CN114982583A - Digging and cultivating integrated tree planting robot - Google Patents
Digging and cultivating integrated tree planting robot Download PDFInfo
- Publication number
- CN114982583A CN114982583A CN202210688436.9A CN202210688436A CN114982583A CN 114982583 A CN114982583 A CN 114982583A CN 202210688436 A CN202210688436 A CN 202210688436A CN 114982583 A CN114982583 A CN 114982583A
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- soil
- holding
- vehicle body
- digging
- cultivating
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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
- A01C13/00—Machines or apparatus for consolidating soil around plants
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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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- 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
- Y02P60/40—Afforestation or reforestation
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Soil Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Transplanting Machines (AREA)
Abstract
The invention discloses an excavating and cultivating integrated tree planting robot which comprises a vehicle body, a tray mechanism arranged on the vehicle body, a seedling conveying guide pipe arranged on the tray mechanism, a drilling mechanism arranged at the front end of the vehicle body and a cultivating mechanism arranged on the vehicle body, wherein the tray mechanism is arranged on the vehicle body; the tray mechanism is used for circularly transporting the saplings to the sapling conveying guide pipe; the digging and cultivating integrated tree planting robot can achieve the digging and cultivating integrated tree planting function, the gear train is adopted for motion and force transmission, the structure is compact, the tray can carry a plurality of seedling carrying cylinders simultaneously, and continuous delivery of the seedlings is guaranteed; the robot front side is excavated earth, accomplishes this action back, and the appointed distance of traveling is accomplished to fall the seedling by the rear side device and is realized earthing up simultaneously, and the continuity of tree planting flow and tree planting efficiency obtain improving, and device self volume is less, and is light more nimble, improves space utilization.
Description
Technical Field
The invention relates to the field of desert control, in particular to a digging and cultivating integrated tree planting robot.
Background
Desertification is a major environmental and social problem commonly faced by mankind all over the world today. China is a world with wide distribution of deserted and desertified land, and the problem of land desertification and desertification is still one of the most serious ecological problems in China at present.
In order to solve the problem of desertification, a robot tree planting mode is usually adopted, and in foreign similar products, a treeRover digging and cultivating integrated tree planting robot developed by a Canada team is taken as a representative, so that the equipment for designing and developing the tree planting robot is complex in structure and high in cost. The PIX Moving tree planting robot developed in China has high cost and huge body size; the tree planting robot developed by a unit only has a single drilling function, fails to realize the digging and cultivating integrated function in the tree planting process, lacks a mechanical device integrating soil holding and filling, and needs to work separately and independently. The existing independent soil digging robot has high soil digging speed, but seedling falling and banking (soil holding and soil pressing integration) still need to be manually completed, so that the overall efficiency is greatly reduced, and the cultivation of the saplings is influenced.
Therefore, in order to solve the above problems, an integrated digging and cultivating tree planting robot is needed to solve the above problems.
Disclosure of Invention
In view of the above, the digging and cultivating integrated tree planting robot in the technical scheme can realize the digging and cultivating integrated tree planting function, adopts the gear train to transmit movement and force, has a compact structure, and ensures continuous delivery of the tree seedlings, because the tray can simultaneously carry a plurality of seedling carrying cylinders; the front side of the robot digs soil, after the action is completed, the robot runs for a specified distance, the rear side device completes seedling falling and simultaneously realizes soil holding and soil pressing integrated action, the continuity of the tree planting process and the tree planting efficiency are improved, the device is small in size, and the device is more portable and flexible and improves the space utilization rate.
An integrated digging and cultivating tree planting robot comprises a vehicle body, a tray mechanism arranged on the vehicle body, a seedling conveying guide pipe arranged on the tray mechanism, a drilling mechanism arranged at the front end of the vehicle body and a ridging mechanism arranged on the vehicle body; the tray mechanism is used for circularly transporting the saplings to the seedling conveying guide pipe.
Further, the ridging mechanism comprises a first output motor arranged on the vehicle body, a soil holding device matched with the first output motor and a soil pressing assembly matched with the soil holding device; the soil holding device comprises a worm matched with the first output motor, a first gear arranged on the worm and a turbine assembly in meshing transmission with the worm; the first gear rotates to drive the soil compacting assembly to move, and the worm rotates to drive the turbine assembly to carry out soil embracing movement.
