CN106856751B - A kind of ornamental trees and shrubs transplant robot - Google Patents
A kind of ornamental trees and shrubs transplant robot Download PDFInfo
- Publication number
- CN106856751B CN106856751B CN201710092019.7A CN201710092019A CN106856751B CN 106856751 B CN106856751 B CN 106856751B CN 201710092019 A CN201710092019 A CN 201710092019A CN 106856751 B CN106856751 B CN 106856751B
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- electric cylinders
- servo motor
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- platform
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- 238000003860 storage Methods 0.000 claims abstract description 18
- 239000002243 precursor Substances 0.000 claims abstract description 14
- 238000009434 installation Methods 0.000 claims abstract description 10
- 230000035807 sensation Effects 0.000 claims abstract description 4
- 230000014759 maintenance of location Effects 0.000 claims abstract 2
- 210000000245 forearm Anatomy 0.000 claims description 13
- 230000005611 electricity Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 9
- 239000002689 soil Substances 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 210000000078 claw Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008602 contraction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000002054 transplantation Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
A kind of ornamental trees and shrubs transplant robot, including platform, two precursor structures, two rear wheel drive structures, camera group, digging apparatus, eight connecting angle pieces, four fixed frames, two motor cabinets, basket is set in six storages, four turntables, six first servo motors, two the second servo motors, six roots of sensation shaft, first fixed link, third servo motor, first electric cylinders, second fixed link etc., it is characterized by: there are two precursor structures for the front end installation of the platform, the upper end of the front frame of two precursor structures is fixedly connected with platform, 7th servo motor is mounted on the inside of front frame lower end, its axis is connect by shaft with front-wheel；The present invention realizes the autonomous work for digging pit and burying hole by dig pit structure and rear end scraper plate of front end, reduces manual resource, may be implemented to carry out transplanting work to more trees by the structure of storage tree basket, to increase working efficiency.
Description
Technical field
The present invention relates to ornamental trees and shrubs transplantation technique field, in particular to a kind of ornamental trees and shrubs transplant robot.
Background technique
Nowadays urban afforestation has been to be concerned by more and more people, and the demand of transplanting tree is also gradually increased, therefore needs
It puts into more manpower and material resources and removes transplanting ornamental trees and shrubs to increase greening, but artificial transplanting efficiency is lower, the manpower needed
Compare more, the device of some transplanting trees, if application number 201510821463.9 discloses a kind of " a kind of transplanting tree device ",
It include: carrying platform, for carrying each functional component；Universal wheel is arranged in the bottom side of carrying platform, and passes through motor driven；Hand
On the carrying platform, and the mounting platform of handle and operation panel is arranged at a side end interval in pushed section, setting；This device
Effect every time transplanting can only single it is novel, efficiency is also relatively low, so needing a kind of novel ornamental trees and shrubs transplant robot.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of ornamental trees and shrubs transplant robot, pass through precursor structures and rear-guard knot
Structure drives machine to carry out azimuth motion, and the structure of digging pit of front end is needing the position transplanted to dig pit, two grippers and two electricity
Tree in storage tree basket is taken out and is placed in the hole dug by cylinder co-ordination, and the soil for cheating side is struck off and tamped by scraper plate, is realized certainly
The function of main transplanting trees, efficiency are higher.
