CN106034513A - Robot for integrally transplanting large plant - Google Patents
Robot for integrally transplanting large plant Download PDFInfo
- Publication number
- CN106034513A CN106034513A CN201610396456.3A CN201610396456A CN106034513A CN 106034513 A CN106034513 A CN 106034513A CN 201610396456 A CN201610396456 A CN 201610396456A CN 106034513 A CN106034513 A CN 106034513A
- Authority
- CN
- China
- Prior art keywords
- support
- hinged
- hydraulic cylinder
- underarm
- semicircular ring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 229910001220 stainless steel Inorganic materials 0.000 abstract 1
- 239000010935 stainless steel Substances 0.000 abstract 1
- 241000196324 Embryophyta Species 0.000 description 8
- 238000000034 method Methods 0.000 description 2
- 230000004083 survival effect Effects 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008635 plant growth Effects 0.000 description 1
- 230000008653 root damage Effects 0.000 description 1
- 238000002054 transplantation Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/04—Transplanting machines for deeper setting or shifting of plants
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
- Agricultural Machines (AREA)
Abstract
The invention provides a robot for integrally transplanting a large plant. The robot comprises a vehicle chassis, a first hydraulic cylinder, support arms, a second hydraulic cylinder, a third hydraulic cylinder, six cutting units and the like, wherein each cutting unit comprises a cutting piece, a slide rail and a seventh hinged support, the cutting piece is a sheet with one sixth of a circular conical surface and is made of stainless steel. Two openable semicircular brackets are adopted to serve as a bearing body of the cutting units, so that the trunk of the large plant can be surrounded more easily from side surfaces.
Description
Technical field
The present invention relates to gardens robotics, particularly to a kind of macrophyte entirety transplant robot.
Background technology
Along with the environmental consciousness of people is continuously increased, city and afforestation the most increasingly obtain the attention of people, one
A little parks or the place such as urban road, residential quarters generally require macrophyte (Ru great Shu, large-scale flower when of greening
Grass etc.) directly transplant plantation, the most not only shorten the plant growth time, and improve plant survival rate, traditional transplanting
Mode is that the root of plant is cleared, and then encases root with plastic bag, uses truck to transfer to need the place of plantation,
This transplanting method is relatively big to the root damage of plant, is unfavorable for the quick restoration ecosystem after plant transplantation.
Summary of the invention
For the problems referred to above, the present invention provides a kind of macrophyte entirety transplant robot, uses two can open
Semicircular ring support, as the supporting body of cut unit, can relatively easily be surrounded from side by macrophytic trunk.
Technical scheme used in the present invention is: a kind of macrophyte entirety transplant robot, including automobile chassis, first
Hydraulic cylinder, support arm, the second hydraulic cylinder, the 3rd hydraulic cylinder, cut unit, semicircular ring support, the 4th hydraulic cylinder, mechanical hand, its
It is characterised by: described automobile chassis is four-wheel automobile chassis；Described support arm includes underarm, middle arm, upper arm, first hinged
Seat, the second hinged-support, the 3rd hinged-support, the 4th hinged-support, the 5th hinged-support, the 6th hinged-support, described middle arm is vertically arranged
At underarm medium position, described upper arm is arranged on middle arm top and parallel with underarm, and the first described hinged-support is arranged on
Underarm front end, the 4th described hinged-support is arranged on underarm rear end, and the 3rd described hinged-support is arranged on underarm both sides, described