Further, the turbine assembly comprises a first turbine, a second turbine, a first soil-holding crank arm and a second soil-holding crank arm, wherein the first turbine and the second turbine are in meshing transmission with the worm, the first soil-holding crank arm is installed on the first turbine, the second soil-holding crank arm is installed on the second turbine, the first turbine and the second turbine are symmetrically arranged relative to the worm, and the first soil-holding crank arm and the second soil-holding crank arm are identical in structure.
Further, the first soil-holding crank arm comprises an upper connecting part, a soil-holding connecting rod and a soil-holding crank block, wherein the upper end of the upper connecting part is fixedly connected with the first turbine, and the soil-holding crank block is arranged at the lower end of the soil-holding connecting rod; the upper connecting portion is fixedly connected with the first turbine, the upper end of the soil holding connecting rod is fixedly connected with the upper connecting portion, and the lower end of the soil holding connecting rod is fixedly connected with the soil holding bent block.
Further, the soil-holding bent block is provided with an arc-shaped soil-holding surface, and a reinforcing rib plate is formed on the soil-holding bent block.
Furthermore, the soil compacting component comprises a soil compacting rotating shaft, a second gear which is arranged at the end part of the soil compacting rotating shaft and is in meshing transmission with the first gear, a third gear which is arranged on the soil compacting rotating shaft and a soil compacting rack which is matched with the third gear for use; the soil compacting rack is in meshed transmission with the third gear, a soil compacting ring is fixedly connected to the lower end of the soil compacting rack, and the soil compacting ring is arranged under the seedling conveying guide pipe.
Further, the tray mechanism comprises a tray arranged on the vehicle body, an annular guide rail arranged on the tray, a driving wheel arranged in the annular guide rail, a driven wheel and a conveying toothed belt; the driving wheel and the driven wheel are provided with tooth-shaped structures in the circumferential direction, and the conveying toothed belt is sleeved outside the driving wheel and the driven wheel and is provided with transmission teeth matched with the tooth-shaped structures for meshing transmission.
Further, a plurality of seedling carrying cylinders are uniformly and fixedly connected to the conveying toothed belt, and throwing holes are formed in the tray and are arranged right above the seedling conveying guide pipe.
Further, the drilling mechanism includes the auger stem that sets up under the tray and the drilling rod motor that provides output power for the auger stem.
Further, the travelling mechanism is arranged below the vehicle body; the running mechanism comprises a second output motor arranged on the vehicle body, a running wheel matched with the second output motor and a track matched with the running wheel.
The invention has the beneficial effects that: the digging and cultivating integrated tree planting robot in the technical scheme can realize the digging and cultivating integrated tree planting function, adopts the gear train to transmit movement and force, has a compact structure, can simultaneously carry a plurality of seedling carrying cylinders, and ensures the continuous delivery of the tree seedlings; the robot front side is excavated earth, accomplishes this action after, the appointed distance of traveling, accomplishes the seedling by the rear side device and realizes simultaneously that the seedling hills up (embracing promptly and the integration action of pressing earth), and the continuity and the tree planting efficiency of tree planting flow obtain improving, and device self volume is less, and is light more nimble, improves space utilization.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a schematic structural view of the banking mechanism of the present invention;
FIG. 4 is a schematic view of the structure of the tray mechanism of the present invention;
fig. 5 is a schematic view of the installation of the soil compacting rack of the present invention.
Detailed Description
FIG. 1 is a schematic structural view of the present invention; FIG. 2 is a side view of the present invention; FIG. 3 is a schematic structural view of the banking mechanism of the present invention; FIG. 4 is a schematic structural view of a tray mechanism according to the present invention; FIG. 5 is a schematic view of the installation of the soil compacting rack of the present invention; as shown in the figure, the digging and cultivating integrated tree planting robot comprises a vehicle body 9, a tray mechanism 4 arranged on the vehicle body 9, a seedling conveying conduit 3 arranged on the tray mechanism 4, a drilling mechanism arranged at the front end of the vehicle body 9 and a ridging mechanism arranged on the vehicle body 9; the tray mechanism 4 is used for circularly transporting the saplings to the sapling conveying conduit 3; the digging and cultivating integrated tree planting robot can achieve the digging and cultivating integrated tree planting function, the gear train is adopted for motion and force transmission, the structure is compact, the tray can carry a plurality of seedling carrying cylinders simultaneously, and continuous delivery of the seedlings is guaranteed; the front side of the robot digs soil, after the action is completed, the robot runs for a specified distance, the rear side device completes seedling falling and simultaneously realizes soil holding and soil compacting integrated action, the continuity of the tree planting process and the tree planting efficiency are improved, the device is small in size, and the device is more portable and flexible, and the space utilization rate is improved.