Technical solution used in the present invention is: a kind of ornamental trees and shrubs transplant robot, including platform, two forerunner's knots
Structure, two rear wheel drive structures, camera group, digging apparatus, eight connecting angle pieces, four fixed frames, two motor cabinets, six storage trees
Basket, four turntables, six first servo motors, two the second servo motors, six roots of sensation shaft, the first fixed link, third servo electricity
Machine, the second fixed link, the 4th servo motor, the second electric cylinders, preceding fixed disk, 12 the 5th electric cylinders, is fixed at the first electric cylinders afterwards
Disk, gripper fixed frame, gripper, four the 6th electric cylinders, the first telescopic, the 5th servo motor, scraper plate, the 7th electric cylinders,
One telescopic rod, sliding rail, rack gear, gear, the 6th servo motor, it is characterised in that: the front end installation of the platform is there are two before
Structure is driven, the upper end of the front frame of two precursor structures is fixedly connected with platform, and the 7th servo motor is mounted under front frame
The inside of end, axis are connect by shaft with front-wheel；Two rear wheel drive structures are mounted on platform rear end, wherein described
The rear end of horizontal vehicle frame be mounted on platform, the other end is connect with Rear frame, and junction is equipped with a 9th servo electricity
Machine, the 8th servo motor are mounted on the inside of the lower end of Rear frame, and axis is connect by shaft with rear-wheel, drive rear-wheel
Rotation；Two rear wheel drive structure rearward positions on platform, there are two the first telescopic, two first telescopic rods for setting
It is mounted in the first telescopic, the one end of the 7th electric cylinders is mounted on the first telescopic, and the other end is mounted on
On one telescopic rod, the first telescopic rod of flexible driving of the first electric cylinders is moved；It is flexible that 5th servo motor is mounted on first
The lower end of bar, axis are connect by shaft with scraper plate, driving scraper plate rotation；Four fixed frames are separately mounted to platform
Corner location, each fixed frame is fixedly connected with platform by two connecting angle pieces, respectively pacified in the upper end of each fixed frame
Equipped with a turntable, junction is equipped with second servo motor, and driving turntable rotates, and is equipped with three between two turntables
Root shaft is equipped with a storage tree basket in each shaft, is also set up on turntable there are three first servo motor, axis and shaft connect
It connects, drive shaft and storage tree basket rotation；Platform middle position is provided with the rack gear of two transverse directions, the left and right sides point of each rack gear
It is not provided with a sliding rail, on the slide rail, the 6th servo motor is mounted on motor cabinet for two motor cabinets installation
On, a gear is installed, wheel and rack engagement installation, the rotational drive motor seat of the 6th servo motor is in rack gear on axis
Upper movement；The lower end of first fixed link is fixedly connected with motor cabinet rearward, the lower end of upper end and the first electric cylinders
Portion is hinged, and hinged place is equipped with a third servo motor；Second fixed link is mounted on the motor cabinet by front position
On, upper end and the second electric cylinders are hinged, and hinged place is equipped with the 4th servo motor, and axis is connect with the second fixed link；
The top of first electric cylinders and the second electric cylinders is respectively arranged with a preceding fixed disk, fixed disk after the upper end of preceding fixed disk has one,
There are six the 5th electric cylinders for setting between two fixed disks；The gripper fixed frame is mounted in rear fixed disk, described
The lower ends of two grippers be hinged on the hinged-support being arranged among gripper fixed frame, two the 6th electric cylinders it is upper
End is respectively hinged at the two sides of gripper, and lower end and the hinged-support that gripper fixed frame two sides are arranged are hinged, the 6th electric cylinders
Flexible driving gripper folding；The digging apparatus is mounted on the front end of platform.
Further, the digging apparatus includes scoop, connecting rod, the tenth electric cylinders, augers, the second telescopic,
Two telescopic rods, the tenth servo motor, forearm, transverse arm, the 8th electric cylinders, third telescopic, third telescopic rod, it is characterised in that: institute
The rear end for the third telescopic stated is mounted on the front position of platform, and top is provided with a camera group；Described two
A third telescopic rod is separately mounted in two third telescopics, and the rear end of the 8th electric cylinders is mounted on third telescopic, preceding
End is mounted on third telescopic rod, and the flexible driving third telescopic rod of the 8th electric cylinders stretches；After two forearms
End is hinged with the front end of two third telescopic rods respectively, and hinged place is provided with the tenth servo motor；Before two
A transverse arm is provided between arm, the hinged-support being arranged on the rear end of the tenth electric cylinders and transverse arm is hinged；The shovel
Son is hinged with the front end of forearm respectively by two hinged-supports, and the hinged-support being arranged among the front end of the connecting rod and scoop is cut with scissors
It connects, rear end and the front end of the tenth electric cylinders are hinged；Two second telescopics are mounted on the front end of platform, and described two
Second telescopic rod is separately mounted in two the second telescopics, and the upper end of the 9th electric cylinders is mounted on the second telescopic 505, under
End is mounted on the second telescopic rod；The augers is mounted between two the second telescopic rod front ends.
