CN215683870U - Wheel-leg type tree planting robot - Google Patents
Wheel-leg type tree planting robot Download PDFInfo
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- CN215683870U CN215683870U CN202121910180.9U CN202121910180U CN215683870U CN 215683870 U CN215683870 U CN 215683870U CN 202121910180 U CN202121910180 U CN 202121910180U CN 215683870 U CN215683870 U CN 215683870U
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- wheel
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- seedling
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- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 238000005553 drilling Methods 0.000 claims abstract description 29
- 230000007306 turnover Effects 0.000 claims abstract description 22
- 239000002689 soil Substances 0.000 claims abstract description 9
- 230000002262 irrigation Effects 0.000 claims description 9
- 238000003973 irrigation Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 description 7
- 241000196324 Embryophyta Species 0.000 description 5
- 241000282414 Homo sapiens Species 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The utility model discloses a wheel-leg type tree planting robot, which comprises a robot body, a wheel-leg device, a sapling conveying device, a drilling and seedling planting mechanism and a backfilling mechanism, wherein the wheel-leg device is arranged on the robot body; the wheel leg device comprises a wheel leg main body of a quadrilateral connecting rod mechanism, a travelling wheel arranged at the bottom of the wheel leg main body, an obstacle crossing driving motor used for driving the wheel leg main body to deform and a travelling driving motor used for driving the travelling wheel to rotate; the sapling conveying device comprises a belt conveyor arranged horizontally and a turnover mechanism arranged at the tail end of the belt conveyor; the drilling and seedling planting mechanism comprises a seedling conveying cylinder vertically arranged under the turnover plate, a hollow drill bit fixedly arranged at the bottom of the seedling conveying cylinder and a drilling driving motor for driving the seedling conveying cylinder to reciprocate along the vertical direction; the backfilling mechanism comprises semi-circular arc shovels arranged on two sides of the hollow drill bit and a backfilling motor for driving the semi-circular arc shovels to move so that soil generated by drilling is pushed into the trench hole and compacted. The tree planting robot can obviously improve the tree planting efficiency and is suitable for complex terrains.
Description
Technical Field
The utility model relates to the field of special robots, in particular to a wheel-leg type tree planting robot.
Background
With the unreasonable utilization of nature by human, the land desertification caused by the unreasonable utilization of nature is no longer a simple ecological environment problem, and develops into an economic problem and a social problem, which brings poverty and social instability to human. Among the environmental problems of human beings, desertification is one of the most serious disasters, and thus it can be seen that green vegetation plays a crucial role in the development of human society. Nowadays, green vegetation is continuously reduced, and thus, people are faced with increasingly severe environmental problems. A great amount of trees are planted to restore green vegetation is an important means, but the efficiency of planting trees by manpower is low, and in some complicated terrains, efficient tree planting is difficult to achieve. Therefore, it is necessary to design a wheel-legged tree planting robot which has high tree planting efficiency and is suitable for complex terrains.
SUMMERY OF THE UTILITY MODEL
The utility model relates to a wheel-leg type tree planting robot, which comprises a robot body, a wheel-leg device, a sapling conveying device, a drilling and seedling planting mechanism and a backfilling mechanism, wherein the wheel-leg device is arranged on the robot body;
the wheel leg device comprises a wheel leg main body of a quadrilateral connecting rod mechanism, a traveling wheel arranged at the bottom of the wheel leg main body, an obstacle crossing driving motor used for driving the wheel leg main body to deform and a traveling driving motor used for driving the traveling wheel to rotate;
the sapling conveying device comprises a belt conveyor arranged horizontally and a turnover mechanism arranged at the tail end of the belt conveyor; the turnover mechanism comprises a turnover plate and a turnover driving motor for driving the turnover plate to rotate;
the drilling and seedling planting mechanism comprises a seedling conveying cylinder vertically arranged under the turnover plate, a hollow drill bit fixedly arranged at the bottom of the seedling conveying cylinder and a drilling driving motor for driving the seedling conveying cylinder to reciprocate along the vertical direction;
the backfilling mechanism comprises semi-circular arc shovels arranged on two sides of the hollow drill bit and a backfilling motor for driving the semi-circular arc shovels to move so that soil generated by drilling is pushed into the trench hole and compacted;
further, the wheel leg main body comprises a connecting rod I, a connecting rod II, a connecting rod III and a connecting rod IV which are sequentially hinged end to form a four-bar mechanism; the obstacle crossing driving motor comprises a motor I and a motor II; the motor I drives the connecting rod I to rotate through the gear pair I, and the motor II drives the connecting rod II to rotate through the gear pair II;
further, an opening and closing door plate is hinged to an outlet of the hollow drill bit; the drilling driving motor drives the seedling conveying cylinder to reciprocate along the vertical direction through a crank rocker mechanism;
further, the front part of the machine body is provided with a sprinkling irrigation head for irrigation in the tree planting process, a lighting lamp for lighting and a camera for shooting the field environment.
