CN217905072U - Planting irrigation tree planting robot and system - Google Patents

Abstract

The utility model discloses a plant and irrigate tree planting robot and system relates to agricultural equipment technical field, and this tree planting robot includes portable body construction to and set up the mechanism of punching on, storage mechanism, bulldoze mechanism and irrigation mechanism, mutually support between each mechanism and realize the sapling whole process of planting. The utility model adopts the storage mechanism that adopts the inner and outer turntables, and the storage capacity is increased; the punching mechanism adopts lead screw transmission to increase the accuracy of the drill bit, and adopts double lead screw transmission and 8 track sliding grooves to position and lift the transmission lead screw to increase the lifting stability of the drill bit; the drill bit next door is equipped with humidity transducer, combines thing networking database, and irrigation mechanism carries out quantitative watering, improves water resource utilization. Bulldoze the mechanism and use the integration design of slide rail + bowl form annular bulldozing structure, 360 degrees all-round laminating drilling back soil ridges that form carry out the accurate landfill of parcel nature. The vehicle body adopts a triangle wheel type track design, and the adaptability of the vehicle body to various terrains is improved.

Description

Robot and system for planting, irrigating and planting trees

Technical Field

The utility model relates to a sapling is independently planted and is irrigated technical field, especially relates to a plant and irrigate tree planting robot and system.

Background

The desertification area of China accounts for 27.32% of the total area of the national soil, a series of environmental problems brought by land desertification seriously affect the daily life of people and the national economic development, and the problem of desertification is urgently solved. The major protection forest construction projects of returning the farmland to the forest, jingjin Fengsha source treatment project, sanbei, the middle and lower reaches of the Yangtze river and the like are difficult to realize only by manpower resources. Aiming at the current situation, equipment integrating planting trees, planting grass and irrigating is needed to be designed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a plant and irrigate tree planting robot and system to solve the aforementioned problem that exists among the prior art.

A planting irrigation tree planting robot comprises a movable vehicle body, a punching structure, a drilling mechanism, a storage mechanism, a soil-shifting mechanism and an irrigation mechanism, wherein the punching structure, the drilling mechanism, the storage mechanism, the soil-shifting mechanism and the irrigation mechanism are arranged on the movable vehicle body; the storage mechanism comprises a storage box body and a discharge hole connected to the bottom of the storage box body, the storage box body is arranged above the frame, and a through hole corresponding to the discharge hole is formed in the bottom plate; the bulldozing structure is arranged at the bottom of the bottom plate and is positioned between the punching mechanism and the storage mechanism; the irrigation mechanism is arranged on a bottom plate of the vehicle body structure.

Preferably, the drilling main frame of the punching mechanism is divided into two supports, which are located on two sides of the frame, a lead screw driving motor and two bearing seats are arranged in each support, lead screw nuts are arranged on two sides of the lifting platform, bearing seats are arranged above the lead screw nuts, a drill bit driving motor is arranged in the middle of the lifting platform, the drill bit driving motor is fixedly connected with a motor fixing frame, the motor fixing frame is fixedly connected with the lifting platform through a connecting plate, a bearing seat support is arranged at the lower end of the middle of the lifting platform, the bearing seats are fixedly connected with the bearing seat supports, a drill bit penetrates through the bearing seats and is fixedly connected with the motor through a coupler, two transmission lead screws sequentially penetrate through bearings at the bottom of the frame, and the bearing seats in the middle of the lead screw nut frame mounted on the lifting platform are connected with the lead screw driving motor through the coupler.

Preferably, the punching mechanism further comprises a temperature and humidity sensor, the temperature and humidity sensor is fixedly connected below the lifting table through a sensor support and is arranged in parallel with the drill bit guide bearing frame support, and the temperature and humidity sensor and the bottom end of the drill bit are located on the same horizontal plane.