In this embodiment, the ridging mechanism includes a first output motor 10 mounted on the vehicle body 9, a soil holding device used in cooperation with the first output motor 10, and a soil pressing assembly used in cooperation with the soil holding device; the soil embracing device comprises a worm 14 matched with the first output motor 10, a first gear 13 arranged on the worm 14 and a turbine assembly in meshing transmission with the worm 14; the first gear 13 rotates to drive the soil compacting assembly to move, and the worm rotates to drive the turbine assembly to carry out soil holding movement. The first output motor 10 is fixedly arranged on the lower surface of the vehicle body, the first output motor 10 provides output power for the worm 14, the first output motor 10 drives the worm to rotate so as to enable the turbine assembly to rotate, and meanwhile the worm rotates to drive the soil compacting assembly to synchronously realize soil compacting movement.
In this embodiment, the turbine assembly includes a first turbine 15, a second turbine 17, a first soil holding crank arm 16 mounted on the first turbine 15, and a second soil holding crank arm mounted on the second turbine 17, the first turbine 15 and the second turbine 17 are symmetrically arranged with respect to the worm 14, and the first soil holding crank arm and the second soil holding crank arm have the same structure. The first worm wheel and the second worm wheel are symmetrically arranged relative to the worm 14, the first soil-holding crank arm and the second soil-holding crank arm are identical in structure and are fixedly connected with the first worm wheel and the second worm wheel respectively, and the worm rotates to drive the first soil-holding crank arm and the second soil-holding crank arm to be close to soil-holding or separated from each other simultaneously.
In this embodiment, the first soil-holding crank arm 16 includes an upper connecting portion 161 whose upper end is fixedly connected to the first turbine, a soil-holding connecting rod, and a soil-holding crank block disposed at the lower end of the soil-holding connecting rod; go up connecting portion 161 and first turbine 15 fixed connection, armful soil connecting rod upper end and last connecting portion 161 fixed connection, armful soil connecting rod lower extreme with armful native bent piece fixed connection. The upper connecting portion 161 comprises an upper positioning block and a lower positioning block, the first turbine 15 is connected with the upper positioning block and the lower positioning block through bolts, the upper connecting portion 161 and the soil-holding connecting rod as well as the soil-holding connecting rod and the soil-holding bent block are fixedly connected, and the first turbine 15 rotates to enable the soil-holding bent block to synchronously rotate.
In this embodiment, the soil-holding curved block is provided with an arc-shaped soil-holding surface 163, and a reinforcing rib plate 162 is formed on the soil-holding curved block. The setting of arc armful of soil face 163 is convenient for form the return collection to soil, and reinforcing floor 162 sets up in the back of arc armful of soil face 163, plays the enhancement supporting role to arc armful of soil face, ensures the performance of the curved block armful of soil.
In this embodiment, the soil compacting assembly includes a soil compacting rotating shaft 12, a second gear 18 mounted at an end of the soil compacting rotating shaft 12 and engaged with the first gear 13 for transmission, a third gear 19 disposed on the soil compacting rotating shaft 12, and a soil compacting rack 2 used in cooperation with the third gear 19; the soil compacting rack 2 is in meshed transmission with the third gear 19, a soil compacting ring 21 is fixedly connected to the lower end of the soil compacting rack 2, and the soil compacting ring 21 is arranged under the seedling conveying guide pipe 3. The soil compacting rotating shaft 12 is installed on the vehicle body through the supporting frame 20, the second gear 18 and the first gear 13 meshing transmission that the tip of the soil compacting rotating shaft 12 set up, the third gear 19 and the soil compacting rack 2 meshing transmission that set up on the soil compacting rotating shaft 12, make the soil compacting rack 2 can follow vertical direction reciprocating motion, the soil compacting rack is installed with the rack guide 29 cooperation that the tray mechanism below set up, be provided with the direction slide rail 30 on the vehicle body, the direction slide rail 30 passes through fagging 31 and is connected with the rack, when the rack moves along vertical direction, fagging 31 slides in the direction slide rail 30 in step. The soil compacting ring 21 is fixedly connected to the lower end of the soil compacting rack 2 and is used for compacting the soil compacted by the arc soil compacting surface 163; when the device is in operation, after the sapling falls to the designated position from the seedling conveying guide pipe 3, the soil of sapling both sides is embraced by the soil embracing device, and the subassembly that presses soil begins the simultaneous movement simultaneously, when embracing the soil action and accomplish, the ring 21 that presses soil (the ring 21 that presses soil is the loop configuration of middle trompil for pressing sapling circumference direction soil) of the tip under the rack 2 that presses soil just accomplishes the action of pressing soil, realizes the process of earthing up (armful and the integration of pressing soil) to the sapling.
