CN115530039A - Mountain region tree planting robot - Google Patents
Mountain region tree planting robot Download PDFInfo
- Publication number
- CN115530039A CN115530039A CN202210953604.2A CN202210953604A CN115530039A CN 115530039 A CN115530039 A CN 115530039A CN 202210953604 A CN202210953604 A CN 202210953604A CN 115530039 A CN115530039 A CN 115530039A
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- China
- Prior art keywords
- seedling
- tree
- leg
- machine body
- planting
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- Granted
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 77
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 13
- 239000002689 soil Substances 0.000 claims description 5
- 230000032258 transport Effects 0.000 claims description 3
- 239000003643 water by type Substances 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims description 2
- 230000005484 gravity Effects 0.000 description 5
- 239000003795 chemical substances by application Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000003895 organic fertilizer Substances 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000003516 soil conditioner Substances 0.000 description 1
- 238000003756 stirring 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
- 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
-
- 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Soil Sciences (AREA)
- Transplanting Machines (AREA)
- Soil Working Implements (AREA)
Abstract
A robot for planting trees in mountainous regions comprises a first support leg part connected to four end corners of a machine body and a second support leg part connected to the front end and the rear end of the machine body, wherein the four first support leg parts and the one second support leg part alternately walk in a mode of enabling the machine body to keep stable, and a pit digging mechanism for digging tree pits is arranged on the first support leg part; the first supporting leg part and the second supporting leg part are both connected to the machine body through a sliding seat, an adjusting mechanism is connected between the sliding seat and the machine body, the position of the sliding seat can be adjusted through the adjusting mechanism, the first supporting leg part and the second supporting leg part comprise an upper leg and a lower leg which are sequentially connected with the sliding seat, an adjusting mechanism is arranged between the sliding seat and the upper leg and between the upper leg and the lower leg, and included angles between the upper leg and the lower leg can be adjusted through the adjusting mechanism. According to the tree planting machine, the walking mechanism can walk on the mountain land stably, then the pit digging mechanism is used for digging pits in the mountain land, and the planting mechanism is used for planting trees in the dug tree pits.
Description
Technical Field
The invention relates to the technical field of forestry planting, in particular to a mountain land tree planting robot.
Background
At present, the sapling is required to be carried manually in a complicated terrain in a mountain land, then tree pits are dug manually one by one, the sapling is moved in, then the hilling is carried out, the irrigation is also extremely inconvenient, the artificial planting is time-consuming and labor-consuming, and the actual sapling planting efficiency is not high.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects in the prior art and provides a mountain tree planting robot which can walk in a mountain land and can efficiently dig a pit and plant a tree seedling.
The technical scheme adopted by the invention for solving the technical problem is as follows: the utility model provides a mountain region planting robot, includes the organism, the organism is equipped with the running gear that can walk in the mountain region to and be used for planting the planting mechanism of sapling, running gear is including connecting in the landing leg spare one at four end angles of organism to and connect the landing leg spare two at both ends around the organism, four landing leg spare one and a landing leg spare two walk in turn in order to enable the organism to keep steady mode, be equipped with the mechanism of digging pit that is used for digging pit on the landing leg spare one.
Further, the organism is equipped with batch bin and water tank, batch bin will stir the materials and transport to the pit through the dosing unit, the water tank waters the sapling of planting well through water jet equipment.
Furthermore, the machine body is also provided with a center-of-gravity sliding seat for adjusting the machine body to be stable and a main control machine for controlling the center-of-gravity sliding seat to operate.
Furthermore, the machine body is also provided with a remote control positioning system for remotely controlling and navigating the machine body, and a power box and an electro-hydraulic control system for respectively controlling the travelling mechanism, the planting mechanism and the pit digging mechanism.
Further, leg spare one and leg spare two all connect in the organism through the slide, be connected with adjustment mechanism and through the position of the adjustable slide of adjustment mechanism between slide and the organism, leg spare one and leg spare two all include the last leg and the lower leg of being connected with the slide in proper order, all be equipped with adjustment mechanism between slide and the last leg and can adjust the contained angle between each other through adjustment mechanism between leg and the lower leg.
Furthermore, the digging mechanism is connected with the first supporting leg part through a lifting device and can move up and down along the first supporting leg part, the lifting device comprises an adjusting mechanism and a lifting guide rail, the first supporting leg part is arranged on the lifting device, and the digging mechanism is connected with the lifting guide rail and can move up and down along the lifting guide rail through the driving of the adjusting mechanism.
