CN106416926A

CN106416926A - Tree planting robot

Info

Publication number: CN106416926A
Application number: CN201611134399.8A
Authority: CN
Inventors: 宁秀芬
Original assignee: 宁秀芬
Current assignee: Changzhou Environmental Garden Greening Engineering Co., Ltd.
Priority date: 2016-12-10
Filing date: 2016-12-10
Publication date: 2017-02-22
Anticipated expiration: 2036-12-10
Also published as: CN106416926B

Abstract

The invention provides a tree planting robot which comprises four driving devices, a bottom plate, a first stepper motor, a camera, a fixing plate, a mechanical arm, a vibrating hopper, a central shaft, two shifting machines, a second stepper motor, a slope plate, a third stepper motor, a hinge support, a first connecting rod, a second connecting rod, a third connecting rod, a turning wheel, two hinge pins and two upright plates. The tree planting robot is characterized in that the bottom plate is a rectangular flat plate. The tree planting robot has the advantages that the tree planting robot comprises the vibrating hopper with vibrating functions, so that tree seedlings in a hopper body can be prevented from being jammed; only one tree seedling can be assuredly fetched at a time by the aid of fetching machines, the tree seedlings can be automatically grabbed and placed in tree pits by a manipulator, the tree pits can be filled with soil by a soil push plate, and accordingly the tree seedlings can be automatically planted in the tree pits.

Description

A kind of Machine for planting tree people

Technical field

The present invention relates to environmental greening technical field, particularly to a kind of Machine for planting tree people.

Background technology

Afforestation is for regulating the climate, water conservation, mitigate significant, the traditional tree-planting method of atmospheric pollution Using manually digging pit, in hole, then place seedling, finally planted with the method that soil is buried, this implantation methods can not be protected The perpendicularity of card seedling plantation, impact attractive in appearance it is therefore desirable to a kind of equipment that can automatically plant tree seedlings.

Content of the invention

For the problems referred to above, the present invention provides a kind of Machine for planting tree people, by being provided with the vibrating bunker of vibrating function The intrinsic seedling of hopper can be prevented to be stuck, be can ensure that by dispenser and only take one tree Seedling every time, using mechanical hand Seedling can automatically be captured and be put in tree well, tree well can be filled up by ejector dozer, seedling is planted automatically in tree well.

Technical scheme used in the present invention is：A kind of Machine for planting tree people, including four driving means, base plate, the first steps Stepper motor, video camera, fixed plate, mechanical arm, vibrating bunker, central shaft, two setting gauges, the second motor, slope board, Three motors, hinged-support, first connecting rod, second connecting rod, third connecting rod, runner, two bearing pins, two risers, its feature exists In：Described base plate is a block length square plate, is provided with four driving means below base plate, and base plate upper right position is arranged side by side Two pieces of risers are installed, inside every piece of riser, are fitted with a bearing pin, in the leftward position of base plate, one fixed plate is installed, One mechanical arm is provided with fixed plate, in the front portion of base plate, one the first motor is installed, the first described stepping is electric Machine is installed straight up, and the motor shaft of the first motor is provided with a video camera；

Described vibrating bunker include hopper body, two supporting legs, two transverse plates, pin, two the first circular holes, two second Circular hole, described hopper body is inverted trapezoidal cross sectional shape, and feed hopper bottom is provided with one and is available for the outlet that seedling is leaked down, in hopper Two supporting legs are installed below body, below each supporting leg, are fitted with a transverse plate, the centre position of two supporting legs is fixed One piece of slope board, slope board bottom is provided with a breach being available for Pneumatic clamping jaw activity；Two described the second circular holes divide It is not arranged on two supporting legs and is located above slope board, the second circular hole is rotatablely equipped with a central shaft, on central shaft It is installed with two setting gauges, described setting gauge is provided with a U-shaped groove and is used for accommodating seedling, described two One circular hole is separately positioned on two transverse plates and is located at the inner opposite end of transverse plate, and described pin is arranged on a transverse plate Outer end, vibrating bunker is rotatably assorted with two bearing pins respectively by two the first circular holes, and the pin on transverse plate and the 3rd is even The rotation connection of bar upper end, third connecting rod and first connecting rod upper end, second connecting rod rearward end are hinged, first connecting rod Bottom is hinged on base plate；The 3rd described motor is horizontally arranged above base plate, the motor shaft of the 3rd motor On runner is installed, be provided with an eccentric shaft at the eccentric position of runner, runner passes through this eccentric shaft and second connecting rod and rotates even Connect.