In this embodiment, the tray mechanism 4 includes a tray 8 mounted on the vehicle body 9, an annular guide rail 26 disposed on the tray 8 (the annular guide rail 26 and the tray may be disposed by integral molding or welding), a driving wheel 25 mounted in the annular guide rail 26, a driven wheel 27, and a conveying toothed belt 28; the driving wheel 25 and the driven wheel 27 are both provided with a toothed structure in the circumferential direction, the transmission toothed belt 28 is sleeved on the driving wheel 25 and the driven wheel 27, and transmission teeth matched with the toothed structure for meshing transmission are arranged on the transmission toothed belt 28. Tray 8 passes through support frame 7 and installs on automobile body 9, be provided with annular guide rail 26 on tray 8, be provided with drive action wheel 25 pivoted third output motor (not drawn in the picture) on the automobile body 9, action wheel 25 and follow driving wheel 27 structure are the same and are column structure and action wheel 25 and all seted up the profile of tooth structure on the outer circumference from driving wheel 27, be used for cooperating conveying toothed belt 28 to use, conveying toothed belt 28 internal surface is provided with the driving cog, third output motor rotates and drives the action wheel and rotate, action wheel 25 rotates and drives through conveying toothed belt 28 and rotate from driving wheel 27.
In this embodiment, the conveying toothed belt 28 is uniformly and fixedly connected with a plurality of seedling carrying cylinders 24, and the tray 8 is provided with throwing holes which are arranged right above the seedling conveying conduit 3. The internal surface processing of conveying cingulum 28 forms the driving cog structure, and conveying cingulum 28 surface then processes and forms continuous installation spacing groove structure for the cooperation carries seedling drum 24 to carry out spacing installation, has seted up the throw hole on the tray 8, and when carrying seedling drum 24 and rotating to throw the hole top, the sapling throws out from carrying seedling drum 24 and enters into defeated seedling pipe 3 through throwing the hole in, finally falls the assigned position.
In this embodiment, the drilling mechanism includes an auger 5 disposed below a tray 8 and a drill rod motor 6 that provides output power to the auger. The spiral reinforcing plate 51 is arranged on the spiral drill rod 5, the blade installation and connection stability of the upper end of the spiral drill rod is guaranteed, the drill rod motor 6 provides output power for the spiral drill rod 5, and the spiral drill rod 5 is used for drilling out a sapling cultivation hole at the front end of the vehicle body.
In the embodiment, the travelling mechanism is arranged below the vehicle body; the travelling mechanism comprises a second output motor 22 arranged on the vehicle body, travelling wheels matched with the second output motor 22 and a crawler 23 matched with the travelling wheels. Certainly, still including installing in the inside electrical system of automobile body, electrical system contains parts such as bluetooth module, stm32 singlechip, motor drive module, step-down module, voltage stabilizing module, wiFi module for realize digging and cultivate the automation performance of integration tree planting robot of banking up. Realizes the automatic operation of the specified actions of digging, walking, transporting seedlings, falling seedlings, banking (integration of soil holding and pressing), steering and the like.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention 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 invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (10)
1. The utility model provides a dig and cultivate integration tree planting robot which characterized in that: comprises a vehicle body, a tray mechanism arranged on the vehicle body, a seedling conveying conduit arranged on the tray mechanism, a drilling mechanism arranged at the front end of the vehicle body and a ridging mechanism arranged on the vehicle body; the tray mechanism is used for circularly transporting the saplings to the seedling conveying guide pipe.
2. The integrated digging-cultivating tree-planting robot according to claim 1, wherein: the hilling mechanism comprises a first output motor arranged on the vehicle body, a soil holding device matched with the first output motor and a soil pressing assembly matched with the soil holding device; the soil holding device comprises a worm matched with the first output motor, a first gear arranged on the worm and a turbine assembly in meshing transmission with the worm; the first gear rotates to drive the soil compacting assembly to move, and the worm rotates to drive the turbine assembly to carry out soil embracing movement.