The utility model has the beneficial effects that:
1. the utility model adopts the wheel leg mechanism in the form of the quadrilateral connecting rod mechanism, realizes bionic leg, can fully adapt to terrains and can move on various complex terrains.
2. The utility model combines the drilling and planting actions into a whole, simplifies the working process, shortens the working time, and has simple structure and high efficiency.
3. The utility model is additionally provided with a semicircular arc shovel backfilling mechanism, so that soil generated by drilling is pushed into a ditch hole and compacted to complete a backfilling function, and the backfilling effect can be obviously improved by placing the device at two sides of the drill bit in pairs.
4. The seedling conveying device accurately conveys the flatly placed plants into the seedling conveying cylinder, and the belt conveyor for horizontally conveying the seedlings adopts a v-belt transmission design, so that the seedling conveying device has the characteristics of compact structure, large friction force, stable transmission and no noise. The turnover plate at the tail part of the belt conveyor can rotate around the conveying direction of the conveyor, and the function of changing the plant to be flat and vertical is completed.
Drawings
The utility model is further described below with reference to the following figures and examples:
FIG. 1 is a schematic view of the overall structure of the wheel-legged tree planting robot of the present invention;
FIG. 2 is a schematic structural view of the wheel leg mechanism of the present invention;
FIG. 3 is a schematic structural diagram of the conveying device for saplings of the present invention;
FIG. 4 is a schematic structural view of the drilling and seedling planting mechanism of the present invention;
FIG. 5 is a schematic view of a door opening and closing mechanism of the drilling and seedling planting mechanism of the present invention;
FIG. 6 is a schematic structural diagram of a backfill mechanism according to the present invention;
FIG. 7 is a flow chart of tree planting according to the present invention.
Detailed Description
As shown in fig. 1, the wheel-leg type tree planting robot of the present embodiment includes a body, a wheel-leg device 1, a sapling conveying device 2, a drilling and seedling planting mechanism 3, a backfilling mechanism and an auxiliary device;
as shown in fig. 2, the wheel leg device 1 includes a wheel leg main body of a quadrilateral linkage mechanism, a road wheel 16 disposed at the bottom of the wheel leg main body, an obstacle crossing driving motor for driving the wheel leg main body to deform, and a walking driving motor for driving the road wheel 16 to rotate; the wheel leg main body comprises a connecting rod I11, a connecting rod II 110, a connecting rod III 17 and a connecting rod IV which are sequentially hinged end to form a four-bar mechanism; the obstacle crossing driving motor comprises a motor I and a motor II; the motor I14 and the motor II 15 can adopt worm and gear reduction motors and the like to realize one-way transmission; the motor I drives the connecting rod I11 to rotate through the gear pair I12, and the motor II drives the connecting rod II 110 to rotate through the gear pair II 18; the connecting rod I11 is fixedly connected with a sleeve, and a driven gear of the gear pair I12 is fixedly sleeved on the sleeve 19; a driven gear of the gear pair II 18 is fixedly sleeved on a transmission shaft 13, and the transmission shaft 13 is fixedly connected to the connecting rod II 110 through a sleeve 19; the walking wheel 16 is arranged at the joint of the connecting rod III 17 and the connecting rod IV, and the walking driving motor drives the walking driving motor to rotate so as to enable the robot to rapidly advance; when the motor I14 and the motor II 15 drive the included angle between the connecting rod I11 and the connecting rod II 110 to change through the gear pair, the whole machine body can be lifted, so that the drilling depth can be adjusted; when the motor I14 and the motor II 15 drive the connecting rod I11 and the connecting rod II 110 to synchronously rotate through the gear pair, the wheel leg main body of the quadrilateral connecting rod structure can be driven to integrally rotate to realize obstacle crossing, and therefore the passing performance of the robot is greatly improved.
