CN114586635A - Integrated tree planting robot - Google Patents
Integrated tree planting robot Download PDFInfo
- Publication number
- CN114586635A CN114586635A CN202210241413.3A CN202210241413A CN114586635A CN 114586635 A CN114586635 A CN 114586635A CN 202210241413 A CN202210241413 A CN 202210241413A CN 114586635 A CN114586635 A CN 114586635A
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- robot
- soil
- sapling
- ramming
- rotatable
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- 239000002689 soil Substances 0.000 claims abstract description 38
- 238000005553 drilling Methods 0.000 claims abstract description 14
- 230000033001 locomotion Effects 0.000 claims abstract description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000007921 spray Substances 0.000 claims description 3
- 230000003028 elevating effect Effects 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 claims 1
- 230000010354 integration Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Images
Classifications
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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
- 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
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Soil Sciences (AREA)
- Engineering & Computer Science (AREA)
- Water Supply & Treatment (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Soil Working Implements (AREA)
Abstract
The invention discloses an integrated tree planting robot, which comprises a robot main body, a drilling device, a sapling feeder, a solar energy auxiliary device, a running device and a soil ramming device, wherein the drilling device comprises a drill bit and two lead screws in threaded connection with two sides of the top end of the drill bit, the lead screws are driven by a stepping motor to carry out the rotation motion of the lead screws in opposite rotation directions, the sapling feeder comprises a rotatable containing device, a movable baffle device and a three-stage lifting device, a feed opening is arranged at the bottom end of the three-stage lifting device, the rotatable containing device is provided with a four-stage sapling throwing area, a lattice for containing saplings is arranged in the rotatable containing device and is thrown to a designated position through a three-stage lifting device, the driving device comprises a driving motor, a chain wheel and a crawler belt, the advancing and differential rotation of the robot can be realized by controlling the two driving motors, and the soil ramming device comprises a front soil ramming device and a rear soil ramming device which are respectively arranged in the front end and the rear end of the robot body. The invention realizes the integration of planting seedlings, watering and ramming soil.
Description
Technical Field
The invention relates to the technical field of tree planting robots, in particular to an integrated tree planting robot.
Background
In order to improve the efficiency of planting trees in the desert, the integration of seedling planting, watering and soil tamping has important significance.
An effective solution to the problems in the related art has not been proposed yet.
Disclosure of Invention
The invention aims to provide an integrated tree planting robot to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: an integrated tree planting robot comprises a robot main body, a drilling device, a sapling feeder, a solar auxiliary device, a traveling device and a soil compacting device, wherein the drilling device is installed at the front end of the robot main body and comprises a drill bit and two lead screws in threaded connection with two sides of the top end of the drill bit, the lead screws are driven by a stepping motor to perform rotary motion of opposite rotation directions of the lead screws, the sapling feeder comprises a rotatable containing device, a movable baffle device and a three-level lifting device, a feed opening is formed in the bottom end of the three-level lifting device, a four-level sapling containing region is formed in the rotatable containing device, lattices capable of containing saplings are arranged in the rotatable containing device, the uppermost layer is a grid containing saplings and a fixed grid, a bottom bearing column is provided with a motor to drive the upper part lattices to rotate integrally and rotate to a designated region, sapling falls into the feed opening through the hole of below, puts in appointed position through tertiary elevating gear, the device of traveling includes driving motor, chain, sprocket and track, and is two sets of altogether, fixes respectively in the both sides of robot main part, and the middle part has the transmission part, can realize advancing and differential rotation of robot through the control to two driving motor, adopts two driving motor to pass through the gear train and controls both sides respectively, the rammer device is installed respectively in the front and back both ends of robot main part including preceding rammer device and back rammer device, preceding rammer device is the rammer valve with back rammer device.
Furthermore, two layers of movable baffles arranged between the rotatable containing device and the feed opening are in contact with the grids on the uppermost layer but do not rotate and move along with the whole body, and the movable baffles are fixed with a bearing plate for bearing the saplings.
Further, just to the position of feed opening, should put in the number of stages through laser rangefinder and sensor judgement sapling, and then remove through the portable retaining device of lead screw control to the hole that makes rotatable device below that holds is opened step by step, makes the sapling get into the dog-house.
Furthermore, solar energy auxiliary device includes that two articulated solar panel and output articulate a solar panel's hydraulic stem, and this solar panel bottom slides on the slide rail.
Furthermore, the soil ramming device consists of two soil ramming valves, after the tree seedlings are placed and watered, the sensor receives induction, the two soil ramming valves are controlled by the motor to obliquely fold downwards, the final position is contacted with the ground, soil ramming is completed and the soil ramming is returned to the initial position, and a moving gear connected with a stepping motor in the mechanism is meshed on the strip-shaped toothed chain and moves to be linked with the soil ramming valves to move together.
