CN108029284A - Suitable for the full-automatic Machine for planting tree people of single file plantation - Google Patents

Abstract

The invention discloses a fully automatic tree-planting robot suitable for single-row planting, which includes a vehicle frame and walking wheels installed under the vehicle frame, a water storage tank installed on the vehicle frame, and a device for putting saplings into tree pits. The sapling mechanism, the excavating mechanism for digging the tree pit, the soil covering mechanism arranged under the vehicle frame and the controller for controlling the robot tree planting, the present invention digs the tree pit through the excavating mechanism provided, and uses the manipulator to place the sapling in the sapling storage cabinet. The saplings are placed on the conveyor belt, and then the saplings on the conveyor belt are pushed into the tree pit through the sapling telescopic rod, the tree pit where the saplings are placed is covered by the set soil covering mechanism, and finally the saplings are watered by controlling the solenoid valve, combined with The work of the controller is to realize the operation of fully automatic tree planting. Compared with the existing technology, it has the characteristics of high intelligence, simple structure, high tree planting efficiency and stable system operation.

Description

Fully automatic tree planting robot suitable for single row planting

technical field

The invention relates to tree planting equipment, in particular to a fully automatic tree planting robot suitable for single row planting, and belongs to the technical field of garden planting equipment.

Background technique

Since the 20th century, with the rapid growth of the world population and various unreasonable human reclamation activities, it has caused increasingly serious global desertification. Desertification has caused serious social and environmental problems, including the reduction of arable land, frequent sandstorms, and the decline in the overall water conservation capacity of the land, resulting in a decrease in annual precipitation, which has seriously deteriorated the human living environment. Therefore, in the face of increasingly severe environmental problems, a large number of afforestation will be an effective way to effectively curb desertification.

The traditional pure hand tree planting operation generally uses shovels and shovels to dig tree pits, then artificially put in saplings, one person supports the tree and one person covers the soil, and finally waters after proper compaction. The process of digging tree pits and covering soil is very time-consuming and laborious, and the efficiency of tree planting is low and labor-intensive. In order to overcome this defect, various tree planting devices have appeared on the market, such as tree planting robots, tree planting machines, tree planting excavators and the like. Specifically, the Chinese utility model patent whose authorization announcement number is 202652842U discloses a hydraulic drilling and tree planting machine used in conjunction with an excavator (ditching machine), including a drill bit and a gear box. A hydraulic motor and a reducer are installed on it, the hydraulic motor drives the gears in the gearbox through the reducer, and the oil pipeline of the hydraulic motor is connected to the hydraulic system of the excavator. Though the planter of this structure provides power to the drill bit as excavating mechanism owing to the hydraulic motor that adopts, power is sufficient, and complex soil layers such as hard soil layer, permafrost layer can be excavated. But when it is used, on the one hand, it needs to be used with a trencher, and on the other hand, it only has an automatic excavation function. The operations of placing saplings, covering soil and watering in the tree planting process cannot be completed on the same equipment, and the degree of full automation is low.

Contents of the invention

In view of the above-mentioned deficiencies, the technical problem to be solved by the present invention is to provide a fully automatic tree-planting robot suitable for single-row planting, which has a simple structure and integrates digging tree pits, placing saplings, covering soil and watering.

In order to achieve the above object, the present invention is achieved through the following technical solutions:

A fully automatic tree planting robot suitable for single-row planting, including a frame and walking wheels installed under the frame, a water storage tank installed on the frame, a sapling mechanism for putting saplings into tree pits, and a sapling mechanism for digging The digging mechanism of the tree pit, the soil covering mechanism arranged under the vehicle frame and the controller used to control the tree planting of the robot, the bottom of the water storage tank is provided with a water outlet, and the water outlet is connected with a water outlet pipe, and the water outlet pipe The end is on one side of the excavating mechanism and a solenoid valve is installed on the outlet pipe;

The sapling mechanism includes a sapling storage cabinet, a manipulator and a sapling transmission device, the sapling storage cabinet is installed on the vehicle frame at the opposite end of the water storage cabinet, the manipulator is installed between the water storage cabinet and the sapling storage cabinet and the manipulator The lower end is connected with a rotating table through a U-shaped mounting seat, and a rotating shaft is fixed below the rotating table, and the rotating shaft is connected with a driving device; the excavating mechanism is installed between the water storage tank and the sapling transmission device.