As shown in fig. 3, the sapling conveying device 2 comprises a belt conveyor 21 horizontally arranged and a turnover mechanism arranged at the tail end of the belt conveyor 21; the belt conveyor 21 adopts v-belt transmission, has the characteristics of compact structure, large friction force, stable transmission and no noise, and the turnover mechanism 22 comprises a turnover plate and a turnover driving motor for driving the turnover plate to rotate; the rotating shaft of the turnover plate is consistent with the conveying direction of the belt conveyor 21, so that the seedlings planted on the conveying belt can be turned over through the turnover plate, and the plants placed horizontally vertically fall into the seedling conveying cylinder 31. As shown in fig. 3, a seedling storehouse for storing the seedlings can be arranged below the belt conveyor 21.
As shown in fig. 4, the drilling and seedling planting mechanism 3 includes a seedling conveying cylinder 31 vertically arranged under the turning plate, a hollow drill 35 fixedly arranged at the bottom of the seedling conveying cylinder 31, and a drilling driving motor 34 for driving the seedling conveying cylinder 31 to reciprocate along the vertical direction; the exit of the hollow drill bit 35 is hinged with a door plate 32 which can be opened and closed, the opening and closing mechanism of the door plate 32 is shown in fig. 5, a rudder disc 321 is fixed with a connecting rod 322, the connecting rod 323, the door plate 32 and the hollow drill bit 35 form a four-bar mechanism, and the four-bar mechanism is driven by a steering engine 320 to open and close the door plate; the two drilling driving motors which are arranged oppositely drive the seedling conveying barrel 31 to reciprocate along the vertical direction through the rocker 33 to perform drilling operation;
as shown in fig. 6, the backfilling mechanism 4 comprises a semi-circular arc shovel 41 arranged at both sides of the hollow drill bit 35 and a backfilling motor 43 for driving the semi-circular arc shovel to move so that soil generated by drilling is pushed into the trench hole and compacted; the semicircular arc shovel 41 is connected to a connecting rod 42 with single degree of freedom horizontal sliding, the connecting rod 42 is fixedly connected to a sliding rod 45, a sliding groove is formed in the sliding rod 45, a rotating shaft of a backfilling motor 43 is provided with a rocker 44, the tail end of the rocker is provided with a pin which is matched with the sliding groove in the sliding rod 45, and soil can be backfilled after drilling and seedling planting is carried out by enabling the semicircular arc shovel 41 to horizontally move through a backfilling mechanism.
The front part of the machine body is provided with a sprinkling irrigation head 4 for irrigation operation in the tree planting process, a lighting lamp 5 for lighting and a camera 6 for shooting the field environment; the sprinkling irrigation head 4 can be mounted on a mechanical arm, the water spraying direction can be conveniently adjusted, the camera 6 and the illuminating lamp 5 can collect field environment information, and the robot can autonomously walk and plant trees by matching with the existing visual navigation system.