Preferably, the whole circular structure that is of storage mechanism, be in including carousel bottom plate, big storage carousel, little storage carousel and setting the discharge gate of carousel bottom plate below, the carousel bottom plate big storage carousel with the coaxial setting of little storage carousel, big storage carousel with little storage carousel edge sets up the round storage vat respectively, big storage carousel with little storage carousel is connected with the drive steering wheel respectively.

Preferably, the storage mechanism further comprises a detachable top plate, the shape of the top plate is the same as that of the rotary table bottom plate, and the top plate is connected with the rotary table bottom plate through a connecting piece;

the driving steering engine comprises a large turntable driving steering engine and a small turntable driving steering engine, the large turntable driving steering engine is installed below the turntable bottom plate, and the small turntable driving steering engine is installed in the middle of the small storage turntable.

Preferably, a slide rail fixing plate of the bulldozing mechanism is fixedly connected with the bottom plate, the slide rail is fixedly connected with the slide rail fixing plate, a slide rail pushing part is fixedly connected with a rack fixing plate, a rack is arranged at the upper end of the rack fixing plate, the tail end of the slide rail pushing part is fixedly connected with the dozing blade, a driving motor is arranged on each side of the slide rail pushing part, the driving motor is connected with a gear, the gear is meshed with the rack, the driving motor is fixedly connected with the bottom plate through a motor fixing frame, and the bulldozing position of the dozing blade and the discharge pipe are on the same line.

Preferably, the dozing mechanisms are respectively arranged on two sides of the bottom plate.

Preferably, crawler wheels are mounted on two sides of the movable vehicle body and fixedly connected with the vehicle frame, a main frame of the crawler wheel is triangular, and a crawler wheel transmission wheel is composed of a driving wheel and two driven wheels; the action wheel with the follower is connected with the main frame by optical axis, the terminal installation bearing of optical axis, the bearing passes through the mounting and links to each other with the main frame, follower outside installation track, wheel driving motor link firmly with the bottom plate through connecting the panel beating, wheel driving motor passes through the shaft coupling and links to each other with the action wheel optical axis.

Preferably, the irrigation mechanism comprises a water storage bin, an electromagnetic valve switch and a nozzle, the water storage bin is fixed at the rear end of the bottom plate, the nozzle is arranged on the rear side of the water storage bin, and the electromagnetic valve switch is arranged on the nozzle.

Another object of the utility model is to provide a plant and irrigate tree planting system, include plant and irrigate tree planting robot, still include communication module and host computer, communication module sets up inside the plant and irrigate tree planting robot, through thing networking communication technology with the communication is realized to the host computer.

The utility model has the advantages that:

the utility model discloses a plant and irrigate tree planting robot and system, the carousel of the storage mechanism of this robot can pile up several layers for modular design, has the container that inside and outside two circles were deposited in every layer, has improved the sapling quantity of space utilization and single transportation, has reduceed planting cost. Compared with the American UI tree planter, the single tree planting amount is greatly improved.

The tree planting machine is applied to regions with wide landforms, strong illumination and long illumination time, such as deserts and plains, the photovoltaic tracking system is innovatively applied to the work according to local conditions by considering that sufficient, stable and durable natural high-quality solar energy exists in the working environment, and compared with other tree planting machines which only use a storage battery for power supply in the market, the tree planting machine not only has the advantage of utilizing the solar energy in the working environment, but also achieves the purposes of using renewable energy sources, saving energy and reducing emission.

This work uses the integration design of slide rail + bowl form annular bulldozing structure innovatively, 360 degrees all-round laminating drilling back soil ridge that forms, carries out parcel's accurate landfill.

The drill bit adopts screw drive, has increased the accuracy nature of drill bit, adopts the transmission of double lead screw, and 8 track spout location lift transmission lead screws have increased drill bit lift stability.

The work adopts timing and quantification, and different temperature and humidity are irrigated in a targeted manner for different tree species, so that the utilization rate of water resources is improved, and the resource waste is reduced.