Further, a water tank is further installed in the robot body, and the water tank is connected with a spray head.
Compared with the prior art, the invention has the following beneficial effects: the integrated tree planting robot provided by the invention can effectively perform integrated actions of planting seedlings, watering and ramming soil, greatly improves the efficiency of planting trees in desert, and has important significance for protecting the environment.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an integrated tree planting robot according to an embodiment of the present invention.
Fig. 2 is a schematic top view of an integrated tree planting robot according to an embodiment of the present invention.
Fig. 3 is a schematic view of an assembly structure of a sapling feeder of the integrated tree planting robot according to the embodiment of the invention.
Fig. 4 is a schematic cross-sectional structural view of a sapling feeder of the integrated tree planting robot according to the embodiment of the invention.
Fig. 5 is a schematic cross-sectional structural view of an integrated tree planting robot according to an embodiment of the invention.
Fig. 6 is a schematic structural diagram of an initial state of a soil compacting device of the integrated tree planting robot according to the embodiment of the invention.
Fig. 7 is a schematic structural diagram of the working state of the soil compacting device of the integrated tree planting robot according to the embodiment of the invention.
Fig. 8 is a schematic view of a separating structure of a sapling feeder of the integrated tree planting robot according to the embodiment of the invention.
Reference numerals:
1. a robot main body; 2. a drilling device; 3. a sapling feeder; 4. a solar assist device; 5. a running device; 6. a ramming device; 7. a water tank; 31. the rotatable containing device; 32. a movable baffle device; 33. a three-stage lifting device; 41. a hydraulic lever; 42. a slide rail; 61. a front soil ramming device; 62. and (5) a soil tamping device.
Detailed Description
The invention is further described with reference to the following drawings and detailed description:
in the description of the present invention, it should be noted that the terms "top", "bottom", "one side", "the other side", "front", "back", "middle part", "inside", "top", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, as they may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1-8, an integrated tree planting robot according to an embodiment of the present invention includes a robot main body 1, a drilling device 2, a sapling feeder 3, a solar energy auxiliary device 4, a traveling device 5, and a ramming device 6, the drilling device 2 is installed at the front end of the robot main body 1, the drilling device 2 includes a drill and two screws in threaded connection with two sides of the top end of the drill, the screws are driven by a stepping motor to perform rotation movement of opposite rotation directions of the screws, the sapling feeder 3 includes a rotatable holding device 31, a movable baffle device 32, and a three-level lifting device 33, a discharge port is installed at the bottom end of the three-level lifting device 33, the rotatable holding device 31 has a four-level sapling throwing area, cells capable of holding saplings are installed in the rotatable holding device 31, the rotatable holding device 31 can be divided into three layers, and the uppermost layer is a grid for holding saplings and a fixing frame for fixing the grids, the bottom bearing column is provided with a motor for driving the upper grid to rotate integrally and after rotating to a designated area, the saplings fall into a feed opening through holes below and are thrown to a designated position through a three-level lifting device 33, the traveling device 5 comprises two groups of driving motors, chains, chain wheels and tracks, the two groups of driving motors are respectively fixed on the two sides of the robot main body 1, the middle part of the traveling device is provided with a transmission part, the traveling and differential rotation of the robot can be realized through controlling the two driving motors through a gear set, the two sides are respectively controlled by adopting the two driving motors, the ramming device 6 comprises a front ramming device 61 and a rear ramming device 62 which are respectively arranged in the front end and the rear end of the robot main body 1, the front ramming device 61 and the rear ramming device 62 are ramming valves, two layers of the rotatable containing device 31 and the feed opening, between which a movable baffle device 32 is arranged, are in contact with the uppermost grid but do not rotate integrally, fixed with a bearing plate for bearing the sapling, the position right facing a feed opening is used for judging the stage of putting the sapling by laser ranging and a sensor, and then the movable baffle device 32 is controlled by a screw rod to move, so that a hole below the rotatable holding device 31 is opened step by step to enable the sapling to enter the feed opening, the solar auxiliary device 4 comprises two hinged solar panels and a hydraulic rod 41 of which the output end is hinged with one solar panel, the bottom end of the solar panel slides on a slide rail 42, the solar panels are unfolded and stored by the driving of the hydraulic rod 41 to facilitate the angle adjustment, the power is stored by a built-in storage battery to supply power, the soil ramming device comprises two soil ramming valves, the sensor receives the induction after the sapling is placed and watered, the two soil ramming valves are controlled by a motor to be folded obliquely downwards, the final position is contacted with the ground, the soil ramming is completed and the soil is returned to the initial position, in the mechanism, a moving gear connected with a stepping motor is meshed on a strip-shaped toothed chain and moves in linkage with a soil compacting valve to move together, a water tank 7 is further installed in a robot main body 1, the water tank 7 is connected with a spray head, and watering operation is performed after seedling planting.