Further, described mechanical arm includes the first servomotor, the second servomotor, square socket, electric cylinders, stretches Bar, the 3rd servomotor, Pneumatic clamping jaw, ejector dozer, the first described servomotor is arranged on above fixed plate straight up, institute The side of the second servomotor stated is fixed on the motor shaft of the first servomotor, described square socket side and the second servo The motor shaft of motor is fixed, and described expansion link is slidably mounted on inside square socket, and the slip of expansion link is by electric cylinders control , electric cylinders one end is fixed on square socket side, and the other end is fixed on expansion link side, the front end face of expansion link and the 3rd servo electricity The bottom of machine is fixed, and the front end face of the 3rd servomotor is fixed with the bottom of Pneumatic clamping jaw, and described Pneumatic clamping jaw is parallel opening Hold one's breath pawl, below a jaw of gas pawl, ejector dozer is installed.

Beneficial effect of the present invention：

1. the present invention can prevent the intrinsic seedling of hopper to be stuck by being provided with the vibrating bunker of vibrating function, passes through Dispenser can ensure that and only takes one tree Seedling every time, can automatically capture seedling using mechanical hand and be put in tree well, by pushing away Native plate can fill up tree well, and seedling is planted automatically in tree well.

Brief description

Fig. 1, Fig. 2 are that the entirety of the present invention assembles perspective view.

Fig. 3 is the 3rd motor scheme of installation of the present invention.

Fig. 4 is the mechanical arm structural representation of the present invention.

Fig. 5 is the vibrating bunker structural representation of the present invention.

Drawing reference numeral：1- driving means；2- base plate；3- first motor；4- video camera；5- fixed plate；6- mechanical arm； 7- vibrating bunker；8- central shaft；9- setting gauge；10- second motor；11- slope board；12- the 3rd motor；13- cuts with scissors Bearing；14- first connecting rod；15- second connecting rod；16- third connecting rod；17- runner；18- bearing pin；19- riser；601- first servo Motor；602- second servomotor；603- square socket；604- electric cylinders；605- expansion link；606- the 3rd servomotor；607- gas Dynamic jaw；608- ejector dozer；609- seedling；701- hopper body；702- supporting leg；703- transverse plate；704- pin；705- first Circular hole；706- second circular hole.

Specific embodiment

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 Machine for planting tree people, including four driving means 1, base plate 2, the first stepping Motor 3, video camera 4, fixed plate 5, mechanical arm 6, vibrating bunker 7,8, two setting gauges 9 of central shaft, the second motor 10, tiltedly Ramp 11, the 3rd motor 12, hinged-support 13, first connecting rod 14, second connecting rod 15, third connecting rod 16,17, two pins of runner 18, two risers 19 of axle it is characterised in that：Described base plate 2 is a block length square plate, is provided with four drives below base plate 2 Dynamic device 1, base plate 2 upper right position is provided with two pieces of risers 19 side by side, is fitted with a bearing pin inside every piece of riser 19 18, in the leftward position of base plate 2, a fixed plate 5 is installed, fixed plate 5 is provided with a mechanical arm 6, before base plate 2 Portion is provided with first motor 3, and the first described motor 3 is installed straight up, the motor of the first motor 3 One video camera 4 is provided with axle；