Drawings

FIG. 1 is a schematic structural diagram of a front view of a planting irrigation tree-planting robot provided in example 1;

FIG. 2 is a schematic structural diagram of a rear view of a planting irrigation tree-planting robot provided in example 1;

FIG. 3 is a schematic view of a drilling mechanism provided in embodiment 1;

FIG. 4 is a schematic view of a frame structure of a drilling mechanism provided in embodiment 1;

FIG. 5 is a schematic structural view of a lifting platform structure in the drilling mechanism;

FIG. 6 is a schematic structural diagram of a side view of a lifting platform structure in the drilling mechanism;

FIG. 7 is a schematic view of a bulldozer structure employed in example 1;

FIG. 8 is a schematic view of a crawler wheel structure employed in embodiment 1;

FIG. 9 is a schematic view of the internal structure of the storage mechanism;

FIG. 10 is a side view of a storage structure;

101: a frame 102: bottom plate 103: drilling mechanism

104: the storage mechanism 105: the track wheels 106: water tank

107: the dozing mechanism 108: the control panel bracket 109: spray head

110: solenoid valve switch 111: irrigation mechanism

301: aluminum profile main frame 302: aluminum profile lifting platform 303: drill bit

304: temperature and humidity sensor 305: the lifting guide rail 306: bearing seat

307: lifting the transmission screw 308: the coupling 309: screw driving motor

310: the motor mount 311: connecting plate 312: bearing block support

313: bit guide bearing seat 314: the screw nut 315: sensor support

316: bit driving motor 317: buffer rubber

701: blade drive motor 702: gear 703: rack bar

704: rack fixing sheet metal 705: slide rail 706: slide rail fixing sheet metal

707: blade for pushing earth

801: the coupling 802: wheel drive motor 803: motor fixing sheet metal

804: crawler 805: the driving pulley 806: optical axis

807: the bearing is formed by a fixed metal plate 808: drive driven wheel 809: frame connecting sheet metal

810: frame structure

901: large hopper turnplate 902: small storage turntable 903: steering engine mount one

904: small turntable drive steering engine 905: the connecting member 906: discharge pipe

907: turntable base plate 908: a steering engine fixing frame II 909: top board

910: storage vat 911: the large turntable drives the steering engine 912: flange plate

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the invention, are given by way of illustration only.

Example 1

Referring to fig. 1 to 10, the intelligent autonomous planting irrigation tree-planting robot comprises a frame 101, a bottom plate 102, a drilling mechanism 103, a storage mechanism 104, a soil-shifting mechanism, an irrigation mechanism 111 and crawler wheels 105.

Referring to fig. 1 and 2, the bottom plate 102 is connected with the bottom of the frame 101, the front end of the bottom plate 102 is provided with a circular opening, the middle end of the bottom plate 102 is provided with a rectangular hole reserved for the dozer blade 707 and a motor mounting hole, the bottom plate is provided with a long groove for the tree seedling to pass through from the middle end to the rear end, and the control panel bracket 108 is mounted at the left rear part of the bottom plate 102. The irrigation mechanism is composed of a water storage bin 106, a solenoid valve switch 110 and a spray head 109. The water storage bin 106 is fixed at the rear end of the bottom plate 102, a spray head 109 is arranged at the rear side, and the spray head 109 is provided with the electromagnetic valve switch 110.

The base plate 102 is mainly made of alloy steel, and the frame 101 is mainly made of aluminum section.

Referring to fig. 9, the crawler wheel 105 is composed of a sheet metal frame 810, a driving wheel 805, a driven wheel 808, optical axes 806 and bearings (not shown), the sheet metal frame is formed by connecting two sheet metal frames 810 by a frame connecting plate 809 and is triangular, the two driving wheels 805 and the driven wheel 808 are fixedly connected with the bearings through the ends of the optical axes 806, the bearings are connected with the sheet metal frame through a fixed sheet metal 807, the outer sides of the driving wheels are provided with the crawler belt 804, the ends of the driving wheel optical axes 806 penetrate through the bearings and the sheet metal frame 810 and are connected with the output shaft of the wheel driving motor 802 through the coupling 801, the wheel driving motor 802 is connected with the motor fixing plate 803 through the motor frame 310, and the fixed plate 803 is fixedly connected with the base plate 102.