Since present invention employs above-mentioned technical proposals, the invention has the following advantages that
1. the present invention realizes the autonomous work for digging pit and burying hole by dig pit structure and rear end scraper plate of front end, reduce manually
Resource.
2. may be implemented to carry out transplanting work to more trees by the structure of storage tree basket, to increase working efficiency.
Detailed description of the invention
Fig. 1,2 are the structural schematic diagram after of the invention be completed.
Fig. 3 is the partial schematic diagram of precursor structures.
Fig. 4 is the partial schematic diagram of rear wheel drive structure.
Fig. 5 is the partial schematic diagram of the first electric cylinders and the second electric cylinders.
Fig. 6 is the partial schematic diagram of gear and rack gear.
Fig. 7 is the partial schematic diagram of scraper plate.
Fig. 8 is the partial schematic diagram of storage tree basket.
Fig. 9 is the partial schematic diagram of gripper.
Figure 10 is the partial schematic diagram of structure of digging pit.
Drawing reference numeral: 1- platform；2- precursor structures；3- rear wheel drive structure；4- camera group；5- digging apparatus；6- joint angle
Part；7- fixed frame；8- motor cabinet；9- storage tree basket；10- turntable；11- first servo motor；The second servo motor of 12-；13- turns
Axis；The first fixed link of 14-；15- third servo motor；The first electric cylinders of 16-；The second fixed link of 17-；The 4th servo motor of 18-；
The second electric cylinders of 19-；Fixed disk before 20-；The 5th electric cylinders of 21-；Fixed disk after 22-；23- gripper fixed frame；24- gripper；25-
6th electric cylinders；The first telescopic of 26-；The 5th servo motor of 27-；28- scraper plate；The 7th electric cylinders of 29-；The first telescopic rod of 30-；31-
Sliding rail；32- rack gear；33 gears；The 6th servo motor of 34-；201- front-wheel；The 7th servo motor of 202-；203- front frame；
301- rear-wheel；The 8th servo motor of 302-；303- Rear frame；The 9th servo motor of 304-；The horizontal vehicle frame of 305-；501- scoop；
502- connecting rod；The tenth electric cylinders of 503-；504- augers；The second telescopic of 505-；The second telescopic rod of 506-；The tenth servo of 507-
Motor；508- forearm；509- transverse arm；The 8th electric cylinders of 510-；511- third telescopic；512- third telescopic rod；The 9th electricity of 513-
Cylinder.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, a kind of ornamental trees and shrubs transplanting machine
People, including 5, eight 1, two, platform precursor structures 2, two rear wheel drive structure 3, camera group 4, digging apparatus connecting angle pieces 6, four
The turntable 10, six of basket 9, four 11, two the second servos of first servo motor are set in the storage of motor cabinet 8, six of root fixed frame 7, two
Motor 12, six roots of sensation shaft 13, the first fixed link 14, third servo motor 15, the first electric cylinders 16, the second fixed link the 17, the 4th are watched
Take motor 18, the second electric cylinders 19, preceding fixed disk 20,12 the 5th electric cylinders 21, rear fixed disk 22, gripper fixed frames 23, machine
24, four the 6th electric cylinders 25 of machinery claw, the first telescopic 26, the 5th servo motor 27, scraper plate 28, the 7th electric cylinders 29, first are flexible
Bar 30, sliding rail 31, rack gear 32, gear 33, the 6th servo motor 34, it is characterised in that: the front end of the platform 1 is equipped with two
The upper end of a precursor structures 2, the front frame 203 of two precursor structures 2 is fixedly connected with platform 1, the installation of the 7th servo motor
