shaped fixing base, the arc-shaped clamping plates 4091 are stacked, a gap is provided between two adjacent pairs of arc-shaped clamping plates, and the pairs of arc-shaped clamping plates are connected with each other on one side, so that a synchronous motion can be realized,
in this embodiment, the ends of the pair of the uppermost and lowermost arc-shaped clamping plates are rotatably fixed to the upper horizontal plate 4093 and the lower horizontal plate 4094 of the U-shaped fixing base, so that the synchronous movement of all the arc-shaped clamping plates can be realized by driving the pair of the uppermost arc-shaped clamping plates.
Specifically, a rotary motor 4095 is installed between an upper horizontal plate 4093 and a lower horizontal plate 4094 of the U-shaped fixing base in this example, an output shaft of the rotary motor 4095 passes through the upper horizontal plate 4093 and is connected with a pair of arc-shaped clamping plates at the topmost part through a gear mechanism, so that the rotation of the clamping plates is realized.
In order to make the gripping member grip the seedling more stably, the inner edge of the arc-shaped gripping plate 291 on the gripping member is designed to be wavy, as shown in fig. 10.
Further, as shown in fig. 1, fig. 2 and fig. 11, in this embodiment, a drill hole is formed in the moving base, the drill hole is used for penetrating through the drill bit, a soil filling wheel 5 is further arranged on one side of the drill hole in the bottom of the moving base, and a conveyor belt 6 is further arranged on one side of the soil filling wheel 5 and arranged along the moving direction of the whole moving base, so that the working sequence and time of the drill bit and the manipulator grasping assembly can be well coordinated, when the first hole is drilled, the soil around the first hole is turned over to the conveyor belt 6 by controlling the soil filling wheel to rotate along with the drill bit continuously drilling the hole to the ground, and then the second hole is drilled, and the soil is moved into the first hole by the conveyor belt to realize an automatic soil filling function. It is noted that the robot assembly has already placed the seedling in the first pit when the first pit is filled with soil.
As shown in fig. 12, the soil filling wheel mainly includes two wheel frames 51 installed at intervals, the bottoms of the two wheel frames 51 are connected through a rotating shaft, and a plurality of rotating blades 52 are arranged on the outer wall surface of the rotating shaft, so that the rotating blades 52 are integrally U-shaped, and thus the rotating shaft rotates, the rotating blades 52 scoop up the peripheral images of the front tree pit, and then scoop the images onto the rear conveyor belt 6, and the images are conveyed into the rear tree pit through the conveyor belt 6.
As shown in fig. 13, the conveyor belt 6 of this embodiment is low in the middle and concave on both sides, so as to prevent the filling from spilling on both sides, a plurality of conveyor belt rollers are disposed in the conveyor belt 6 at intervals for supporting the conveyor belt, both ends of the conveyor belt rollers are connected together by roller frames 61, the roller frames 61 are connected with mounting frames 62, and the conveyor belt is fixed on the bottom of the movable base by the mounting frames 62.
The size of the working space of the parallel robot represents the moving range of the robot, so that the working space is an important index for measuring the working capacity of the robot. Fig. 14 is a flow chart of the parallel robot working space searching algorithm.
In addition, the three-axis parallel robot respectively uses one steering engine, but because the reaction speed of the steering engine is not large and the general rotating angles of the three steering engines are inconsistent, the three steering engines do not reach the specified angle at the same time. Therefore, the calculation of the coordinates of the middle point between the starting point and the end point of the contour is completed through a linear interpolation algorithm, and pulse distribution is carried out on the control pulse signals of the steering engine. Such as the linear interpolation flowchart shown in fig. 15.