Second hinged-support is arranged on underarm top, and the 5th described hinged-support has 2 and is symmetricly set on both sides, upper arm rear end, described
6th hinged-support has 2 and is symmetricly set on upper arm both sides；
Described cut unit has 6, and each cut unit includes that cut sheet, slide rail, the 7th hinged-support, described cut sheet are
/ 6th taper seat thin slices, material is rustless steel, and described slide rail is parallel with the bus of cut sheet taper seat, described the 7th
Hinged-support is arranged on rail tips；
Described semicircular ring support has 2, and the two end is all articulated and connected with the 4th hinged-support, on semicircular ring support uniformly
Arranging 3 chutes tilted, 2 semicircular ring supports arrange 6 chutes altogether, and described cut unit is slidably mounted on by slide rail
In described chute, two semicircular ring supports form a complete circle ring rack after closing up, and 6 cut unit slide downward can
To form a hollow cone completed；
Described mechanical hand has 2, and its front end is semi-annular shape, and rear portion connects a long handle, and long handle side is provided with mounting seat；Institute
Long handle end part and the 5th hinged-support stated are articulated and connected, the cylinder ends of the 4th described hydraulic cylinder and the 6th hinged company of hinged-support
Connecing, the piston rod end of the 4th described hydraulic cylinder is articulated and connected with the mounting seat of the long handle side of mechanical hand；
The cylinder body end of the 3rd described hydraulic cylinder is hinged on semicircular ring side face, the tailpiece of the piston rod of the 3rd described hydraulic cylinder
Portion is articulated and connected with the 7th hinged-support；Cylinder body end and the 3rd hinged-support of the second described hydraulic cylinder are articulated and connected, described
The piston rod end of the second hydraulic cylinder is hinged on semicircular ring support；
Described support arm is connected with automobile chassis rear portion by the first hinged-support, the cylinder body end hinge of the first described hydraulic cylinder
Being connected on the top of automobile chassis, the piston rod end of the first described hydraulic cylinder is articulated and connected with the second hinged-support.
Owing to present invention employs technique scheme, the invention have the advantages that
1. the present invention use two semicircular ring supports that can open as the supporting body of cut unit, can be relatively easily
It is surrounded from side by macrophytic trunk, utilizes cone shape cut sheet can be inserted into plant root more easily
In earth around, 6 cut sheets form after closing up one that complete, do not have an apertured hollow cone, macrophytic
Portion is just wrapped in the inside, remains most of earth of plant root, adds the survival rate of plant.
2. can directly macrophyte be turned to above vehicle body by the first hydraulic cylinder after transplanting completes, convenient turn
Move.
Accompanying drawing explanation
Fig. 1 is the overall assembling perspective view of the present invention.
Fig. 2 is the overall top view of the present invention.
Fig. 3 is the cut unit scheme of installation of the present invention.
Fig. 4 is the cut unit structure schematic diagram of the present invention.
Fig. 5 is the support arm structural representation of the present invention.
Drawing reference numeral: 1-automobile chassis；2-the first hydraulic cylinder；3-support arm；4-the second hydraulic cylinder；5-the 3rd hydraulic cylinder；
6-cut unit；7-semicircular ring support；8-the 4th hydraulic cylinder；9-mechanical hand；301-underarm；Arm in 302-；303-upper arm；
304-the first hinged-support；305-the second hinged-support；306-the 3rd hinged-support；307-the 4th hinged-support；308-the 5th hinged-support；
310-the 6th hinged-support；601-cut sheet；602-slide rail；603-the 7th hinged-support.
Detailed description of the invention
Below by embodiment, and combine accompanying drawing, technical scheme is described in further detail.
Embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, a kind of macrophyte entirety transplant robot, including automobile chassis the 1, first liquid
Cylinder pressure 2, support arm the 3, second hydraulic cylinder the 4, the 3rd hydraulic cylinder 5, cut unit 6, semicircular ring support the 7, the 4th hydraulic cylinder 8, machinery
Hands 9, it is characterised in that: described automobile chassis 1 is four-wheel automobile chassis；Described support arm 3 includes underarm 301, middle arm
302, upper arm the 303, first hinged-support the 304, second hinged-support the 305, the 3rd hinged-support the 306, the 4th hinged-support the 307, the 5th is hinged
Seat the 308, the 6th hinged-support 310, described middle arm 302 is vertically arranged in underarm 301 medium position, and described upper arm 303 is arranged
On middle arm 302 top and parallel with underarm 301, the first described hinged-support 304 is arranged on underarm 301 front end, described
Four hinged-supports 307 are arranged on underarm 301 rear end, and the 3rd described hinged-support 306 is arranged on underarm 301 both sides, described second
Hinged-support 305 is arranged on underarm 301 top, and the 5th described hinged-support 308 has 2 and is symmetricly set on upper arm 303 rear end two
Side, the 6th described hinged-support 310 has 2 and is symmetricly set on upper arm 303 both sides；
Described cut unit 6 has 6, and each cut unit 6 includes cut sheet 601, slide rail the 602, the 7th hinged-support 603, institute
The cut sheet 601 stated is 1/6th taper seat thin slices, and material is rustless steel, described slide rail 602 and cut sheet 601 taper seat
Bus parallel, the 7th described hinged-support 603 is arranged on slide rail 602 top；
Described semicircular ring support 7 has 2, and the two end is all articulated and connected with the 4th hinged-support 307, at semicircular ring support 7
On be uniformly arranged 3 tilt chutes, 2 semicircular ring supports 7 arrange 6 chutes altogether, and described cut unit 6 passes through slide rail
602 are slidably mounted in described chute, and two semicircular ring supports 7 form a complete circle ring rack, 6 cuts after closing up
Unit 6 slide downward can form a hollow cone completed；
Described mechanical hand 9 has 2, and its front end is semi-annular shape, and rear portion connects a long handle, and long handle side is provided with mounting seat；
Described long handle end part and the 5th hinged-support 308 are articulated and connected, the cylinder ends of the 4th described hydraulic cylinder 8 and the 6th hinged-support
310 are articulated and connected, and the piston rod end of the 4th described hydraulic cylinder 8 is articulated and connected with the mounting seat of the long handle side of mechanical hand 9；
The cylinder body end of the 3rd described hydraulic cylinder 5 is hinged on semicircular ring support 7 side, the piston of the 3rd described hydraulic cylinder 5
Boom end and the 7th hinged-support 603 are articulated and connected；Cylinder body end and the 3rd hinged-support 306 of the second described hydraulic cylinder 4 are hinged
Connecting, the piston rod end of the second described hydraulic cylinder 4 is hinged on semicircular ring support 7；
Described support arm 3 is connected with automobile chassis 1 rear portion by the first hinged-support 304, the cylinder body of the first described hydraulic cylinder 2
End is hinged on the top of automobile chassis 1, the piston rod end of the first described hydraulic cylinder 2 and the second hinged company of hinged-support 305
Connect.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, that is made any repaiies
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Operation principle of the present invention: semicircular ring support 7 is positioned to horizontal by the first hydraulic cylinder 2 by the present invention in use
State, is raised to top by the 3rd hydraulic cylinder 5 by cut unit 6, and next step passes through the second hydraulic cylinder 4 by 7 dozens, semicircular ring support
Open, by the 4th hydraulic cylinder 8, mechanical hand 9 is opened, next step reversing, the trunk of plant is surrounded, then uses machinery
Hands 9 clamps trunk, clamps the cutting downwards of rear 6 cut unit 6, completes until 6 cut sheets 601 form one after closing up
, do not have an apertured hollow cone, then by the first hydraulic cylinder 2, semicircular ring support 7 is positioned to vertical state, and planting
Thing is transferred directly to need the place of plantation.
In describing the invention, it should be noted that term " on ", D score, "front", "rear", " vertically ", " level ",
Orientation or the position relationship of the instruction such as " interior ", " outward ", " both sides " are based on orientation shown in the drawings or position relationship, or should
The orientation usually put during the use of invention product or position relationship, be for only for ease of the description present invention and simplify description, and not
It is to indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, the most not
It is understood that as limitation of the present invention.Describe additionally, term " first ", " second ", " the 3rd " etc. are only used for distinguishing, and can not manage
Solve as instruction or hint relative importance.