In the above scheme, the sapling transmission device may include a sapling push plate, a sapling telescopic rod and a conveyor belt mechanism, the sapling telescopic rod and the rotary table are arranged side by side on the vehicle frame and one end of the sapling telescopic rod is connected with a motor, and the other end is installed Described sapling push plate, described sapling push plate is corresponding to excavating mechanism, and a sensor is installed on the top of sapling push plate, and this sensor is used for sensing whether there is sapling to pass through directly in front of the sapling push plate;

The conveyor belt mechanism includes a conveyor belt and two transmission motors, the conveyor belt is vertically arranged with the sapling expansion rod and installed on the vehicle frame between the digging mechanism and the sapling push plate, and a transmission shaft is respectively installed at both ends of the conveyor belt. The transmission shaft is connected with the transmission motor.

In the above scheme, the excavating mechanism may include a drill bit, a drill bit motor, a vertically installed drill bit shaft and a lifting device for controlling the drill bit to move up and down, and the drill bit is arranged below the vehicle frame and is fixed to the bottom end of the drill bit shaft Then, the drill rotating shaft is arranged between the conveyor belt and the water storage tank and the top of the drill rotating shaft passes through the drill lifting platform and is connected with the drilling motor fixed on the drilling lifting platform.

In the above scheme, the lifting device may include a lifting motor and two lifting push rods arranged parallel to the drill shaft, one end of the lifting push rod is fixed on the bottom of the drill lifting table, and the other end is connected with a lifting shaft. The lifting shaft is connected with a lifting motor.

In the above scheme, the soil-covering mechanism includes two soil-covering plates arranged below the vehicle frame and a soil-covering drive rod for driving the soil-covering plates. The two soil-covering plates are symmetrically installed on both sides of the drill bit with the drill bit as the center. The soil-covering plates The driving rod is parallel to the drill bit rotating shaft and the lower end of the covering driving rod is fixedly connected with the covering plate, and its top end is connected with a driving steering gear for covering soil, and the driving steering gear for covering soil is installed on the vehicle frame through the steering gear support.

In the above solution, the cross-section of the soil covering plate may be in a V-shaped structure.

In the above solution, the manipulator may specifically include a first boom, a second boom, a gripper mount, a steering gear and a mechanical claw, one end of the first boom is hinged on the U-shaped mount, and the other One end is hinged with one end of the second swing arm, and the other end of the second swing arm is installed with the catch mounting seat through a movable connecting rod. The gear shaft is installed on the gear, and the steering gear is installed on the bottom of the catch plate mount and is connected with the gear shaft. One end of the mechanical claw is used as the grabbing end, and the other end is fixed on the gear.

In the above scheme, in order to ensure the stability of the vehicle frame during the tree planting process, the traveling wheels are specifically mecanum wheels, and the mecanum wheels are connected to traveling wheel motors with a PID controller installed inside.

The beneficial effects of the present invention are:

The present invention digs the tree pit through the set digging mechanism, uses the manipulator to place the saplings in the sapling storage cabinet on the conveyor belt, then pushes the saplings on the conveyor belt into the tree pit through the sapling telescopic rod, and puts them in place through the set soil covering mechanism. The tree pits of the saplings are covered with soil, and finally the saplings are watered by controlling the solenoid valve, and combined with the work of the controller, the fully automatic tree planting operation is realized. Compared with the existing technology, it has the characteristics of high intelligence, simple structure, high tree planting efficiency and stable system operation.

Description of drawings

Fig. 1 is a structural schematic diagram of a fully automatic tree planting robot suitable for single row planting.

FIG. 2 is a schematic rear view of the structure in FIG. 1 .

Fig. 3 is a top view structural schematic diagram of two soil-covering slabs installed symmetrically.

FIG. 4 is a schematic structural diagram of the left view of FIG. 3 .

The labels in the figure are: 1, water storage tank, 2-1, drill bit motor, 2-2, drill bit rotating shaft, 2-3, drill bit, 2-4, drill bit lifting platform, 3, vehicle frame, 4. traveling wheel motor, 5-1, the second swing arm, 5-2, the claw plate mounting seat, 5-3, the mechanical claw, 5-4, the gear, 5-5, the steering gear, 5-6, the first swing arm, 6, the sapling Storage cabinet, 7, water outlet pipe, 8, walking wheel, 9-1, lifting shaft, 9-2, lifting motor, 9-3, lifting push rod, 10, sapling telescopic rod, 11, covering soil driving rod, 12-1 , conveyor belt, 12-2, transmission shaft, 12-3, transmission motor, 13, sapling push plate, 14, V-shaped soil cover plate, 15, rotary table, 16, U-shaped mounting seat, 17, driving device.