Referring to fig. 3 to 6, the punching mechanism is composed of an aluminum profile main frame 301, a lifting guide rail 305, a lifting transmission screw 307, an aluminum profile lifting table 302, a screw driving motor 309, a drill driving motor 316, a drill 303 and a temperature and humidity sensor 304, wherein the two sides of the left upper end and the right upper end of the main frame 301 are respectively provided with the screw driving motor 309, the motors are fixedly connected with a motor frame 310, the motor frame is fixedly connected with the aluminum profile main frame 301 through a connecting plate 311, the middle part and the bottom of each side frame are respectively provided with a bearing seat 306, the lower end of the 307 is fixedly connected with the bottom bearing seat 306, and the upper end of the 307 is connected with the screw driving motor 309 through a coupling 308. The bottom of the aluminum profile main frame 301 is provided with a buffer rubber 317 for protecting an aluminum profile lifting platform at the position of a protrusion and a cross beam above the aluminum profile main frame, a screw nut 314 is installed on two sides of the aluminum profile lifting platform, and a bearing seat 306 is installed above the screw nut. The middle bearing block 306 lead screw nut 314 is linked with the lifting drive screw 307. The aluminum profile lifting platform 302 is provided with a drill bit driving motor 316 in the middle, the motor is fixedly connected with a motor fixing frame 310, the motor fixing frame 310 is fixedly connected with the aluminum profile lifting platform 302 through a connecting plate 311, a bearing seat support 312 is installed at the lower end of the middle of the aluminum profile lifting platform 302, a drill bit guide bearing seat 313 is fixedly connected with the bearing seat support 312, a drill bit penetrates 303 and is fixedly connected with the drill bit driving motor 316 through the drill bit guide bearing seat 313 through a coupling 308, a sensor support 315 is installed beside the drill bit guide bearing seat support 313, the sensor support 315 is fixedly connected with the aluminum profile lifting platform 302, a temperature and humidity sensor 304 is fixedly connected with the sensor support 315, and the height of the temperature and humidity sensor 304 is adjusted to enable the bottom end of the drill bit 303 and the bottom end of the temperature and humidity sensor 304 to be on the same horizontal plane.

The storage mechanism shown in fig. 9 and 10 mainly comprises a small turntable driving steering engine 904, a large turntable driving steering engine 911, a turntable bottom plate 907, a top plate 909, a large storage turntable 901, a small storage turntable 902 and a discharge pipe 906. The turntable base plate 907 is fixedly connected with the frame 101, the turntable base plate 907 is connected with the top plate 909 through a connecting piece 905, the storage mechanism is internally composed of a large storage turntable and a small storage turntable, a large turntable driving steering engine 911 is fixedly connected with the turntable base plate 907 through a steering engine fixing frame 908, a small turntable driving rudder 904 is fixedly connected with the top plate through a steering engine fixing frame 903, and the large storage turntable and the small storage turntable are respectively fixedly connected with a lower steering engine flange 912 and an upper steering engine flange 912. The turntable bottom plate 907 is provided with two round holes for the falling of the saplings, and the two round hole discharging pipes 906 are connected.

Referring to fig. 7, a dozing mechanism is arranged at the middle end of the bottom plate 102, a slide rail fixing sheet metal 706 of the dozing mechanism is fixedly connected with the bottom plate 102, a slide rail 705 is fixedly connected with the slide rail fixing sheet metal 706, a slide rail pushing part is fixedly connected with a rack fixing sheet metal 704, a rack 703 is arranged at the upper end of the rack fixing sheet metal 704, the tail end of the pushing part of the slide rail 705 is fixedly connected with a dozing blade 707, a dozing blade driving motor 701 is arranged at each side of the push part of the slide rail 705, the driving motor is connected with a gear 702, the gear 702 is meshed with the rack 703, the driving motor 701 is fixedly connected with the bottom plate through a motor fixing frame 310, and the dozing position of the dozing blade 707 is on the same line with the discharge pipe 906.