Claims (1)
1. a macrophyte entirety transplant robot, including automobile chassis (1), the first hydraulic cylinder (2), support arm (3), second
Hydraulic cylinder (4), the 3rd hydraulic cylinder (5), cut unit (6), semicircular ring support (7), the 4th hydraulic cylinder (8), mechanical hand (9), its
It is characterised by: described automobile chassis (1) is four-wheel automobile chassis；Described support arm (3) includes underarm (301), middle arm
(302), upper arm (303), the first hinged-support (304), the second hinged-support (305), the 3rd hinged-support (306), the 4th hinged-support
(307), the 5th hinged-support (308), the 6th hinged-support (310), described middle arm (302) be vertically arranged in underarm (301) middle part
Position, described upper arm (303) is arranged on middle arm (302) top and the first parallel with underarm (301), described hinged-support
(304) being arranged on underarm (301) front end, the 4th described hinged-support (307) is arranged on underarm (301) rear end, described the 3rd
Hinged-support (306) is arranged on underarm (301) both sides, and described the second hinged-support (305) is arranged on underarm (301) top, described
The 5th hinged-support (308) have 2 and be symmetricly set on upper arm (303) both sides, rear end, the 6th described hinged-support (310) has 2
Individual and be symmetricly set on upper arm (303) both sides；
Described cut unit (6) has 6, and each cut unit (6) includes cut sheet (601), slide rail (602), the 7th hinged
Seat (603), described cut sheet (601) is 1/6th taper seat thin slices, and material is rustless steel, described slide rail (602) with
The bus of cut sheet (601) taper seat is parallel, and the 7th described hinged-support (603) is arranged on slide rail (602) top；
Described semicircular ring support (7) has 2, and the two end is all articulated and connected with the 4th hinged-support (307), props up in semicircular ring
Being uniformly arranged 3 chutes tilted on frame (7), 2 semicircular ring supports (7) arrange 6 chutes, described cut unit (6) altogether
Being slidably mounted in described chute by slide rail (602), two semicircular ring supports (7) form a complete annulus after closing up
Support, 6 cut unit (6) slide downward can form a hollow cone completed；
Described mechanical hand (9) has 2, and its front end is semi-annular shape, and rear portion connects a long handle, and long handle side is provided with installation
Seat；Described long handle end part and the 5th hinged-support (308) are articulated and connected, the cylinder ends of the 4th described hydraulic cylinder (8) and the
Six hinged-supports (310) are articulated and connected, the piston rod end of the 4th described hydraulic cylinder (8) and the long handle side of mechanical hand (9)
Mounting seat is articulated and connected；
The cylinder body end of the 3rd described hydraulic cylinder (5) is hinged on semicircular ring support (7) side, the 3rd described hydraulic cylinder (5)
Piston rod end be articulated and connected with the 7th hinged-support (603)；The cylinder body end of described the second hydraulic cylinder (4) and the 3rd hinged
Seat (306) is articulated and connected, and the piston rod end of described the second hydraulic cylinder (4) is hinged on semicircular ring support (7)；
Described support arm (3) is connected with automobile chassis (1) rear portion by the first hinged-support (304), the first described hydraulic cylinder
(2) cylinder body end is hinged on the top of automobile chassis (1), the piston rod end of described the first hydraulic cylinder (2) and the second hinge
Bearing (305) is articulated and connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610396456.3A CN106034513B (en) | 2016-06-07 | 2016-06-07 | A kind of macrophyte entirety transplant robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610396456.3A CN106034513B (en) | 2016-06-07 | 2016-06-07 | A kind of macrophyte entirety transplant robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106034513A true CN106034513A (en) | 2016-10-26 |
| CN106034513B CN106034513B (en) | 2017-12-08 |
Family
ID=57170384
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610396456.3A Active CN106034513B (en) | 2016-06-07 | 2016-06-07 | A kind of macrophyte entirety transplant robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106034513B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107046889A (en) * | 2017-04-27 | 2017-08-18 | 马家全 | A kind of suitable orchid family, the shifting basin of deep basin planting plants play strain device |