Detailed ways

As shown in Fig. 1 and Fig. 2, the fully automatic tree-planting robot suitable for single row planting includes a vehicle frame 3 and walking wheels installed below the vehicle frame 3 . The traveling wheel is specifically a mecanum wheel, and the mecanum wheel is connected with a traveling wheel motor 4 with a PID controller installed inside. It also includes a water storage tank 1 installed on the vehicle frame 3, a sapling mechanism for putting saplings into the tree pit, a digging mechanism for digging the tree pit, a soil covering mechanism arranged under the vehicle frame 3 and a tree planting mechanism for controlling the robot. controller.

The bottom of the water storage tank 1 is provided with a water outlet, and the water outlet is connected with a water outlet pipe 7. The end of the water outlet pipe 7 is on one side of the excavating mechanism, that is, the water outlet pipe 7 is extended to one side of the drill bit rotating shaft 2-2. On the side, preferably the end spacing 2-5mm of drill bit rotating shaft 2-2 and outlet pipe 7, to guarantee that outlet pipe 7 is in the watering area of sapling. An electromagnetic valve is installed on the water outlet pipe 7, and the electromagnetic valve is connected with the controller through the wireless communication module.

The excavating mechanism is installed between the water storage tank 1 and the sapling transmission device, and specifically includes a drill bit 2-3, a drill bit motor 2, a vertically installed drill bit rotating shaft 2-2 and a lifting device for controlling the drill bit 2-3 to move up and down . The drill bit 2-3 is arranged below the vehicle frame 3 and is fixedly connected with the bottom end of the drill bit rotating shaft 2-2. The drill bit rotating shaft 2-2 is arranged between the conveyor belt 12-1 and the water storage tank 1 and the top of the drill bit rotating shaft 2-2 passes through the drill bit lifting platform 2-4 and is connected with the drill bit motor 2 fixed on the drilling bit lifting platform 2-4 .

In this embodiment, specifically the lifting device includes a lifting motor 9-2 and two lifting push rods 9-3 arranged parallel to the drill shaft 2-2, and one end of the lifting push rod 9-3 is fixed on the drill bit. The bottom of the lifting table 2-4, its other end is connected with a lifting shaft 9-1, and the lifting shaft 9-1 is connected with a lifting motor 9-2. Described elevating device plays the effect of supporting drill bit 2-3, drill bit rotating shaft 2-2, drill bit motor 2 on the one hand, plays and drives drill bit rotating shaft 2-2 to descend on the other hand, after descending to drill bit 2-3 contact ground, then Worked by drill motor 2. Wherein, the drill bit motor 2 and each lifting motor 9-2 are all connected with the controller through the wireless communication module, and the time and opening and closing of each motor are controlled by the controller.

The soil-covering mechanism includes two soil-covering plates arranged below the vehicle frame 3 and a soil-covering drive rod 11 for driving the soil-covering plates. Two cover plates are centered on the drill bit 2-3 and symmetrically installed on both sides of the drill bit 2-3. As shown in Fig. 3 and Fig. 4, the cross section of the soil covering plate is V-shaped. The soil-covering driving rod 11 is parallel to the drill bit rotating shaft 2-2, and the lower end of the soil-covering driving rod 11 is fixedly connected with the soil-covering plate, and the top end thereof is connected with a soil-covering driving steering gear 5-5. The soil-covering driving steering gear 5-5 is installed on the vehicle frame 3 through the bearing of the steering gear 5-5. The soil-covering driving steering gear 5-5 is wirelessly connected with the controller through the wireless communication module, so as to realize the functions of remote control and automatic soil covering.

Described sapling mechanism comprises sapling storage cabinet 6, manipulator and sapling transmission device. Described sapling storage cabinet 6 is installed on the vehicle frame 3 of opposite end with water storage cabinet 1.

The manipulator is installed between the water storage cabinet 1 and the sapling storage cabinet 6 and the lower end of the manipulator is connected with a rotary table 15 through a U-shaped mounting seat 16, and a rotating shaft is fixed below the rotary table 15, and the rotating shaft is connected with a driving device 17. The rotating table 15 can rotate 360 degrees in the horizontal direction under the driving of the driving device 17. When in use, the driving device 17 is connected with the controller through the wireless communication module. The manipulator is used to grab the saplings in the sapling storage cabinet 6 onto the conveyor belt 12-1, and the specific structure includes a first boom 5-6, a second boom 5-1, a catch mount, and a steering gear 5-1. 5 and mechanical claw 5-3. One end of the first boom 5-6 is hinged on the U-shaped mount 16, and the other end is hinged to one end of the second boom 5-1, and the other end of the second boom 5-1 passes through The movable connecting rod is installed with the catch mounting seat. A pair of mutually meshing gears 5-4 are installed on the said gripper mount and a gear 5-4 rotating shaft is installed on one of the gears 5-4. Described steering gear 5-5 is installed in the bottom of grabbing plate mounting base and is connected with gear 5-4 rotating shaft, and one end of described mechanical claw 5-3 is as grabbing end, and its other end is fixed on gear 5-4.