When the robot is implemented, the drilling stage, the planting stage, the soil filling stage and the irrigation stage are divided;

and (3) drilling: after the robot reaches a designated position, drilling operation is started, screw rod motors 309 on two sides of a frame 301 start to rotate to drive screw rods 307 to rotate, so that a platform 302 descends, a drill bit driving motor 316 rotates to drive a drill bit 303 to rotate while a lifting platform 302 descends, when the lifting platform descends to the lowest position, drilling is completed, a soil humidity detector 304 is inserted into soil, and after soil moisture data is monitored, the screw rod motors 301 rotate reversely to lift the lifting platform 302 to the highest position, and a drilling stage is completed.

And (3) planting stage: after the drilling stage is finished, the robot moves a fixed distance in advance to enable the y-shaped channel 806 to be aligned with the drilled hole, the small turntable driving motor 804 rotates to drive the small turntable 802 to rotate, the saplings stored in the cylinder 810 in the turntable fall from the hole of the bottom plate 807 and fall into the drilled hole through the y-shaped channel 806, the planting stage is finished, if the saplings stored in the small turntable 802 are used up, the saplings stored in the large turntable 801 are used, the large turntable drives the steering engine 811 to drive the large turntable 810 to rotate, and the saplings stored in the cylinder 810 in the turntable fall from the hole of the bottom plate 807.

And after the planting stage is finished, the soil filling stage is started, the sliding rail driving motors 701 on the two sides of the soil filling mechanism drive the gears 702 to rotate, the gears 702 and the racks 703 are driven to push the sliding rails 705 downwards, the soil pushing shovel 707 pushes soil into the hole and compacts the soil, and after the soil filling stage is finished, the motors 701 reversely rotate to enable the sliding rails 705 to be retracted.

After the planting stage is completed, the robot moves forward for a fixed distance again, the irrigation spray nozzle 109 is aligned with the planted sapling, the terminal analyzes the data sent back by the soil humidity detector 304 to obtain the irrigation water amount, the electromagnetic valve 110 is opened to complete the irrigation process, and after the irrigation process is completed, the crawler wheel 105 is driven to enter the next planting place to perform the repeated operation.

Example 2

This embodiment provides a plant and irrigate tree planting system, and this system includes the planting irrigation tree planting robot who records in embodiment 1, and the built-in 5G communication module of tree planting machine can be through internet of things, and information such as the environmental humidity data that will collect, vegetation cover condition, topography condition in real time transmit back to the host computer.

The host computer accessible constructs the big database in high in the clouds to further form regional picture, guide vegetation restoration engineering: (1) Selecting and planting proper tree species according to the soil quality and the topographic characteristics; (2) Determining the irrigation water amount suitable for the survival of the saplings according to the environmental rainfall change and the soil level humidity; (3) Determining planting speed, planting quantity, planting distance and planting area according to vegetation coverage; (4) The number of the tree planting machines for operation is determined according to the area of the repair area, so that resource waste is reduced; (5) The problem that the planting process of the tree planting machine needs manual on-site supervision is solved.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be viewed as the protection scope of the present invention.

Claims (9)

1. A planting irrigation tree planting robot is characterized by comprising a movable vehicle body, a drilling mechanism, a storage mechanism, a soil-shifting mechanism and an irrigation mechanism, wherein the drilling mechanism, the storage mechanism, the soil-shifting mechanism and the irrigation mechanism are arranged on the movable vehicle body; the storage mechanism comprises a storage box body and a discharge pipe connected to the bottom of the storage box body, the storage box body is arranged above the frame, and a through hole corresponding to the discharge pipe is formed in the bottom plate; the soil pushing mechanism is arranged at the bottom of the bottom plate and is positioned between the drilling mechanism and the storage mechanism; the irrigation mechanism is arranged on a bottom plate of the movable vehicle body;

the whole circular structure that is of storage mechanism, be in including carousel bottom plate, big storage carousel, little storage carousel and setting the discharging pipe of carousel bottom plate below, the carousel bottom plate big storage carousel with the coaxial setting of little storage carousel, big storage carousel with little storage carousel edge sets up the round storage vat respectively, big storage carousel with little storage carousel is connected with the drive steering wheel respectively.