Furthermore, the pit digging mechanism comprises a power seat clamped and sleeved on the lifting guide rail and conical teeth or helical blades connected to the power seat.
Further, planting mechanism is including locating the storage seedling room that is arranged in the organism and is used for storing the sapling, and locate the organism rear end and with store up at least one device of throwing seedlings that the seedling room is connected to and locate the device end of throwing seedlings and the device of earthing up that corresponds with the pit.
Further, throw the seedling device and include that one end and the smooth seedling groove of storing up the seedling room and being connected, the other end in smooth seedling groove corresponds with the tree hole, smooth seedling groove is equipped with fortune seedling guide rail and grabs the seedling hand, grab the seedling hand and connect in fortune seedling guide rail through linear bearing and be used for snatching the seedling from storing up the seedling room and move down along fortune seedling guide rail until throwing the seedling into the tree hole.
Furthermore, the ridging device comprises a swing mechanism connected to the tail end of the seedling throwing device, and the swing mechanism comprises a swing arm which performs ridging and can move soil to the tree pit.
The tree planting machine has the beneficial effects that the walking mechanism can walk on the mountain land stably, then the pit digging mechanism digs a pit in the mountain land, and the planting mechanism plants a tree in the dug tree pit, and the whole process adopts highly mechanized operation, so that the tree planting efficiency is greatly improved, and the labor cost is reduced.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is a schematic structural view of a seedling throwing device;
fig. 4 is a structural schematic of a conical tooth.
In the drawings: 1. a body; 2. sapling; 3. a first leg member; 4. a second leg member; 5. a slide base; 6. an upper leg; 7. a lower leg; 8. a lifting guide rail; 9. a power base; 10. a tapered tooth; 11. a helical blade; 12. a seedling storage chamber; 13. slipping a seedling groove; 14. a seedling conveying guide rail; 15. grabbing a seedling hand; 16. a swing arm; 17. a batching box; 18. a water tank; 19. a center of gravity slide; 20. a main control machine; 21. a remote location system; 22. a power box; 23. a current control system.
Detailed Description
The following examples are given to further illustrate the embodiments of the present invention:
as shown in fig. 1-4, an embodiment of a mountain tree planting robot includes a machine body 1, the machine body 1 is provided with a traveling mechanism capable of traveling on a mountain land and a planting mechanism for planting a tree seedling 2, the traveling mechanism includes first leg members 3 connected to four end corners of the machine body 1 and second leg members 4 connected to front and rear ends of the machine body 1, the four first leg members 3 and the one second leg member 4 alternately travel in a manner that the machine body 1 can keep stable, and the first leg members 3 are provided with a pit digging mechanism for digging a tree pit. Can walk on the mountain land steadily through running gear, then dig the hole in the mountain region through the mechanism of digging a pit, the rethread is planted the mechanism and is planted the tree in the tree hole of digging, and whole process adopts high mechanized operation, has improved tree planting efficiency greatly, has alleviateed the human cost.
The machine body 1 is also provided with a gravity center sliding base 19 for adjusting the machine body 1 to be stable and a master control machine 20 for controlling the gravity center sliding base 19 to operate. The gravity center slide seat 19 can assist in adjusting the position of the gravity center when the machine body 1 walks, and the stability of the machine body 1 is further improved.
The machine body 1 is also provided with a remote control positioning system 21 for remotely controlling and navigating the machine body 1, and a power box 22 and an electro-hydraulic control system 23 which respectively control the travelling mechanism, the planting mechanism and the pit digging mechanism. The walking of the machine body 1 can be operated in a remote control way through the remote control positioning system 21, and the navigation information of the machine body 1 can be obtained; the walking, digging and planting of the machine body 1 can be realized through the power box 22 and the current control system 23.
The first supporting leg part 3 and the second supporting leg part 4 are connected to the machine body 1 through the sliding seat 5, an adjusting mechanism is connected between the sliding seat 5 and the machine body 1, the position of the sliding seat 5 can be adjusted through the adjusting mechanism, the first supporting leg part 3 and the second supporting leg part 4 comprise an upper leg 5 and a lower leg 6 which are sequentially connected with the sliding seat 5, and an adjusting mechanism is arranged between the sliding seat 5 and the upper leg 6 and between the upper leg 6 and the lower leg 7 and can adjust an included angle between the two through the adjusting mechanism. The adjusting mechanism is an oil cylinder, and the walking mechanism can walk stably and alternately by driving of the oil cylinders.