The sapling transmission device is used to accurately push the saplings into the dug tree hole, and the specific structure adopted includes a sapling push plate 13, a sapling telescopic rod 10 and a conveyor belt 12-1 mechanism. Described sapling telescopic link 10 is arranged on the vehicle frame 3 side by side with turntable 15, and one end of sapling telescopic link 10 is connected with motor, and its other end is installed with described sapling push plate 13. Described sapling push plate 13 is corresponding with excavating mechanism, specifically sapling push plate 13 is corresponding with drill bit rotating shaft 2-2, thereby guarantees that the sapling on the conveyor belt 12-1 is pushed in the tree hole accurately. A sensor is installed on the top of sapling push plate 13, and described sensor can specifically be infrared sensor and photoelectric sensor. The sensor is wirelessly connected with the input terminal of the controller through the wireless communication module. The motor that is used to control sapling telescopic rod 10 is also connected with controller by wireless communication module.

Described conveyer belt 12-1 mechanism comprises conveyer belt 12-1 and two drive motors 12-3, and described conveyer belt 12-1 and sapling expansion rod 10 are vertically arranged and installed between drill bit rotating shaft 2-2 and sapling push plate 13 on the frame 3. Transmission shafts 12-2 are respectively installed at both ends of the conveyor belt 12-1, and the transmission shafts 12-2 are connected with a transmission motor 12-3. When the transmission motor 12-3 is in use, it is wirelessly connected with the controller through the wireless communication module.

The controller may specifically include a PLC controller as a central controller, a 51 single-chip microcomputer or other types of processors, and other related control components such as control buttons, setting modules, and wireless transceiver modules.

The present invention when planting trees:

1) By controlling the walking wheels, the robot walks to the place to be planted. After the tree planting position is selected, the drill bit 2-3 is driven by the lifting device to lower it to contact with the ground, and then the drill bit motor 2 is started, which is driven by the drill bit shaft 2-2. The work of drill bit 2-3 realizes digging tree hole work; 2) after tree hole is dug, manipulator grabs the sapling in the sapling storage cabinet 6 and puts it on the conveyor belt 12-1, and the sapling moves along with the conveyor belt 12-1. When moving to the position of the sapling push rod, after the sensor senses that there is an obstacle in front, the telescopic rod is started immediately, and the sapling on the conveyor belt 12-1 is pushed into the tree pit; The plate swings left and right and moves up and down to scrape the soil on the ground into the tree pit to realize the soil covering work; 4) start the electromagnetic valve on the outlet pipe 7 at last to realize the work of watering the saplings.

For the automatic tree planting of the robot, manual control can be realized by setting the remote controller, that is, when the operations of digging tree pits, grasping saplings, sending saplings, covering soil and watering, and the length of the corresponding operation time can be done. It is completed by operating the controller; the other is that no human operation is required, and the corresponding operating program can be implanted in the controller, such as numbering each related motor, and the program sets the running sequence and execution of each control motor. The interval is realized, etc. to realize fully automatic tree planting. It is a relatively mature technology for the controller to achieve the above functions.

The above is only to illustrate the implementation of the present invention, and is not intended to limit the present invention. For those skilled in the art, any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be Included within the protection scope of the present invention.

Claims (8)

1. the full-automatic Machine for planting tree people planted suitable for single file, including vehicle frame (3) and the traveling wheel below vehicle frame (3), It is characterized in that：Further include the water storage cabinet (1) on vehicle frame (3), the sapling mechanism for sapling being put into tree well, use In the digging mechanism for digging tree well, the casing mechanism being arranged on below vehicle frame (3) and the controller for controlling robot to plant trees, institute The bottom for stating water storage cabinet (1) is equipped with water outlet, and the water outlet is connected with outlet pipe (7), and the end of the outlet pipe (7) is in digging Dig the side of mechanism and a solenoid valve is installed on outlet pipe (7)；

The sapling mechanism includes sapling container (6), manipulator and sapling transmission device, the sapling container (6) be installed on On the vehicle frame (3) of water storage cabinet (1) opposite side, the manipulator is installed between water storage cabinet (1) and sapling container (6) and machinery The lower end of hand is connected with turntable (15) by clevis mounting (16), and a shaft, institute are fixed with below the turntable (15) State shaft and be connected with driving device (17)；The digging mechanism is installed between water storage cabinet (1) and sapling transmission device.