In the inside of 203 lower end of front frame, axis is connect by shaft with front-wheel 201；Two rear wheel drive structures 3 are mounted on flat
1 rear end of platform, wherein the rear end installation of the horizontal vehicle frame 305 is on the platform 1, the other end is connect with Rear frame 303, is connected
The place of connecing is equipped with the 9th servo motor 304, and the 8th servo motor 302 is mounted in the lower end of Rear frame 303
Side, axis are connect by shaft with rear-wheel 301, and driving rear-wheel 301 rotates；The position of two rear wheel drive structures 3 rearward on the platform 1
It sets, there are two the first telescopic 26, two first telescopic rods 30 are mounted in the first telescopic 26 for setting, and described the
The one end of seven electric cylinders 29 is mounted on the first telescopic 26, and the other end is mounted on the first telescopic rod 30, the first electric cylinders 16
The first telescopic rod of flexible driving 30 move；5th servo motor 27 is mounted on the lower end of the first telescopic rod 30,
Axis is connect by shaft with scraper plate 28, and driving scraper plate 28 rotates；Four fixed frames 7 are separately mounted to the quadrangle of platform 1
Position, each fixed frame 7 are fixedly connected with platform 1 by two connecting angle pieces 6, are respectively installed in the upper end of each fixed frame 7
There is a turntable 10, junction is equipped with second servo motor 12, and driving turntable 10 rotates, pacifies between two turntables 10
Equipped with three shafts 13, each shaft 13 is equipped with storage tree basket 9, also sets up that there are three first servo motors on turntable 10
11, axis is connect with shaft 13, and drive shaft 13 and storage tree basket 9 rotate；1 middle position of platform is provided with the rack gear of two transverse directions
32, the left and right sides of each rack gear 32 is respectively arranged with a sliding rail 31, and two motor cabinets 8 are mounted on sliding rail 31,
6th servo motor 34 is mounted on motor cabinet 8, and a gear 33 is equipped on axis, and gear 33 is engaged with rack gear 32
Installation, the rotational drive motor seat 8 of the 6th servo motor 34 move on rack gear 32；The lower end of first fixed link 14
It is fixedly connected with motor cabinet 8 rearward, upper end and the lower end of the first electric cylinders 16 are hinged, and hinged place is equipped with a third
Servo motor 15；Second fixed link 17 is mounted on the motor cabinet 8 of front position, and upper end and the second electric cylinders 19 are cut with scissors
It connects, hinged place is equipped with the 4th servo motor 18, and axis is connect with the second fixed link 17；First electric cylinders 16 and the second electricity
The top of cylinder 17 is respectively arranged with a preceding fixed disk 20, and fixed disk 22 after the upper end of preceding fixed disk 20 has one is solid at two
There are six the 5th electric cylinders 21 for setting between price fixing；The gripper fixed frame 23 is mounted in rear fixed disk 22, described
The lower end of two grippers 24 is hinged on the hinged-support being arranged among gripper fixed frame 23, two the 6th electric cylinders 25
Upper end be respectively hinged at the two sides of gripper 24, lower end and the hinged-support that 23 two sides of gripper fixed frame are arranged are hinged,
The folding of the flexible driving gripper 24 of 6th electric cylinders 25；The digging apparatus 5 is mounted on the front end of platform 1.