Described vibrating bunker 7 includes hopper body 702, two transverse plates 703 of 701, two supporting legs, pin 704, two first 705, two the second circular holes 706 of circular hole, described hopper body 701 is inverted trapezoidal cross sectional shape, and feed hopper bottom is provided with one can The outlet leaked down for seedling 609, is provided with two supporting legs 702 below hopper body 701, installs below each supporting leg 702 There are a transverse plate 703, the fixed one piece of slope board 11 in centre position of two supporting legs 702, slope board 11 bottom is provided with one The individual breach being available for Pneumatic clamping jaw 607 activity；Two described the second circular holes 706 are separately positioned on two supporting legs 702 and position Above slope board 11, the second circular hole 706 is rotatablely equipped with a central shaft 8, central shaft 8 is installed with two and dials Glassware 9, described setting gauge 9 is provided with a U-shaped groove and is used for accommodating seedling 609, described 705 points of two the first circular holes Be not arranged on two transverse plates 703 and be located at the inner opposite end of transverse plate 703, described pin 704 be arranged on one horizontal Plate 703 outer end, vibrating bunker 7 is rotatably assorted with two bearing pins 18, on transverse plate 703 respectively by two the first circular holes 705 Pin 704 and third connecting rod 16 upper end rotate and be connected, after third connecting rod 16 and first connecting rod 14 upper end, second connecting rod 15 End is hinged, and the bottom of first connecting rod 14 is hinged on a base plate 2；The 3rd described motor 12 is horizontally arranged at Above base plate 2, the motor shaft of the 3rd motor 12 is provided with runner 17, at the eccentric position of runner 17, is provided with a bias Axle, runner 17 is passed through this eccentric shaft and is connected with second connecting rod 15 rotation.

Further, described mechanical arm 6 include the first servomotor 601, the second servomotor 602, square socket 603, Electric cylinders 604, expansion link 605, the 3rd servomotor 606, Pneumatic clamping jaw 607, ejector dozer 608, described the first servomotor 601 It is arranged on above fixed plate 5 straight up, the side of the second described servomotor 602 is fixed on the first servomotor 601 On motor shaft, the motor shaft of described square socket 603 side and the second servomotor 602 is fixed, and described expansion link 605 slides It is arranged on inside square socket 603, the slip of expansion link 605 is controlled by electric cylinders 604, electric cylinders 604 one end is fixed on square set Cylinder 603 sides, the other end is fixed on expansion link 605 side, the bottom of the front end face of expansion link 605 and the 3rd servomotor 606 Fixing, the front end face of the 3rd servomotor 606 is fixed with the bottom of Pneumatic clamping jaw 607, and described Pneumatic clamping jaw 607 is parallel opening Hold one's breath pawl, below a jaw of gas pawl, ejector dozer 608 is installed.

Operation principle of the present invention：The mechanical arm 6 of the present invention controls the second servomotor 602 by the first servomotor 601 Rotation；Control the rotation of square socket 603 by the second servomotor 602；Control the flexible of expansion link 605 by electric cylinders 604； Control the rotation of Pneumatic clamping jaw 607 by the 3rd servomotor 606；Seedling 609 is clamped by Pneumatic clamping jaw 607；The present invention exists Place seedling 609 during use first in vibrating bunker 7, rely on when using video camera 4 to judge surrounding objects position, by driving Dynamic device 1 runs in the hole dug, and then controls runner 17 to rotate by the 3rd motor 12, runner 17 drives the Two connecting rods 15 operate, and second connecting rod 15 drives third connecting rod 16 to move up and down, and third connecting rod 16 drives the bottom on vibrating bunker 7 Dynamic, next step drives setting gauge 9 to rotate by the second motor 10, makes seedling 609 fall into the U-shaped groove of setting gauge 9 top In, next step makes setting gauge 9 rotate 180 °, allows the seedling 609 in U-shaped groove drop on slope board 11, next step passes through machine The Pneumatic clamping jaw 607 clamping seedling 609 of tool arm 6 front end, then drives mechanical arm 6 to rotate 180 ° by the first servomotor 601, Next step controls Pneumatic clamping jaw 607 to rotate 180 ° by the 3rd servomotor 606, makes seedling 609 positioned at the surface of tree well simultaneously It is in vertical state, next step Pneumatic clamping jaw 607 unclamps, allows seedling 609 fall in tree well, then mechanical arm 6 coordinated signals gas Around soil embedment tree well around 608 tree wells of ejector dozer of dynamic jaw 607 bottom, seedling 609 is buried.

