CN108029284B - Fully automatic tree planting robot suitable for single row planting - Google Patents
Fully automatic tree planting robot suitable for single row planting Download PDFInfo
- Publication number
- CN108029284B CN108029284B CN201810027388.2A CN201810027388A CN108029284B CN 108029284 B CN108029284 B CN 108029284B CN 201810027388 A CN201810027388 A CN 201810027388A CN 108029284 B CN108029284 B CN 108029284B
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- Prior art keywords
- sapling
- drill bit
- frame
- soil
- tree
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/04—Machines for making or covering holes for sowing or planting
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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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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G27/00—Self-acting watering devices, e.g. for flower-pots
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/40—Afforestation or reforestation
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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Water Supply & Treatment (AREA)
- Soil Working Implements (AREA)
- Transplanting Machines (AREA)
Abstract
The utility model discloses a full-automatic tree planting robot suitable for single-row planting, which comprises a frame, travelling wheels arranged below the frame, a water storage cabinet arranged on the frame, a seedling mechanism for placing seedlings into a tree pit, an excavating mechanism for excavating the tree pit, a soil covering mechanism arranged below the frame and a controller for controlling the robot to plant trees. Compared with the prior art, the intelligent tree planting device has the characteristics of high intelligent degree, simple structure, high tree planting efficiency and stable system operation.
Description
Technical Field
The utility model relates to tree planting equipment, in particular to a full-automatic tree planting robot suitable for single-row planting, and belongs to the technical field of garden planting equipment.
Background
The world population has grown dramatically since the 20 th century and various unreasonable human reclamation activities have caused increasingly serious global desertification. Desertification causes serious social and environmental problems including reduction of arable land, frequent sand storm, reduction of the capacity of the land to entirely support water sources, annual precipitation reduction, and the like, and seriously worsens the living environment of human beings. Thus, in the face of increasingly severe environmental problems, a great number of forestation will be an effective method to effectively contain desertification.
The traditional purely manual tree planting operation is generally carried out by digging tree pits by adopting shovels and iron shovels by people, then manually placing tree seedlings, supporting the tree by one person, covering soil by one person, and finally watering after compacting properly. The process of digging tree pits and covering soil is very time-consuming and labor-consuming, and the tree planting efficiency is low and the labor intensity is high. To overcome this drawback, various tree planting devices such as a tree planting robot, a tree planter, a tree planting excavator, etc. are currently on the market. Specifically, for example, the Chinese patent with the publication number 202652842U discloses a hydraulic drilling tree planter matched with an excavator (trencher), which comprises a drill bit and a gear box, wherein a connecting frame is arranged on the gear box, a hydraulic motor and a speed reducer are arranged on the gear box, the hydraulic motor drives a gear in the gear box through the speed reducer, and an oil conveying pipeline of the hydraulic motor is connected with a hydraulic system of the excavator. The planter with the structure can excavate hard soil layers, frozen soil layers and other complex soil layers by adopting the hydraulic motor to provide power for the drill bit serving as the excavating mechanism and providing enough power. However, when the automatic seedling planting machine is used, on one hand, the automatic seedling planting machine needs to be matched with a trencher for use, on the other hand, the automatic seedling planting machine has only an automatic digging function, and the operations of seedling planting, soil covering and watering in the tree planting process cannot be completed on the same equipment, so that the automatic seedling planting machine is low in full automation degree.
Disclosure of Invention
Aiming at the defects, the utility model aims to provide the full-automatic tree planting robot which has a simple structure and integrates the functions of digging tree pits, placing tree seedlings, covering soil and watering and is suitable for single-row planting.