Further, the digging apparatus 5 include scoop 501, connecting rod 502, the tenth electric cylinders 503, augers 504,
Second telescopic 505, the second telescopic rod 506, the tenth servo motor 507, forearm 508, transverse arm 509, the 8th electric cylinders 510, third
Telescopic 511, third telescopic rod 512, it is characterised in that: before the rear end of the third telescopic 511 is mounted on platform 1
End position, top are provided with a camera group 4；Two third telescopic rods 512 are separately mounted to two thirds and stretch
In contracting set 511, the rear end of the 8th electric cylinders 510 is mounted on third telescopic, and front end is mounted on third telescopic rod 512,
The flexible driving third telescopic rod 512 of 8th electric cylinders 510 stretches；The rear end of two forearms 508 respectively with two
The front end of third telescopic rod 512 is hinged, and hinged place is provided with the tenth servo motor 507；Between two forearms 508
It is provided with a transverse arm 509, the hinged-support being arranged on the rear end of the tenth electric cylinders 503 and transverse arm 509 is hinged；Described
Scoop 501 is hinged with the front end of forearm 508 respectively by two hinged-supports, among the front end of the connecting rod 502 and scoop 501
The hinged-support of setting is hinged, and rear end and the front end of the tenth electric cylinders 503 are hinged；Two second telescopics 505 are mounted on flat
The front end of platform 1, two second telescopic rods 506 are separately mounted in two the second telescopics 505, the 9th electric cylinders 513
Upper end be mounted on the second telescopic 505, lower end is mounted on the second telescopic rod 506；The augers 504 is pacified
Between two 506 front ends of the second telescopic rod.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Working principle of the present invention: the present invention passes through precursor structures 2 when in use and rear wheel drive structure 3 drives progress side, robot
The movement of position, two the 8th electric cylinders 510 drive two third telescopic rods 512 to control scoop 501 at a distance from platform 1, and the tenth watches
Taking motor 507 drives two forearms 508 to rotate, and adjusts the angle of scoop 501, and two the 9th electric cylinders 513 drive two second and stretch
Contracting bar 506 moves, and moves up and down augers 504, and augers 504 rotates down, and soil is loosened, and the tenth electric cylinders 503 are driven
The soil of ground is scooped away and is placed on side to drive scoop 501 to change angle by dynamic connecting rod 502；Two the second servo motors 12 drive
Turn disk 10 rotates, while first servo motor control storage tree basket 9 turns to 24 neighbouring position of gripper, makes storage tree basket 9 always
Horizontality is kept, the structure that two the 6th servo motors 34 respectively drive on two motor cabinets 8 moves left and right, and makes gripper 24
The position of storage tree basket 9 can be reached；Six the 5th electric cylinders 21 constitute parallel-connection structure, pass through six 21 linkage control machines of the 5th electric cylinders
The direction of machinery claw 24；The folding of the extension and contraction control gripper 24 of two the 6th electric cylinders 25 makes gripper 24 catch trees trunk position
It sets, then the 4th servo motor 18 and third servo motor 15 respectively drive the second electric cylinders 19 and the first electric cylinders 16 by vertical state
Change to horizontality, while the elongation of the first electric cylinders 16 is to make trees become vertical state from horizontality, to put tree into
In hole, then two the 7th electric cylinders 29 of rear end setting drive the first telescopic rod 30 to move downward, and scraper plate 28 is made to reach ground position
It sets, while the 5th servo motor 27 rotates, the driving rotation of scraper plate 28, which strikes off the soil by tree well, tamps.
Claims (2)
1. a kind of ornamental trees and shrubs transplant robot, including platform (1), two precursor structures (2), two rear wheel drive structures (3), camera shooting
Basket is set in head group (4), digging apparatus (5), eight connecting angle pieces (6), four fixed frames (7), two motor cabinets (8), six storages
(9), four turntables (10), six first servo motors (11), two the second servo motors (12), six roots of sensation shaft (13), first