The pit digging mechanism is connected with the first supporting leg part 3 through a lifting device and can move up and down along the first supporting leg part 3, the lifting device comprises an adjusting mechanism and a lifting guide rail 8, the adjusting mechanism is arranged on the first supporting leg part 3, and the pit digging mechanism is connected with the lifting guide rail 8 and can move up and down along the lifting guide rail 8 through the driving of the adjusting mechanism. When the pit digging mechanism needs to dig pits, the pit digging mechanism moves downwards to the ground through the lifting device, and then the pit digging mechanism is started to dig the pits; when the digging is finished, the digging mechanism is moved upwards through the lifting device, so that the digging mechanism is separated from the ground.
The pit digging mechanism comprises a power seat 9 which is clamped in the lifting guide rail 8, and conical teeth 10 or helical blades 11 which are connected to the power seat 9. The digging mechanism can dig the pit by using the helical blade 11 or the conical tooth 10 provided with the alloy head so as to meet the digging requirements of different geological soils, for example, the helical blade 11 can be used for digging the pit in desert areas, and the conical tooth 10 can be used for digging the pit in mountain areas mixed with crushed stones by weathered rocks.
Planting mechanism is including locating the seedling storage room 12 that is used for storing sapling 2 in organism 1, and locate organism 1 rear end and with storing up at least one device of throwing seedlings that seedling storage room 12 is connected to and locate the device end of throwing seedlings and the device of earthing up that corresponds with the pit. A large number of seedlings 2 are carried by the planting mechanism and then thrown into the dug tree pits in sequence.
The device of throwing seedlings includes smooth seedling groove 13 that one end and storage seedling room 12 are connected, and the other end of smooth seedling groove 13 corresponds with the tree pit, and smooth seedling groove 13 is equipped with fortune seedling guide rail 14 and grabs seedling hand 15, grabs seedling hand 15 and connects in fortune seedling guide rail 14 through linear bearing and is used for snatching seedling 2 from storage seedling room 12 and moves down along fortune seedling guide rail 14 until throwing into the tree pit with seedling 2. Through sliding seedling groove 13 can make things convenient for sapling 2 to slide to the tree pit, can guarantee that sapling 2 moves with the best mode through grabbing seedling hand 15, prevent that sapling 2 from empting.
The device of earthing up is including connecting in the swing mechanism who throws seedling device end, and swing mechanism is including doing the action of earthing up and can dial the swing arm 16 to the tree pit with soil. After the sapling 2 enters the tree pit, the surrounding soil can be stirred into the pit through the swing mechanism, so that the sapling 2 is fixed.
Those not described in detail in the specification are well within the skill of the art.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make various improvements and modifications without departing from the technical principle of the present invention, and these improvements and modifications should also be considered to be within the protection scope of the present invention.
Claims (10)
1. The utility model provides a mountain region kind tree robot, includes organism (1), its characterized in that, organism (1) is equipped with the running gear that can walk in the mountain region to and be used for planting the planting mechanism of sapling (2), running gear is including connecting in the landing leg spare (3) at four end angles of organism (1) to and connect landing leg spare two (4), four at both ends around organism (1) landing leg spare (3) and a landing leg spare two (4) are walked in turn in order to enable organism (1) to keep steady mode, be equipped with the mechanism of digging pit that is used for excavating on landing leg spare (3).
2. The mountain tree planting robot according to claim 1, wherein the first leg part (3) and the second leg part (4) are both connected to the machine body (1) through a sliding seat (5), an adjusting mechanism is connected between the sliding seat (5) and the machine body (1) and the position of the sliding seat (5) can be adjusted through the adjusting mechanism, the first leg part (3) and the second leg part (4) both comprise an upper leg (5) and a lower leg (6) which are sequentially connected with the sliding seat (5), an adjusting mechanism is arranged between the sliding seat (5) and the upper leg (6) and between the upper leg (6) and the lower leg (7) and the included angle between the upper leg (6) and the lower leg (7) can be adjusted through the adjusting mechanism.
3. The mountain tree planting robot of claim 1, wherein the machine body (1) is provided with a batching box (17) and a water tank (18), the batching box (17) transports the batching into the tree pit through a batching device, and the water tank (18) waters the planted tree seedling (2) through a water spraying device.