In order to achieve the above purpose, the utility model is realized by the following technical scheme:
the full-automatic tree planting robot suitable for single-row planting comprises a frame, travelling wheels arranged below the frame, a water storage cabinet arranged on the frame, a tree seedling mechanism for placing tree seedlings into tree pits, an excavating mechanism for excavating the tree pits, a soil covering mechanism arranged below the frame and a controller for controlling the robot to plant trees, wherein a water outlet is arranged at the bottom of the water storage cabinet and is connected with a water outlet pipe, and an electromagnetic valve is arranged at the tail end of the water outlet pipe on one side of the excavating mechanism and on the water outlet pipe;
the seedling mechanism comprises a seedling storage cabinet, a mechanical arm and a seedling transmission device, wherein the seedling storage cabinet is arranged on a frame at one end opposite to the water storage cabinet, the mechanical arm is arranged between the water storage cabinet and the seedling storage cabinet, the lower end of the mechanical arm is connected with a rotating table through a U-shaped mounting seat, a rotating shaft is fixed below the rotating table, and the rotating shaft is connected with a driving device; the digging mechanism is arranged between the water storage cabinet and the sapling transmission device.
In the above scheme, the seedling driving device may include a seedling pushing plate, a seedling telescopic rod and a conveying belt mechanism, where the seedling telescopic rod and the rotary table are arranged on the frame in parallel, one end of the seedling telescopic rod is connected with a motor, the other end of the seedling telescopic rod is provided with the seedling pushing plate, the seedling pushing plate corresponds to the digging mechanism, a sensor is installed at the top of the seedling pushing plate, and the sensor is used for sensing whether a seedling passes right in front of the seedling pushing plate;
the conveying belt mechanism comprises a conveying belt and two transmission motors, the conveying belt and the sapling telescopic rods are vertically arranged and mounted on the frame between the excavating mechanism and the sapling pushing plate, transmission shafts are mounted at two ends of the conveying belt respectively, and the transmission shafts are connected with the transmission motors.
In the above scheme, the excavating mechanism can comprise a drill bit, a drill bit motor, a vertically installed drill bit rotating shaft and a lifting device for controlling the drill bit to move up and down, wherein the drill bit is arranged below the frame and fixedly connected with the bottom end of the drill bit rotating shaft, the drill bit rotating shaft is arranged between the conveying belt and the water storage cabinet, and the top end of the drill bit rotating shaft penetrates through the drill bit lifting platform and then is connected with the drill bit motor fixed on the drill bit lifting platform.
In the above scheme, the lifting device can comprise a lifting motor and two lifting push rods which are arranged in parallel with the drill bit rotating shaft, one end of each lifting push rod is fixed at the bottom of the drill bit lifting table, the other end of each lifting push rod is connected with a lifting shaft, and the lifting shafts are connected with the lifting motor.
In the above-mentioned scheme, earthing mechanism is including establishing two earthing plates below the frame and being used for driving the earthing actuating lever of earthing plate, and two earthing plates use the drill bit as center, symmetry install in the both sides of drill bit, earthing actuating lever and the lower extreme of drill bit pivot parallel and earthing actuating lever and earthing plate fixed connection, its top are connected with earthing drive steering wheel, earthing drive steering wheel passes through the support and installs on the frame.
In the above scheme, the cross section of the earthing plate can be in a V-shaped structure.
In the above-mentioned scheme, the manipulator specifically can include first movable arm, second movable arm, grab a set mount pad, steering wheel and gripper, the one end hinge of first movable arm is installed on the U-shaped mount pad, its other end is articulated mutually with the one end of second movable arm, the other end of second movable arm passes through movable connecting rod and installs grab a set mount pad, grab and install a pair of intermeshing's gear on the set mount pad and install the gear shaft on one of them gear, the steering wheel is installed and is being connected in the bottom of grabbing a set mount pad and with the gear shaft, the one end of gripper is as grabbing the end, its other end is fixed on the gear.
In the above-mentioned scheme, in order to guarantee the stability of frame at the tree planting process, the walking wheel specifically is the Mecanum wheel, mecanum wheel is connected with the walking wheel motor of internally mounted has the PID controller.