2. The robot for planting, irrigating and planting trees according to claim 1, wherein the drilling main frame of the drilling mechanism is divided into two supports, each support is provided with a lead screw driving motor and two bearing seats, the two sides of the lifting platform are provided with lead screw nuts, the bearing seats are mounted above the lead screw nuts, the middle of the lifting platform is provided with a drill driving motor, the drill driving motor is fixedly connected with a motor fixing frame, the motor fixing frame is fixedly connected with the lifting platform through a connecting plate, the lower end of the middle of the lifting platform is provided with a bearing seat support, the bearing seats are fixedly connected with the bearing seat support, a drill penetrates through the bearing seats through a shaft coupling and is fixedly connected with a motor, two transmission lead screws sequentially penetrate through bearings at the bottom of the frame, and the bearing seats at the middle of the lead screw nut frame mounted on the lifting platform are connected with the lead screw driving motor through the shaft coupling.

3. A planting, irrigating and tree-planting robot according to claim 2, wherein the drilling mechanism further comprises a temperature and humidity sensor, the temperature and humidity sensor is fixedly connected below the lifting table through a sensor support and is arranged in parallel with the drill bit guide bearing frame support, and the temperature and humidity sensor and the bottom end of the drill bit are in the same horizontal plane.

4. A planting irrigation tree planting robot as recited in claim 1, wherein the storage mechanism further comprises a removable top plate having the same shape as the carousel bottom plate and connected thereto by a connector;

the driving steering engine comprises a large turntable driving steering engine and a small turntable driving steering engine, the large turntable driving steering engine is installed below the turntable bottom plate, and the small turntable driving steering engine is installed in the middle of the small storage turntable.

5. A planting and irrigating robot as recited in claim 1, wherein said dozing mechanism has a rail fixing plate secured to the bottom plate, a rail secured to the rail fixing plate, a rail ejecting portion secured to the rack fixing plate, a rack provided on the upper end of the rack fixing plate, a dozing blade secured to the end of the rail ejecting portion, a driving motor provided on each side, said driving motor connected to a gear engaged with said rack, said driving motor secured to the bottom plate through a motor fixing bracket, said dozing blade located in line with said discharge pipe.

6. A planting irrigation tree-planting robot as claimed in claim 5, wherein said soil-shifting mechanism is respectively disposed on both sides of said bottom plate.

7. The planting irrigation tree-planting robot as claimed in claim 1, wherein crawler wheels are mounted on two sides of the movable vehicle body, the crawler wheels are fixedly connected with the vehicle frame, the crawler wheel main frame is triangular, and the crawler wheel transmission wheel is composed of a driving wheel and two driven wheels; the driving wheel with the follower is connected with the main frame by the optical axis, and the terminal installation bearing of optical axis, the bearing passes through the mounting and links to each other with the main frame, follower outside installation track, wheel driving motor link firmly with the bottom plate through connecting the panel beating, wheel driving motor passes through the shaft coupling and links to each other with the driving wheel optical axis.

8. A planting and irrigating robot according to claim 1, wherein the irrigating mechanism includes a water storage bin, a solenoid valve switch and a spray head, the water storage bin is fixed at the rear end of the bottom plate, the spray head is arranged at the rear side of the water storage bin, and the solenoid valve switch is arranged on the spray head.

9. A planting irrigation tree-planting system is characterized by comprising the planting irrigation tree-planting robot as claimed in any one of claims 1 to 8, and further comprising a communication module and an upper computer, wherein the communication module is arranged inside the planting irrigation tree-planting robot, and communication with the upper computer is achieved through the communication technology of the Internet of things.

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