Fixed link (14), third servo motor (15), the first electric cylinders (16), the second fixed link (17), the 4th servo motor (18), second
Electric cylinders (19), preceding fixed disk (20), 12 the 5th electric cylinders (21), rear fixed disk (22), gripper fixed frames (23), gripper
(24), four the 6th electric cylinders (25), the first telescopic (26), the 5th servo motor (27), scraper plate (28), the 7th electric cylinders (29),
First telescopic rod (30), sliding rail (31), rack gear (32), gear (33), the 6th servo motor (34), it is characterised in that: described
There are two precursor structures (2), the upper end of the front frame (203) of two precursor structures (2) and platforms for the front end installation of platform (1)
(1) it is fixedly connected, the 7th servo motor is mounted on the inside of front frame (203) lower end, and axis passes through shaft and front-wheel (201)
Connection；Two rear wheel drive structures (3) are mounted on platform (1) rear end, wherein the rear end of horizontal vehicle frame (305) be mounted on it is flat
On platform (1), the other end is connect with Rear frame (303), and junction is equipped with the 9th servo motor (304), the 8th servo
Motor (302) is mounted on the inside of the lower end of Rear frame (303), and axis is connect by shaft with rear-wheel (301), drives rear-wheel
(301) it rotates；In upper two rear wheel drive structures (3) rearward position of platform (1), there are two the first telescopic (26) for setting, described
Two the first telescopic rods (30) be mounted in the first telescopic (26), the one end of the 7th electric cylinders (29) is mounted on the
On one telescopic (26), the other end is mounted on the first telescopic rod (30), and the flexible driving first of the first electric cylinders (16) is flexible
Bar (30) movement；5th servo motor (27) is mounted on the lower end of the first telescopic rod (30), axis by shaft with
Scraper plate (28) connection, driving scraper plate (28) rotation；Four fixed frames (7) are separately mounted to the corner location of platform (1),
Each fixed frame (7) is fixedly connected by two connecting angle pieces (6) with platform (1), is respectively pacified in the upper end of each fixed frame (7)
Equipped with a turntable (10), junction is equipped with second servo motor (12), driving turntable (10) rotation, two turntables
(10) three shafts (13) are installed, each shaft (13) is equipped with storage tree basket (9), and turntable is additionally provided on (10) between
Three first servo motors (11), axis are connect with shaft (13), drive shaft (13) and storage tree basket (9) rotation；In platform (1)
Meta position installs the rack gear (32) for being equipped with two transverse directions, and a sliding rail (31) is respectively arranged at left and right sides of each rack gear (32),
Two motor cabinets (8) are mounted on sliding rail (31), and the 6th servo motor (34) is mounted on motor cabinet (8),
One gear (33) is installed, gear (33) engages installation with rack gear (32), and the rotation of the 6th servo motor (34) is driven on its axis
Dynamic motor cabinet (8) move on rack gear (32)；The lower end of first fixed link (14) and motor cabinet (8) rearward are fixed
Connection, the lower end of upper end and the first electric cylinders (16) is hinged, and hinged place is equipped with a third servo motor (15)；It is described
The second fixed link (17) be mounted on the motor cabinet (8) of front position, upper end and the second electric cylinders (19) hingedly, hinged place
One the 4th servo motor (18) is installed, axis is connect with the second fixed link (17)；First electric cylinders (16) and the second electric cylinders
(19) top is respectively arranged with a preceding fixed disk (20), fixed disk (22) after the upper end of preceding fixed disk (20) has one,
There are six the 5th electric cylinders (21) for setting between two fixed disks；The gripper fixed frame (23) is mounted on rear fixed disk
(22) on, the lower end of two grippers (24) is hinged on the hinged-support being arranged among gripper fixed frame (23), institute
The upper end for two the 6th electric cylinders (25) stated is respectively hinged at the two sides of gripper (24), lower end and gripper fixed frame
(23) hinged-support of two sides setting is hinged, the folding of the flexible driving gripper (24) of the 6th electric cylinders (25)；The dress of digging pit
Set the front end that (5) are mounted on platform (1).