4. The mountain tree planting robot of claim 1, wherein the machine body (1) is further provided with a center-of-gravity slide (19) for adjusting the machine body (1) to be stable and a master controller (20) for controlling the operation of the center-of-gravity slide (19).
5. A mountain tree planting robot as claimed in claim 1, wherein the body (1) is further provided with a remote control positioning system (21) for remote control and navigation of the body (1), and a power box (22) and an electro-hydraulic control system (23) for controlling the walking mechanism, the planting mechanism and the digging mechanism, respectively.
6. A mountain tree planting robot as claimed in any one of claims 2 to 5 wherein the digging mechanism is connected to the first leg member (3) via a lifting device and can move up and down along the first leg member (3), the lifting device comprises an adjusting mechanism and a lifting guide rail (8) arranged on the first leg member (3), and the digging mechanism is connected to the lifting guide rail (8) and can move up and down along the lifting guide rail (8) by the driving of the adjusting mechanism.
7. A robot for mountain tree planting according to claim 6, wherein the digging mechanism comprises a power base (9) which is engaged with the lifting rail (8), and a tapered tooth (10) or a helical blade (11) which is connected to the power base (9).
8. The mountain tree planting robot of any one of claims 2 to 5, wherein the planting mechanism comprises a seedling storage chamber (12) provided in the machine body (1) for storing the tree seedlings (2), at least one seedling throwing device provided at a rear end of the machine body (1) and connected to the seedling storage chamber (12), and a banking device provided at an end of the seedling throwing device and corresponding to the tree pit.
9. The mountain tree planting robot as claimed in claim 8, wherein the seedling throwing device comprises a seedling sliding groove (13) with one end connected with the seedling storage chamber (12), the other end of the seedling sliding groove (13) corresponds to a tree pit, the seedling sliding groove (13) is provided with a seedling conveying guide rail (14) and a seedling grabbing hand (15), the seedling grabbing hand (15) is connected with the seedling conveying guide rail (14) through a linear bearing and is used for grabbing the tree seedling (2) from the seedling storage chamber (12) and moving downwards along the seedling conveying guide rail (14) until the tree seedling (2) is thrown into the tree pit.
10. The mountain tree planting robot of claim 8, wherein the hilling device comprises a swing mechanism connected to the end of the seedling throwing device, the swing mechanism comprising a swing arm (16) for hilling and soil shifting to the tree pit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210953604.2A CN115530039B (en) | 2022-08-10 | 2022-08-10 | Mountain region tree planting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210953604.2A CN115530039B (en) | 2022-08-10 | 2022-08-10 | Mountain region tree planting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115530039A true CN115530039A (en) | 2022-12-30 |
| CN115530039B CN115530039B (en) | 2024-02-13 |
Family
ID=84723736
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210953604.2A Active CN115530039B (en) | 2022-08-10 | 2022-08-10 | Mountain region tree planting robot |
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| Country | Link |
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| CN (1) | CN115530039B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116267493A (en) * | 2023-03-24 | 2023-06-23 | 广州市从化华隆果菜保鲜有限公司 | Fruit tree planting system based on Internet of things |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212064833U (en) * | 2020-05-12 | 2020-12-04 | 邵立郡 | Device capable of automatically digging tree pit during forestry protection tree planting |
| CN215683870U (en) * | 2021-08-16 | 2022-02-01 | 西南石油大学 | Wheel-leg type tree planting robot |
| CN114097567A (en) * | 2021-12-28 | 2022-03-01 | 袁玉葵 | Sapling planting device |
-
2022
- 2022-08-10 CN CN202210953604.2A patent/CN115530039B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212064833U (en) * | 2020-05-12 | 2020-12-04 | 邵立郡 | Device capable of automatically digging tree pit during forestry protection tree planting |
| CN215683870U (en) * | 2021-08-16 | 2022-02-01 | 西南石油大学 | Wheel-leg type tree planting robot |
| CN114097567A (en) * | 2021-12-28 | 2022-03-01 | 袁玉葵 | Sapling planting device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116267493A (en) * | 2023-03-24 | 2023-06-23 | 广州市从化华隆果菜保鲜有限公司 | Fruit tree planting system based on Internet of things |
| CN116267493B (en) * | 2023-03-24 | 2023-10-20 | 广州市从化华隆果菜保鲜有限公司 | Fruit tree planting system based on Internet of things |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115530039B (en) | 2024-02-13 |
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