3. The integrated digging and cultivating tree planting robot according to claim 2, wherein: the worm wheel assembly comprises a first worm wheel, a second worm wheel, a first soil-holding crank arm and a second soil-holding crank arm, wherein the first worm wheel and the second worm wheel are in meshing transmission with the worm wheel, the first soil-holding crank arm is arranged on the first worm wheel, the second soil-holding crank arm is arranged on the second worm wheel, the first worm wheel and the second worm wheel are symmetrically arranged relative to the worm wheel, and the first soil-holding crank arm and the second soil-holding crank arm are identical in structure.
4. The integrated digging-cultivating tree-planting robot according to claim 3, wherein: the first soil-holding crank arm comprises an upper connecting part, a soil-holding connecting rod and a soil-holding crank block, wherein the upper end of the upper connecting part is fixedly connected with the first turbine, and the soil-holding crank block is arranged at the lower end of the soil-holding connecting rod; the upper connecting portion is fixedly connected with the first turbine, the upper end of the soil holding connecting rod is fixedly connected with the upper connecting portion, and the lower end of the soil holding connecting rod is fixedly connected with the soil holding bent block.
5. The digging-cultivating integrated tree planting robot of claim 4, wherein: the soil-holding curved block is provided with an arc-shaped soil-holding surface, and a reinforcing rib plate is formed on the soil-holding curved block.
6. The digging-cultivating integrated tree planting robot of claim 2, wherein: the soil compacting component comprises a soil compacting rotating shaft, a second gear, a third gear and a soil compacting rack, wherein the second gear is arranged at the end part of the soil compacting rotating shaft and is in meshing transmission with the first gear; the soil compacting rack is in meshed transmission with the third gear, a soil compacting ring is fixedly connected to the lower end of the soil compacting rack, and the soil compacting ring is arranged under the seedling conveying guide pipe.
7. The digging-cultivating integrated tree planting robot of claim 1, wherein: the tray mechanism comprises a tray arranged on the vehicle body, an annular guide rail arranged on the tray, a driving wheel arranged in the annular guide rail, a driven wheel and a conveying toothed belt; the driving wheel and the driven wheel are both provided with tooth-shaped structures in the circumferential direction, and the conveying toothed belt is sleeved outside the driving wheel and the driven wheel and is provided with transmission teeth matched with the tooth-shaped structures for meshing transmission.
8. The integrated digging-cultivating tree-planting robot according to claim 7, wherein: a plurality of seedling carrying cylinders are uniformly and fixedly connected to the conveying toothed belt, and a throwing hole is formed in the tray and is arranged right above the seedling conveying guide pipe.
9. The integrated digging-cultivating tree-planting robot according to claim 7, wherein: the drilling mechanism comprises a spiral drill rod arranged below the tray and a drill rod motor for providing output power for the spiral drill rod.
10. The integrated digging-cultivating tree-planting robot according to claim 1, wherein: the travelling mechanism is arranged below the vehicle body; the walking mechanism comprises a second output motor arranged on the vehicle body, a walking wheel matched with the second output motor and a track matched with the walking wheel for use.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210688436.9A CN114982583A (en) | 2022-06-17 | 2022-06-17 | Digging and cultivating integrated tree planting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210688436.9A CN114982583A (en) | 2022-06-17 | 2022-06-17 | Digging and cultivating integrated tree planting robot |
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| Publication Number | Publication Date |
|---|---|
| CN114982583A true CN114982583A (en) | 2022-09-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210688436.9A Pending CN114982583A (en) | 2022-06-17 | 2022-06-17 | Digging and cultivating integrated tree planting robot |
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| CN (1) | CN114982583A (en) |
Citations (8)
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| JP2015188436A (en) * | 2014-03-29 | 2015-11-02 | 井関農機株式会社 | Seedling transplanter |
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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 |
| CN112455902A (en) * | 2020-12-10 | 2021-03-09 | 湖南福泰物流有限公司 | Based on commodity circulation transportation is with quick fixing device |
| CN113179722A (en) * | 2021-05-21 | 2021-07-30 | 闫瑞 | Soil compactor for forestry seedling planting |
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2022
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| JP2015188436A (en) * | 2014-03-29 | 2015-11-02 | 井関農機株式会社 | Seedling transplanter |
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| CN210537895U (en) * | 2019-08-01 | 2020-05-19 | 江西沃邦农业科技有限公司 | Integrative device of fertilization is planted to tea-oil camellia seedling |
| 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 |
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| CN113179722A (en) * | 2021-05-21 | 2021-07-30 | 闫瑞 | Soil compactor for forestry seedling planting |
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