The beneficial effects of the utility model are as follows:
according to the utility model, the pit is dug by the digging mechanism, the sapling in the sapling storage cabinet is placed on the conveyor belt by the mechanical arm, then the sapling on the conveyor belt is pushed into the pit by the sapling telescopic rod, the pit with the sapling is covered by the soil covering mechanism, finally the sapling is watered by the electromagnetic valve, and the full-automatic tree planting operation is realized by combining the work of the controller. Compared with the prior art, the intelligent tree planting device has the characteristics of high intelligent degree, simple structure, high tree planting efficiency and stable system operation.
Drawings
Fig. 1 is a schematic structural view of a fully automatic tree planting robot suitable for single-row planting.
Fig. 2 is a schematic rear view of the structure of fig. 1.
Fig. 3 is a schematic top view of two symmetrically mounted earth plates.
Fig. 4 is a schematic left-view structure of fig. 3.
The reference numerals in the figures are: 1. the seedling storage cabinet comprises 2-1 parts of a drill motor, 2-2 parts of a drill rotating shaft, 2-3 parts of a drill, 2-4 parts of a drill lifting table, 3 parts of a frame and 4 parts of a travelling wheel motor, 5-1 parts of a second movable arm, 5-2 parts of a claw disc mounting seat, 5-3 parts of a mechanical claw, 5-4 parts of a gear, 5-5 parts of a steering engine, 5-6 parts of a first movable arm, 6 parts of a seedling storage cabinet, 7 parts of a water outlet pipe, 8 parts of a travelling wheel, 9-1 parts of a lifting shaft, 9-2 parts of a lifting motor, 9-3 parts of a lifting push rod, 10 parts of a seedling telescopic rod, 11 parts of a soil covering driving rod, 12-1 parts of a conveying belt, 12-2 parts of a transmission shaft, 12-3 parts of a transmission motor, 13 parts of a seedling pushing plate, 14 parts of a V-shaped soil covering plate, 15 parts of a rotary table, 16 parts of a U-shaped mounting seat and 17 parts of a driving device.
Detailed Description
As shown in fig. 1 and 2, the full-automatic tree planting robot suitable for single-row planting comprises a frame 3 and travelling wheels arranged below the frame 3. The walking wheel is specifically a Mecanum wheel, and the Mecanum wheel is connected with a walking wheel motor 4 internally provided with a PID controller. The device also comprises a water storage cabinet 1 arranged on the frame 3, a sapling mechanism for placing sapling into a tree pit, an excavating mechanism for excavating the tree pit, a soil covering mechanism arranged below the frame 3 and a controller for controlling the robot to plant trees.
The bottom of the water storage cabinet 1 is provided with a water outlet, the water outlet is connected with a water outlet pipe 7, and the tail end of the water outlet pipe 7 is arranged on one side of the excavating mechanism, namely, the water outlet pipe 7 extends to one side of the drill bit rotating shaft 2-2, and the distance between the drill bit rotating shaft 2-2 and the tail end of the water outlet pipe 7 is preferably 2-5mm so as to ensure that the water outlet pipe 7 is positioned in a watering area of sapling. A solenoid valve is arranged on the water outlet pipe 7 and is connected with a controller through a wireless communication module.
The excavating mechanism is arranged between the water storage cabinet 1 and the sapling transmission device and specifically comprises a drill bit 2-3, a drill bit motor 2, a drill bit rotating shaft 2-2 which is vertically arranged 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 frame 3 and 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 cabinet 1, and the top end of the drill bit rotating shaft 2-2 passes through the drill bit lifting table 2-4 and then is connected with the drill bit motor 2 fixed on the drill bit lifting table 2-4.
In this embodiment, the lifting device specifically includes a lifting motor 9-2 and two lifting push rods 9-3 parallel to the drill bit rotating shaft 2-2, one end of the lifting push rod 9-3 is fixed at the bottom of the drill bit lifting table 2-4, the other end of the lifting push rod is connected with a lifting shaft 9-1, and the lifting shaft 9-1 is connected with the lifting motor 9-2. The lifting device has the functions of supporting the drill bit 2-3, the drill bit rotating shaft 2-2 and the drill bit motor 2, and driving the drill bit rotating shaft 2-2 to descend until the drill bit 2-3 contacts the ground, and then the drill bit motor 2 works. Wherein, the drill motor 2 and each lifting motor 9-2 are connected with a controller through a wireless communication module, and the controller is used for controlling the rotation time and the opening and closing of each motor.