As shown in fig. 7, the flow of the tree planting operation performed by the wheel-legged tree planting robot of the present invention is as follows: the robot autonomously moves to a suitable tree planting area through the environmental information acquired by the camera 6. The drilling and seedling planting mechanism 3 adopts a crank rocker mechanism to convert the rotary motion into vertical reciprocating motion so that the drill bit 35 is driven into soil to complete drilling and ditching. The belt conveyor 21 operates to drive the transversely placed saplings to move horizontally, the saplings can be turned over through the turning plate, the flatly placed plants vertically fall into the sapling conveying cylinder 31, and the door plate 32 at the bottom of the hollow drill bit 35 is opened to enable the saplings to fall into the ditch holes; the semicircular arc shovels on the two sides of the hollow drill bit 35 move to push soil generated by drilling into the ditch holes and compact the soil, and the sprinkling irrigation head 4 sprays water to the planted saplings to complete irrigation operation.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and those skilled in the art can make various modifications and variations; any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (4)
1. The utility model provides a wheel-legged tree planting robot which characterized in that: comprises a machine body, a wheel leg device, a sapling conveying device, a drilling and seedling planting mechanism and a backfilling mechanism;
the wheel leg device comprises a wheel leg main body of a quadrilateral connecting rod mechanism, a traveling wheel arranged at the bottom of the wheel leg main body, an obstacle crossing driving motor used for driving the wheel leg main body to deform and a traveling driving motor used for driving the traveling wheel to rotate;
the sapling conveying device comprises a belt conveyor arranged horizontally and a turnover mechanism arranged at the tail end of the belt conveyor; the turnover mechanism comprises a turnover plate and a turnover driving motor for driving the turnover plate to rotate;
the drilling and seedling planting mechanism comprises a seedling conveying cylinder vertically arranged under the turnover plate, a hollow drill bit fixedly arranged at the bottom of the seedling conveying cylinder and a drilling driving motor for driving the seedling conveying cylinder to reciprocate along the vertical direction;
the backfilling mechanism comprises semi-circular arc shovels arranged on two sides of the hollow drill bit and a backfilling motor for driving the semi-circular arc shovels to move so that soil generated by drilling is pushed into the trench holes and compacted.
2. The wheel-legged tree planting robot according to claim 1, wherein: the wheel leg main body comprises a connecting rod I, a connecting rod II, a connecting rod III and a connecting rod IV which are sequentially hinged end to form a four-bar mechanism; the obstacle crossing driving motor comprises a motor I and a motor II; the motor I drives the connecting rod I to rotate through the gear pair I, and the motor II drives the connecting rod II to rotate through the gear pair II.
3. The wheel-legged tree planting robot according to claim 2, wherein: the outlet of the hollow drill bit is hinged with a door plate which can be opened and closed; the drilling driving motor drives the seedling conveying cylinder to reciprocate along the vertical direction through the crank rocker mechanism.
4. The wheel-legged tree planting robot according to claim 3, wherein: the front part of the machine body is provided with a sprinkling irrigation head for irrigation in the tree planting process, a lighting lamp for lighting and a camera for shooting the field environment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121910180.9U CN215683870U (en) | 2021-08-16 | 2021-08-16 | Wheel-leg type tree planting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121910180.9U CN215683870U (en) | 2021-08-16 | 2021-08-16 | Wheel-leg type tree planting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215683870U true CN215683870U (en) | 2022-02-01 |
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ID=79998268
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121910180.9U Expired - Fee Related CN215683870U (en) | 2021-08-16 | 2021-08-16 | Wheel-leg type tree planting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215683870U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115039656A (en) * | 2022-06-22 | 2022-09-13 | 广东工业大学 | Integrated salix mongolica planting vehicle |
| CN115530039A (en) * | 2022-08-10 | 2022-12-30 | 李丹阳 | Mountain region tree planting robot |
| CN115777482A (en) * | 2022-11-23 | 2023-03-14 | 广东技术师范大学 | Tree planting robot |
-
2021
- 2021-08-16 CN CN202121910180.9U patent/CN215683870U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115039656A (en) * | 2022-06-22 | 2022-09-13 | 广东工业大学 | Integrated salix mongolica planting vehicle |
| CN115530039A (en) * | 2022-08-10 | 2022-12-30 | 李丹阳 | Mountain region tree planting robot |
| CN115530039B (en) * | 2022-08-10 | 2024-02-13 | 李丹阳 | Mountain region tree planting robot |
| CN115777482A (en) * | 2022-11-23 | 2023-03-14 | 广东技术师范大学 | Tree planting robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220201 |