The following describes in detail a tree planting method of a full-automatic tree planter provided based on the above embodiments, the method includes the following processes:
storing the position to be drilled and the drilling depth information in a master controller on the tree planter in advance;
the controller controls the moving base to move, the Beidou positioning module on the base continuously detects the position of the moving base, and the moving base stops when moving to the first position to be drilled;
controlling the lower triangular plate to move downwards to enable the drill bit to penetrate through the drill hole in the movable base to drill a hole on the ground; during the period, the position of the drill bit is detected constantly through an ultrasonic ranging sensor at the top of the triangular prism support, when the drill bit is detected to be drilled into a preset depth, the drill bit motor is stopped to work, and the drill bit is controlled to ascend through a steering engine on the support;
after drilling holes, controlling the movable base to move forward continuously, clamping the saplings on the tray through the clamping arm assembly, then controlling the clamping arm to move downward to place the saplings in the drilled holes on the ground, and meanwhile, continuously rotating the tray on the tray support;
controlling the soil filling wheel to rotate to fill soil on the hole edge into the drilled hole; the above operation is then repeated.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present disclosure and not to limit, although the present disclosure has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present disclosure without departing from the spirit and scope of the technical solutions, and all of them should be covered in the claims of the present disclosure.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
Claims (10)
1. A full-automatic tree planter comprises a movable base and is characterized in that a drill bit support and a tray support are arranged on the upper surface of the movable base, at least three mechanical arms with the same structure are arranged in the drill bit support, each mechanical arm comprises a plurality of rotating rods which are connected in a rotating mode, the rotating rods at one end in the length direction of each mechanical arm are hinged to the top of the drill bit support, the other end of each mechanical arm is hinged to a horizontal plate, a vertically-arranged drill bit is arranged at the central position of the horizontal plate, a drill hole coaxial with the drill bit is formed in the movable base, a plurality of trays for placing tree seedlings are arranged on the upper surface of the tray support, the trays can rotate on the tray support in a circulating mode, a clamping arm assembly for clamping the tree seedlings is further arranged on the movable base, the clamping arm assembly can move in the vertical direction to place the clamped tree seedlings in the drill holes in the ground, the soil filling device is characterized in that a soil filling wheel and a conveyor belt are sequentially arranged at the bottom of the movable base in the direction opposite to the movement direction of the movable base, and the soil filling wheel can shovel soil on the ground onto the conveyor belt.
2. The full-automatic tree planter as claimed in claim 1, wherein the end of the movable base close to the drill support is connected with a plurality of cleaning rods which are parallel to each other and form an included angle with the ground, the cleaning rods can slide along the inclined direction, and the end of the cleaning rods far from the ground is connected with the movable base through an elastic member.
3. The automatic tree planter as claimed in claim 1, wherein the soil-filling wheel comprises a rotating shaft and a rotating blade arranged in a circumferential direction of the rotating shaft, wherein the rotating blade is U-shaped.
4. The automatic tree planter as claimed in claim 1, wherein the drill hole, the soil filling wheel and the conveyor are located on a center line of the bottom of the movable base.
5. The full-automatic tree planter as claimed in claim 1, wherein the movable base is provided with a top plate at the top, the top plate is provided with a transverse guide rail along the moving direction, the transverse guide rail is provided with a transverse sliding block, the transverse sliding block is connected with a first vertical guide rail perpendicular to the transverse guide rail, the first vertical guide rail is provided with a vertical sliding block, the clamping arm assembly is connected with the vertical sliding block through a second vertical guide rail, and the clamping arm assembly is fixed on the second vertical guide rail in a sliding manner.
6. A full-automatic tree planter as claimed in claim 5 wherein the bottom of the transverse slide is connected to the vertical slide by a cylinder.
7. The automatic tree planter as claimed in claim 1, wherein the clamping arm assembly comprises a plurality of pairs of stacked arc-shaped clamping plates, the arc-shaped clamping plates are rotatably disposed on the clamping base, the clamping base is provided with a motor for driving the arc-shaped clamping plates to rotate, and the edges of the arc-shaped clamping plates for clamping the seedlings are in wave-shaped design.