The earthing mechanism comprises two earthing plates arranged below the frame 3 and an earthing driving rod 11 for driving the earthing plates. The two earth covering plates are symmetrically arranged at two sides of the drill bit 2-3 by taking the drill bit 2-3 as a center. As shown in fig. 3 and 4, the cross section of the soil covering plate is in a V-shaped structure. The earthing driving rod 11 is parallel to the drill bit rotating shaft 2-2, the lower end of the earthing driving rod 11 is fixedly connected with the earthing plate, and the earthing driving steering engine is connected to the top end of the earthing driving rod. The earthing driving steering engine is arranged on the frame 3 through a support. The earthing drive steering engine is in wireless connection with the controller through the wireless communication module, so that the functions of remote control and automatic earthing are realized.
The seedling mechanism comprises a seedling storage cabinet 6, a manipulator and a seedling transmission device. The sapling storage cabinet 6 is mounted on the frame 3 at the end opposite to the water storage cabinet 1.
The manipulator is installed between water storage cabinet 1 and sapling storage cabinet 6 and the lower extreme of manipulator is connected with revolving stage 15 through U-shaped mount pad 16, the below of revolving stage 15 is fixed with a pivot, the pivot is connected with drive arrangement 17. The rotary table 15 can rotate 360 degrees in the horizontal direction under the drive of the driving device 17, and when in use, the driving device 17 is connected with the controller through a wireless communication module. The manipulator is used for grabbing sapling in the sapling storage cabinet 6 onto the conveyor belt 12-1, and the specific structure comprises a first movable arm 5-6, a second movable arm 5-1, a grabbing disc mounting seat, a steering engine 5-5 and a mechanical claw 5-3. One end of the first movable arm 5-6 is hinged on the U-shaped mounting seat 16, the other end of the first movable arm is hinged with one end of the second movable arm 5-1, and the other end of the second movable arm 5-1 is provided with the grabbing disc mounting seat through a movable connecting rod. The grab disk mounting seat is provided with a pair of gears 5-4 meshed with each other, and one gear 5-4 is provided with a gear 5-4 rotating shaft. The steering engine 5-5 is arranged at the bottom of the grabbing disc mounting seat and is connected with a rotating shaft of the gear 5-4, one end of the mechanical claw 5-3 is used as a grabbing end, and the other end of the mechanical claw is fixed on the gear 5-4.
The seedling transmission device is used for accurately pushing seedlings into the dug tree pits, and the specifically adopted structure comprises a seedling pushing plate 13, a seedling telescopic rod 10 and a conveyor belt 12-1 mechanism. The seedling telescopic rod 10 and the rotary table 15 are arranged on the frame 3 in parallel, one end of the seedling telescopic rod 10 is connected with a motor, and the other end of the seedling telescopic rod is provided with the seedling pushing plate 13. The sapling pushing plate 13 corresponds to the excavating mechanism, specifically the sapling pushing plate 13 corresponds to the drill bit rotating shaft 2-2, so that sapling on the conveyor belt 12-1 is pushed into a tree pit accurately. A sensor is installed on the top of the seedling pushing plate 13, and the sensor can be an infrared sensor and a photoelectric sensor. The sensor is in wireless connection with the input end of the controller through the wireless communication module. The motor for controlling the seedling telescoping rod 10 is also connected with the controller through a wireless communication module.