2. a kind of ornamental trees and shrubs transplant robot according to claim 1, it is characterised in that: the digging apparatus (5)
It stretches including scoop (501), connecting rod (502), the tenth electric cylinders (503), augers (504), the second telescopic (505), second
Bar (506), the tenth servo motor (507), forearm (508), transverse arm (509), the 8th electric cylinders (510), third telescopic (511),
Third telescopic rod (512), the rear end of the third telescopic (511) are mounted on the front position of platform (1), and top is set
It is equipped with a camera group (4)；Two third telescopic rods (512) are separately mounted in two third telescopics (511),
The rear end of 8th electric cylinders (510) is mounted on third telescopic, and front end is mounted on third telescopic rod (512), the 8th electricity
The flexible driving third telescopic rod (512) of cylinder (510) is stretched；The rear end of two forearms (508) respectively with two
The front end of third telescopic rod (512) is hinged, and hinged place is provided with the tenth servo motor (507)；In two forearms
(508) transverse arm (509), the hinge being arranged on the rear end and transverse arm (509) of the tenth electric cylinders (503) are provided between
Support is hinged；The scoop (501) passes through two hinged-supports connecting rod hinged, described with the front end of forearm (508) respectively
(502) the intermediate hinged-support being arranged in front end and scoop (501) is hinged, and rear end and the front end of the tenth electric cylinders (503) are hinged；It is described
Two the second telescopics (505) be mounted on the front end of platform (1), two second telescopic rods (506) are installed respectively
In two the second telescopics (505), the upper end of the 9th electric cylinders (513) is mounted on the second telescopic 505, lower end installation
On the second telescopic rod (506)；The augers (504) is mounted between two the second telescopic rod (506) front ends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710092019.7A CN106856751B (en) | 2017-02-21 | 2017-02-21 | A kind of ornamental trees and shrubs transplant robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710092019.7A CN106856751B (en) | 2017-02-21 | 2017-02-21 | A kind of ornamental trees and shrubs transplant robot |
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| Publication Number | Publication Date |
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| CN106856751A CN106856751A (en) | 2017-06-20 |
| CN106856751B true CN106856751B (en) | 2019-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710092019.7A Expired - Fee Related CN106856751B (en) | 2017-02-21 | 2017-02-21 | A kind of ornamental trees and shrubs transplant robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107807550B (en) * | 2017-11-07 | 2019-06-18 | 惠州市梧桐山园林有限公司 | A kind of gardens nursing system of automatic exchange planting plants |
| CN107864725B (en) * | 2017-11-20 | 2020-08-04 | 山东鑫诚现代农业科技有限责任公司 | Garden shrub transplanting robot |
| CN108040681A (en) * | 2017-12-20 | 2018-05-18 | 郑州搜趣信息技术有限公司 | A kind of flower transplantation device of the reservation native soil with arc perching knife |
| CN107950348A (en) * | 2017-12-25 | 2018-04-24 | 许生安 | Roadside greening trees aid in cultivation device and its construction method |
| CN107996346A (en) * | 2018-01-16 | 2018-05-08 | 许生安 | Roadside greening trees cultivation device and its construction method |
| CN108756737B (en) * | 2018-05-31 | 2019-11-15 | 蒋玉素 | A kind of subterranean well is mechanical |
| CN108934905B (en) * | 2018-08-23 | 2020-09-25 | 嘉兴市中欣自动化设备有限公司 | Agricultural is with automatic fruit tree transplanter |
| CN109197492B (en) * | 2018-09-27 | 2021-12-28 | 尚院春 | Automatic tree planting robot |
| CN111972244A (en) * | 2020-07-30 | 2020-11-24 | 周建飞 | Tree planting robot |
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| US6516561B1 (en) * | 2002-04-01 | 2003-02-11 | James A. Mancini | Unitary tree and shrub stabilizing device |
| CN101507407A (en) * | 2009-02-03 | 2009-08-19 | 李善文 | Tree digging transplanter |
| CN102524017A (en) * | 2012-02-02 | 2012-07-04 | 舞钢市星河机械制造有限责任公司 | Tree digging and transplanting machine |
| CN103636457A (en) * | 2013-12-07 | 2014-03-19 | 杜会森 | Tree transplanter |
-
2017
- 2017-02-21 CN CN201710092019.7A patent/CN106856751B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6516561B1 (en) * | 2002-04-01 | 2003-02-11 | James A. Mancini | Unitary tree and shrub stabilizing device |
| CN101507407A (en) * | 2009-02-03 | 2009-08-19 | 李善文 | Tree digging transplanter |
| CN102524017A (en) * | 2012-02-02 | 2012-07-04 | 舞钢市星河机械制造有限责任公司 | Tree digging and transplanting machine |
| CN103636457A (en) * | 2013-12-07 | 2014-03-19 | 杜会森 | Tree transplanter |
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| Publication number | Publication date |
|---|---|
| CN106856751A (en) | 2017-06-20 |
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