Claims

1. a kind of Machine for planting tree people, including four driving means（1）, base plate（2）, the first motor（3）, video camera（4）, solid Fixed board（5）, mechanical arm（6）, vibrating bunker（7）, central shaft（8）, two setting gauges（9）, the second motor（10）, slope board （11）, the 3rd motor（12）, hinged-support（13）, first connecting rod（14）, second connecting rod（15）, third connecting rod（16）, runner （17）, two bearing pins（18）, two risers（19）It is characterised in that：Described base plate（2）It is a block length square plate, base plate （2）Lower section is provided with four driving means（1）, base plate（2）Upper right position is provided with two pieces of risers side by side（19）, every piece is stood Plate（19）Inner side is fitted with a bearing pin（18）, in base plate（2）Leftward position one fixed plate is installed（5）, fixed plate （5）On a mechanical arm is installed（6）, in base plate（2）Front portion one the first motor is installed（3）, described first Motor（3）Install straight up, the first motor（3）Motor shaft on a video camera is installed（4）；

Described vibrating bunker（7）Including hopper body（701）, two supporting legs（702）, two transverse plates（703）, pin （704）, two the first circular holes（705）, two the second circular holes (706）, described hopper body（701）For inverted trapezoidal section shape Shape, feed hopper bottom is provided with one and is available for seedling（609）The outlet leaked down, in hopper body（701）Lower section is provided with two supporting legs （702）, each supporting leg（702）Lower section is fitted with a transverse plate（703）, two supporting legs（702）Centre position fixed One piece of slope board（11）, slope board（11）Bottom is provided with one and is available for Pneumatic clamping jaw（607）The breach of activity；Described two Second circular hole (706）It is separately positioned on two supporting legs（702）Go up and be located at slope board（11）Top, in the second circular hole (706）In It is rotatablely equipped with a central shaft（8）, central shaft（8）On be installed with two setting gauges（9）, described setting gauge（9）On It is provided with a U-shaped groove to be used for accommodating seedling（609）, described two the first circular holes（705）Be separately positioned on two horizontal Plate（703）Go up and be located at transverse plate（703）Inner opposite end, described pin（704）It is arranged on a transverse plate（703）Outer end Portion, vibrating bunker（7）By two the first circular holes（705）Respectively with two bearing pins（18）It is rotatably assorted, transverse plate（703）On Pin（704）With third connecting rod（16）Upper end rotates and connects, third connecting rod（16）And first connecting rod（14）Upper end, the second company Bar（15）Rearward end is hinged, first connecting rod（14）Bottom be hinged on base plate（2）On；The 3rd described motor （12）It is horizontally arranged at base plate（2）Top, the 3rd motor（12）Motor shaft on runner is installed（17）, runner（17）'s It is provided with an eccentric shaft, runner at eccentric position（17）By this eccentric shaft and second connecting rod（15）Rotate and connect.

2. a kind of Machine for planting tree people according to claim 1 it is characterised in that：Described mechanical arm（6）Watch including first Take motor（601）, the second servomotor（602）, square socket（603）, electric cylinders（604）, expansion link（605）, the 3rd servomotor （606）, Pneumatic clamping jaw（607）, ejector dozer（608）, described the first servomotor（601）It is arranged on fixed plate straight up （5）Top, described the second servomotor（602）Side be fixed on the first servomotor（601）Motor shaft on, described Square socket（603）Side and the second servomotor（602）Motor shaft fix, described expansion link（605）The side of being slidably mounted on Sleeve（603）Inside, expansion link（605）Slip be by electric cylinders（604）Control, electric cylinders（604）One end is fixed on square set Cylinder（603）Side, the other end is fixed on expansion link（605）Side, expansion link（605）Front end face and the 3rd servomotor （606）Bottom fix, the 3rd servomotor（606）Front end face and Pneumatic clamping jaw（607）Bottom fix, described is pneumatic Jaw（607）For parallelly opening-and-closing gas pawl, below a jaw of gas pawl, ejector dozer is installed（608）.