It is specific, raise dust easily because of the desert topography, if there is not protection device, very easily get into the life that the machine reduced because of sand and soil, and every operating device all will regularly overhaul the change, each mechanism has all designed module protection device, conveniently dismantle when preventing that sand and soil from getting into device is inside, every layer all has the baffle to be separated by, there is solitary baffle in the region of crossing the layer of ramming earth device etc., there is solitary safety cover in gear drive part, there is the protective housing of symmetry near the both sides of track, unpack apart both sides protective housing when dismantling, can directly overhaul internal element, the remote sensing system of desert tree planting robot comprises two parts: remote control and infrared sensor beside the telescopic conveying pipe based on the Beidou system of global networking. When the product works, the Beidou satellite is used for identifying the site in real time to build a map, and the optimal path for the machine to travel is planned. And judging obstacles and sundries needing to be avoided, and then correcting the machine path in real time. Secondly, the infrared sensor beside the telescopic conveying pipe senses the rotation of the rotary table after the hole on the ground is sensed, the conveying pipe extends into the hole bottom, and the saplings fall down to finish the placement of the saplings.
After the feeding process is finished, the soil compacting device is started to compact the soil, and the two working modes are adopted: one is that the single work area works, a series of movements such as drilling the hole, planting seedlings, watering, ramming earth, etc. are all concentrated and cooperated in an area, the mechanism of drilling the hole drills the hole first, then there is a conversion mechanism to change the mechanism of drilling the hole to planting seedlings, the combination part of three movements of watering and ramming earth, finally this combination part works, so circulate; the other is that the head part carries out soil drilling operation, the latter part carries out three actions of watering and soil tamping, the two working areas operate independently and are mutually coordinated through programs, and holes are drilled in the front part area, and simultaneously holes which are originally dug in the front part of the rear part area are used for planting seedlings, watering and soil tamping.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that various changes, modifications and substitutions can be made without departing from the spirit and scope of the invention as defined by the appended claims. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. An integrated tree planting robot is characterized by comprising a robot main body, a drilling device, a sapling feeder, a solar auxiliary device, a traveling device and a soil compacting device, wherein the drilling device is installed at the front end of the robot main body and comprises a drill bit and two lead screws in threaded connection with two sides of the top end of the drill bit, the lead screws are driven by a stepping motor to perform rotating motion of opposite rotating directions of the lead screws, the sapling feeder comprises a rotatable containing device, a movable baffle device and a three-level lifting device, a feed opening is formed in the bottom end of the three-level lifting device, the rotatable containing device is provided with a four-level sapling containing area, lattices capable of containing saplings are arranged in the rotatable containing device, the uppermost layer of the rotatable containing device is a grid for containing saplings and a fixed grid, a bottom bearing column is provided with a motor for driving the upper lattices to rotate integrally and after the upper lattices rotate to a designated area, sapling falls into the feed opening through the hole of below, puts in appointed position through tertiary elevating gear, the device of traveling includes driving motor, chain, sprocket and track, and is two sets of altogether, fixes respectively in the both sides of robot main part, and the middle part has the transmission part, can realize advancing and differential rotation of robot through the control to two driving motor, adopts two driving motor to pass through the gear train and controls both sides respectively, the rammer device is installed respectively in the front and back both ends of robot main part including preceding rammer device and back rammer device, preceding rammer device is the rammer valve with back rammer device.
2. The integrated tree planting robot as claimed in claim 1, wherein the movable barrier between the rotatable container and the feed opening is in contact with the uppermost grid, but does not rotate integrally with the upper grid, and is fixed to the receiving plate for receiving the seedlings.
3. The integrated tree planting robot as claimed in claim 1, wherein the position opposite to the feeding port is determined by laser ranging and a sensor to determine the stage of the seedling to be fed, and the movable baffle device is controlled by the screw rod to move, so that the hole below the rotatable holding device is opened stage by stage to allow the seedling to enter the feeding port.
4. The integrated tree planting robot as claimed in claim 1, wherein the solar auxiliary device comprises two hinged solar panels and a hydraulic rod hinged to the output end of the solar panels, and the bottom ends of the solar panels slide on the slide rails.
5. The integrated tree planting robot as claimed in claim 1, wherein the soil ramming device consists of two soil ramming valves, the sensor senses the soil after the tree seedling is placed and watered, the two soil ramming valves are controlled by the motor to be closed obliquely downwards, the final position is in contact with the ground, the soil is rammed and returned to the initial position, and the moving gear connected with the stepping motor is meshed with the strip-shaped toothed chain and moves together with the soil ramming valves.