The conveying belt 12-1 mechanism comprises a conveying belt 12-1 and two transmission motors 12-3, wherein the conveying belt 12-1 and the sapling telescopic rod 10 are vertically arranged and are arranged on the frame 3 between the drill bit rotating shaft 2-2 and the sapling pushing plate 13. Two ends of the conveyor belt 12-1 are respectively provided with a transmission shaft 12-2, and the transmission shafts 12-2 are connected with a transmission motor 12-3. The drive motor 12-3 is in use connected wirelessly to the controller via a wireless communication module.
The controller can specifically comprise a PLC controller serving as a central controller, a 51 single-chip microcomputer or other types of processors, and other related control components such as control keys, a setting module, a wireless transceiver module and the like.
The utility model is used for planting trees:
1) The robot is controlled to walk to a place to be planted by the walking wheels, the drill bit 2-3 is lowered to be in contact with the ground under the driving of the lifting device after the tree planting position is selected, then the drill bit motor 2 is started, and the drill bit 2-3 is driven to work by the drill bit rotating shaft 2-2 so as to realize tree pit digging work; 2) After the tree pit is dug, the mechanical arm grabs the tree seedlings in the tree seedling storage cabinet 6 onto the conveying belt 12-1, the tree seedlings move along with the conveying belt 12-1, when the tree seedlings move to the position of the tree seedling pushing rod, the sensor immediately starts the telescopic rod after sensing that the barrier exists in front, and the tree seedlings on the conveying belt 12-1 are pushed into the tree pit; 3) Driving the earthing steering engine 5-5 to rotate, and swinging the earthing plate left and right and moving up and down to scrape earth on the ground into the tree pit, so as to realize earthing work; 4) Finally, an electromagnetic valve on the water outlet pipe 7 is started to realize the watering of the sapling.
For automatic tree planting of the robot, manual control can be realized by arranging a remote controller, namely, the operations of digging tree pits, grabbing tree seedlings, conveying the tree seedlings, earthing and watering are performed at any time, the corresponding operation time and the like can be completed by operating the controller; the other is that no manual operation is needed, and in particular, full-automatic tree planting can be realized by implanting corresponding operation programs in the controller, such as numbering each related motor, setting the operation sequence of each control motor by the programs, realizing the execution interval and the like. It is already a mature technology for controllers to achieve the above functions.
The above description is for the purpose of illustrating the embodiments of the present utility model and is not to be construed as limiting the utility model, but is intended to cover all modifications, equivalents, improvements and alternatives falling within the spirit and principle of the utility model.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810027388.2A CN108029284B (en) | 2018-01-11 | 2018-01-11 | Fully automatic tree planting robot suitable for single row planting |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810027388.2A CN108029284B (en) | 2018-01-11 | 2018-01-11 | Fully automatic tree planting robot suitable for single row planting |
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| CN108029284A CN108029284A (en) | 2018-05-15 |
| CN108029284B true CN108029284B (en) | 2024-02-20 |
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| CN201810027388.2A Expired - Fee Related CN108029284B (en) | 2018-01-11 | 2018-01-11 | Fully automatic tree planting robot suitable for single row planting |
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| CN106538346A (en) * | 2016-12-08 | 2017-03-29 | 山东科技大学 | A kind of planting machine and its application |
| CN107006336A (en) * | 2017-04-17 | 2017-08-04 | 大新县科学技术情报研究所（大新县生产力促进中心） | A kind of automatic turning weeds planted for mountain forest are planted trees equipment |
| CN206808050U (en) * | 2017-05-22 | 2017-12-29 | 新疆农业大学 | Hold seedling plant feed unit |
| CN207869642U (en) * | 2018-01-11 | 2018-09-18 | 钦州学院 | Full-automatic Machine for planting tree people suitable for uniline plantation |
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| CN108029284A (en) | 2018-05-15 |
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Application publication date: 20180515 Assignee: Guangxi Sugar Group Pingji Sugar Co.,Ltd. Assignor: BEIBU GULF University Contract record no.: X2024980032976 Denomination of invention: Fully automatic tree planting robot suitable for single row planting Granted publication date: 20240220 License type: Common License Record date: 20241209 |
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