2. the full-automatic Machine for planting tree people according to claim 1 suitable for single file plantation, it is characterised in that：The sapling passes Dynamic device includes sapling push plate (13), sapling telescopic rod (10) and conveyer belt (12-1) mechanism, the sapling telescopic rod (10) and Turntable (15) is located on vehicle frame (3) side by side and one end of sapling telescopic rod (10) is connected with motor, described in the installation of its other end Sapling push plate (13), the sapling push plate (13) is corresponding with digging mechanism, and a biography is provided with the top of sapling push plate (13) Sensor；

Conveyer belt (12-1) mechanism includes conveyer belt (12-1) and two driving motors (12-3), the conveyer belt (12-1) In setting perpendicular with sapling telescopic rod 10 and the vehicle frame (3) being installed between digging mechanism and sapling push plate (13), transmitting The both ends of band (12-1) are separately installed with transmission shaft (12-2), and the transmission shaft (12-2) is connected with driving motor (12-3).

3. the full-automatic Machine for planting tree people according to claim 2 suitable for single file plantation, it is characterised in that：The excavator Structure includes drill bit (2-3), drill bit motor (2), vertically-mounted drill bit shaft (2-2) and is moved down for controlling on drill bit (2-3) Dynamic lifting gear, the drill bit (2-3) be located at the lower section of vehicle frame (3) and with the bottom Joint of drill bit shaft (2-2), drill bit Shaft (2-2) is arranged between conveyer belt (12-1) and water storage cabinet (1) and the top of drill bit shaft (2-2) passes through drill bit lifting platform (2-4) is connected with the drill bit motor (2) being fixed on drill bit lifting platform (2-4) afterwards.

4. the full-automatic Machine for planting tree people according to claim 3 suitable for single file plantation, it is characterised in that：The lifting dress The lifting push rod (9-3) including lifting motor (9-2) and two settings parallel with drill bit shaft (2-2) is put, the lifting pushes away One end of bar (9-3) is fixed on the bottom of drill bit lifting platform (2-4), its other end is connected with lifting shaft (9-1), the lifting shaft (9-1) is connected with lifting motor (9-2).

5. the full-automatic Machine for planting tree people according to claim 2 suitable for single file plantation, it is characterised in that：The drag links Structure includes being located at two pieces of trailing bars below vehicle frame (3) and the earthing drive rod (11) for driving trailing bar, two pieces of trailing bars Centered on drill bit (2-3), it is symmetrically mounted on the both sides of drill bit (2-3), the earthing drive rod (11) and drill bit shaft (2-2) Parallel and earthing drive rod (11) lower end is fixedly connected with trailing bar, its top is connected with earthing driving steering engine (5-5), institute Earthing driving steering engine (5-5) is stated to be installed on vehicle frame (3) by steering engine (5-5) bearing.

6. the full-automatic Machine for planting tree people according to claim 5 suitable for single file plantation, it is characterised in that：The trailing bar The V-shaped structure in cross section.

7. the full-automatic Machine for planting tree people for being suitable for single file plantation according to claim 2~6 any one, its feature exist In：The manipulator includes the first swing arm (5-6), the second swing arm (5-1), catching plate mounting base, steering engine (5-5) and gripper (5- 3), one end hinge of first swing arm (5-6) is on the clevis mounting (16), one end of its other end and the second swing arm (5-1) It is hinged, the other end of second swing arm (5-1) installs the catching plate mounting base, the catching plate installation by movable connecting rod A pair of of pitch wheel (5-4) is installed on seat and gear (5-4) shaft is installed on a gear (5-4) wherein, The steering engine (5-5) is installed on the bottom of catching plate mounting base and is connected with gear (5-4) shaft, the one of the gripper (5-3) End is fixed on gear (5-4) as grasping end, its other end.

8. the full-automatic Machine for planting tree people for being suitable for single file plantation according to claim 7, it is characterised in that：It is described Traveling wheel is Mecanum wheel, and the Mecanum wheel is connected with the internal walking turbin generator (4) for being provided with PID controller.