6. The integrated tree planting robot as claimed in claim 1, wherein a water tank is further installed in the robot body, and the water tank is connected with a spray head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210241413.3A CN114586635A (en) | 2022-03-11 | 2022-03-11 | Integrated tree planting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210241413.3A CN114586635A (en) | 2022-03-11 | 2022-03-11 | Integrated tree planting robot |
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| Publication Number | Publication Date |
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| CN114586635A true CN114586635A (en) | 2022-06-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210241413.3A Pending CN114586635A (en) | 2022-03-11 | 2022-03-11 | Integrated tree planting robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114916396A (en) * | 2022-06-16 | 2022-08-19 | 吉林大学 | Full-automatic tree planting robot |
| CN115024182A (en) * | 2022-06-23 | 2022-09-09 | 内蒙古工业大学 | Tree planting robot high accuracy location anticollision structure based on crawler-type |
| CN115443875A (en) * | 2022-10-24 | 2022-12-09 | 赵京礼 | Tea tree seedling growing robot |
| CN115903572A (en) * | 2022-10-17 | 2023-04-04 | 武汉纺织大学 | Desert tree planting machine control system based on 51 single-chip microcomputer |
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| CN106538346A (en) * | 2016-12-08 | 2017-03-29 | 山东科技大学 | A kind of planting machine and its application |
| CN108990475A (en) * | 2018-06-29 | 2018-12-14 | 铜陵祥意和贸易有限责任公司 | A kind of sapling planting equipment of simple type |
| CN109662006A (en) * | 2019-02-13 | 2019-04-23 | 武汉理工大学 | A kind of small-sized ecological seedling transplanter |
| CN109804888A (en) * | 2019-03-19 | 2019-05-28 | 东北大学秦皇岛分校 | Intelligent desert plant setter device people and its implementation |
| US20190327917A1 (en) * | 2016-11-29 | 2019-10-31 | Tigercat Industries Inc. | Apparatus and method for planting trees |
| CN111406599A (en) * | 2020-04-24 | 2020-07-14 | 武汉理工大学 | Mountain region tree planting robot |
| CN111480547A (en) * | 2020-05-22 | 2020-08-04 | 中建八局第一建设有限公司 | Device suitable for automatically planting trees on multiple terrains |
| CN215012219U (en) * | 2021-04-28 | 2021-12-07 | 浙江墨泉生态建设有限公司 | A sapling planting device for preventing and control desertification |
| CN113940250A (en) * | 2021-10-18 | 2022-01-18 | 南华大学 | Full-process automatic tree planting method |
| CN113951087A (en) * | 2021-12-10 | 2022-01-21 | 郑州航空工业管理学院 | Desert tree planting robot and control method thereof |
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2022
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| US20190327917A1 (en) * | 2016-11-29 | 2019-10-31 | Tigercat Industries Inc. | Apparatus and method for planting trees |
| CN106538346A (en) * | 2016-12-08 | 2017-03-29 | 山东科技大学 | A kind of planting machine and its application |
| CN108990475A (en) * | 2018-06-29 | 2018-12-14 | 铜陵祥意和贸易有限责任公司 | A kind of sapling planting equipment of simple type |
| CN109662006A (en) * | 2019-02-13 | 2019-04-23 | 武汉理工大学 | A kind of small-sized ecological seedling transplanter |
| CN109804888A (en) * | 2019-03-19 | 2019-05-28 | 东北大学秦皇岛分校 | Intelligent desert plant setter device people and its implementation |
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| CN111480547A (en) * | 2020-05-22 | 2020-08-04 | 中建八局第一建设有限公司 | Device suitable for automatically planting trees on multiple terrains |
| CN215012219U (en) * | 2021-04-28 | 2021-12-07 | 浙江墨泉生态建设有限公司 | A sapling planting device for preventing and control desertification |
| CN113940250A (en) * | 2021-10-18 | 2022-01-18 | 南华大学 | Full-process automatic tree planting method |
| CN113951087A (en) * | 2021-12-10 | 2022-01-21 | 郑州航空工业管理学院 | Desert tree planting robot and control method thereof |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114916396A (en) * | 2022-06-16 | 2022-08-19 | 吉林大学 | Full-automatic tree planting robot |
| CN115024182A (en) * | 2022-06-23 | 2022-09-09 | 内蒙古工业大学 | Tree planting robot high accuracy location anticollision structure based on crawler-type |
| CN115903572A (en) * | 2022-10-17 | 2023-04-04 | 武汉纺织大学 | Desert tree planting machine control system based on 51 single-chip microcomputer |
| CN115903572B (en) * | 2022-10-17 | 2023-10-24 | 武汉纺织大学 | Desert tree planter control system based on 51 singlechip |
| CN115443875A (en) * | 2022-10-24 | 2022-12-09 | 赵京礼 | Tea tree seedling growing robot |
| CN115443875B (en) * | 2022-10-24 | 2023-08-08 | 广州捷融绿色生态科技有限公司 | Tea tree seedling robot |
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Application publication date: 20220607 |