8. The full-automatic tree planter as claimed in claim 1, wherein a posture adjusting sensor is arranged at the hinged part of the end part of the rotating rod, the rotating rod at one end of the mechanical arm in the length direction is connected with the steering engine, and the posture adjusting sensor is connected with the steering engine; and an ultrasonic ranging sensor is arranged at the center of the top of the drill bit support.
9. The automatic tree planter as claimed in claim 1, wherein the rotary plate is fixed on the base by a rotary plate base, the rotary plate base is provided with a circulation groove, a closed circulation chain corresponding to the circulation groove is arranged in the rotary plate base, the rotary plate is fixed on the circulation groove and connected with the circulation chain, and the rotary plate can slide along the circulation groove under the transmission of the circulation chain.
10. A tree planting method of a full-automatic tree planting machine according to any one of claims 1 to 9,
the movable base moves to a first drilling position, and the drill bit is controlled to move downwards to penetrate through the drill hole in the movable base to drill a hole on the ground;
when the drill bit drills to a specified depth, the drill bit is controlled to move upwards, then the movable base is moved forwards to a second drilling position, the seedling on the tray is clamped through the clamping arm assembly, then the clamping arm is controlled to move downwards to place the seedling in the drilling hole in the ground, and meanwhile, the tray on the tray support continues to rotate;
when the drill bit drills a second drilling hole, the soil filling wheel is controlled to rotate to shovel soil around the second drilling hole to the conveyor belt, and the soil is conveyed into the first hole through the conveyor belt.
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| CN113647273A (en) * | 2021-07-29 | 2021-11-16 | 安庆市双益生态农林科技有限公司 | Intelligent greenhouse building equipment |
| CN113875353A (en) * | 2021-10-13 | 2022-01-04 | 湖南生物机电职业技术学院 | Unmanned tree planter |
| CN113950896A (en) * | 2021-12-02 | 2022-01-21 | 福建省雅林建设集团有限公司 | Use convenient earth boring machine for gardens |
| CN114019979A (en) * | 2021-11-09 | 2022-02-08 | 中国科学院西北生态环境资源研究院 | Agricultural robot |
| CN114916396A (en) * | 2022-06-16 | 2022-08-19 | 吉林大学 | Full-automatic tree planting robot |
| CN115581185A (en) * | 2022-10-25 | 2023-01-10 | 芜湖奥岚岛生态农业有限公司 | Fruit tree sapling transplanting and planting device |
| CN115735702A (en) * | 2022-11-17 | 2023-03-07 | 武汉理工大学 | Automatic tree planting device |
| CN116569808A (en) * | 2023-04-06 | 2023-08-11 | 北京理工大学 | Planting robot |
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| CN113647273A (en) * | 2021-07-29 | 2021-11-16 | 安庆市双益生态农林科技有限公司 | Intelligent greenhouse building equipment |
| CN113875353A (en) * | 2021-10-13 | 2022-01-04 | 湖南生物机电职业技术学院 | Unmanned tree planter |
| CN114019979A (en) * | 2021-11-09 | 2022-02-08 | 中国科学院西北生态环境资源研究院 | Agricultural robot |
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| CN113950896A (en) * | 2021-12-02 | 2022-01-21 | 福建省雅林建设集团有限公司 | Use convenient earth boring machine for gardens |
| CN114916396A (en) * | 2022-06-16 | 2022-08-19 | 吉林大学 | Full-automatic tree planting robot |
| CN115581185A (en) * | 2022-10-25 | 2023-01-10 | 芜湖奥岚岛生态农业有限公司 | Fruit tree sapling transplanting and planting device |
| CN115735702A (en) * | 2022-11-17 | 2023-03-07 | 武汉理工大学 | Automatic tree planting device |
| CN116569808A (en) * | 2023-04-06 | 2023-08-11 | 北京理工大学 | Planting robot |
| CN116569808B (en) * | 2023-04-06 | 2024-04-09 | 北京理工大学 | Planting robot |
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