| CN109122190A (en) * | 2018-08-14 | 2019-01-04 | 佛山信卓派思机械科技有限公司 | It plants trees, tree removing machine device people |
| CN110881391A (en) * | 2019-12-17 | 2020-03-17 | 杨云飞 | Forestry trees transplanting device |
| CN117699673A (en) * | 2023-12-22 | 2024-03-15 | 山东同济园林工程股份有限公司 | Transplanting crane for urban garden construction |
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| CN202773587U (en) * | 2012-06-16 | 2013-03-13 | 丑纪行 | Tree moving truck |
| CN203860161U (en) * | 2014-03-21 | 2014-10-08 | 李福钦 | Tree mover |
| CN203985325U (en) * | 2014-07-16 | 2014-12-10 | 安徽雷沃机械设备有限公司 | A kind of crawler type tree mover |
| CN204057877U (en) * | 2014-06-18 | 2014-12-31 | 上海电机学院 | Large-scale tree transplants transfer car(buggy) |
| CN105409714A (en) * | 2015-11-23 | 2016-03-23 | 上海电机学院 | Tree transplanting device |
-
2016
- 2016-06-07 CN CN201610396456.3A patent/CN106034513B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202773587U (en) * | 2012-06-16 | 2013-03-13 | 丑纪行 | Tree moving truck |
| CN203860161U (en) * | 2014-03-21 | 2014-10-08 | 李福钦 | Tree mover |
| CN204057877U (en) * | 2014-06-18 | 2014-12-31 | 上海电机学院 | Large-scale tree transplants transfer car(buggy) |
| CN203985325U (en) * | 2014-07-16 | 2014-12-10 | 安徽雷沃机械设备有限公司 | A kind of crawler type tree mover |
| CN105409714A (en) * | 2015-11-23 | 2016-03-23 | 上海电机学院 | Tree transplanting device |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107046889A (en) * | 2017-04-27 | 2017-08-18 | 马家全 | A kind of suitable orchid family, the shifting basin of deep basin planting plants play strain device |
| CN107046889B (en) * | 2017-04-27 | 2019-05-10 | 新昌县屹然智能科技有限公司 | A kind of suitable orchid family, deep basin planting plants shifting basin play strain device and production method |
| CN109122190A (en) * | 2018-08-14 | 2019-01-04 | 佛山信卓派思机械科技有限公司 | It plants trees, tree removing machine device people |
| CN110881391A (en) * | 2019-12-17 | 2020-03-17 | 杨云飞 | Forestry trees transplanting device |
| CN110881391B (en) * | 2019-12-17 | 2021-10-15 | 曲浩 | Forestry trees transplanting device |
| CN117699673A (en) * | 2023-12-22 | 2024-03-15 | 山东同济园林工程股份有限公司 | Transplanting crane for urban garden construction |
| CN117699673B (en) * | 2023-12-22 | 2024-05-24 | 山东同济园林工程股份有限公司 | Transplanting crane for urban garden construction |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106034513B (en) | 2017-12-08 |
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| CB03 | Change of inventor or designer information |
Inventor after: Luo Weihao Inventor after: Other inventors requested not to be named Inventor before: The inventor has waived the right to be mentioned |
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| CB03 | Change of inventor or designer information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20171116 Address after: 410000 Hunan province Changsha Yuhua District of Sanjiang City 1 Building No. 101 city of flowers Applicant after: Luo Weihao Address before: No. 77, Yao Lou village, Linxi County, Xingtai, Hebei Applicant before: Xu Hongjun |
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Effective date of registration: 20181115 Address after: 528400 Zhongshan, East Guangdong, Dongjiang Road, Zhongshan Polytechnic, north gate, Zhongshan Polytechnic, building 1, four, 411 Patentee after: Zhongshan science and technology limited company. Address before: 410000 Yuhua District, Changsha City, Hunan Province No. 101, No. 1 Sanjiang Huazhong City Patentee before: Luo Weihao |
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Effective date of registration: 20191227 Address after: Room 103, No. 108, Mingzhu Avenue, yonganzhou Town, Gaogang District, Taizhou City, Jiangsu Province Patentee after: Lin Sisi Address before: 528400 Guangdong city of Zhongshan Province east East River Road North Gate of Zhongshan Polytechnic Innovation Park No. 1 floor Soongsil building 411 room four Patentee before: Zhongshan science and technology limited company. |
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Effective date of registration: 20201012 Address after: Office room a506-3, building a, building 1, No. 18, Tongling Road, Langya District, Chuzhou City, Anhui Province Patentee after: Anhui Huili Network Technology Co., Ltd Address before: Room 103, No. 108, Mingzhu Avenue, yonganzhou Town, Gaogang District, Taizhou City, Jiangsu Province Patentee before: Lin Sisi |
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