CN110666809A

CN110666809A - Tree planting robot

Info

Publication number: CN110666809A
Application number: CN201910887046.2A
Authority: CN
Inventors: 王彬
Original assignee: Zhejiang University of Science and Technology ZUST
Current assignee: Zhejiang University of Science and Technology ZUST
Priority date: 2019-09-19
Filing date: 2019-09-19
Publication date: 2020-01-10

Abstract

The invention discloses a tree planting robot which comprises a rack, a drilling device, a driving device for driving the drilling device to move up and down, a soil returning device and a discharging device, wherein the soil returning device and the discharging device are positioned on one side of the drilling device; the driving device comprises a fixing frame for supporting the drilling device, a push rod with one end movably connected with the fixing frame and a driving part for driving one end of the push rod to move left and right, and the push rod is of a bending structure or a bending structure. The invention has simple structure and convenient operation, can be well used by common farmers even if the common farmers do not learn related knowledge, and has extremely fast operation; the freedom degree is high, a plurality of flower planting machines can be flexibly distributed and combined, the flower planting machines are convenient to disassemble, assemble, maintain and clean, and the flower planting machine is suitable for different places such as red soil, garden soil, furnace ash soil and the like; occupation space is few, can many machines remove simultaneously and plant, great improvement efficiency.

Description

Tree planting robot

Technical Field

The invention belongs to the technical field of planting, and particularly relates to a tree planting robot.

Background

Since the reform is open, the economic development at the cost of environment sacrifice leads to more and more serious land desertification in some areas at present, the desert afforestation and the environment improvement are one of the main works in the present stage of the country, and the desert afforestation not only has a bad environment but also consumes great manpower and material resources; under the background, a tree planting robot is needed to replace the human to work, and the labor expenditure is reduced.

Meanwhile, with the rapid development of economy, people are pursuing higher-quality life styles, the flower market is increasingly red, flowers become essential components in daily life as part of delicate life, and the demand of flowers on the market is increasingly increased. For florists, this is a great business opportunity, with greater pressure. The increase of income also increases the amount of labour of flower growers and the input of human cost, and in the society that the human cost is increasing, not only is the efficiency low only depending on artifical planting, and the energy of working is limited every day, and how to improve the production work efficiency of laborer in limited time and energy is the research purpose of this design. The full-automatic tree planting robot is used for improving the efficiency of planting flowers and trees, finishing higher workload in limited time, and more importantly, greatly reducing the labor capacity of people, reducing the investment of expensive labor cost, and providing intelligent assistance for robots and agriculture advocated at present.

Most of the existing tree planting robots are used for planting in large-area nurseries, and when plants are planted in small-area nurseries, the plants can only be planted manually, so that the manpower demand is high, and the planting efficiency is low.

Disclosure of Invention

The invention provides a tree planting robot suitable for a small-area nursery to overcome the defects of the prior art.

In order to achieve the purpose, the invention adopts the following technical scheme: a tree planting robot comprises a frame, a drilling device, a driving device for driving the drilling device to move up and down, a soil returning device and a blanking device, wherein the soil returning device and the blanking device are positioned on one side of the drilling device; the driving device comprises a fixing frame for supporting the drilling device, a push rod with one end movably connected with the fixing frame and a driving part for driving one end of the push rod to move left and right, and the push rod is of a bending structure or a bending structure.

According to the tree planting robot, the driving part pushes one end of the push rod to move left and right so that the drilling device moves downwards to drill, and the driving part pushes one end of the push rod to move transversely, so that the whole tree planting robot is small in height, and the size of the whole device is reduced; therefore, the method is suitable for planting plants in smaller nursery gardens, has wide application range, does not need manual planting, improves the planting efficiency and saves the labor cost.

Preferably, the driving part comprises a movable frame and a driving part for driving the movable frame to move left and right, and the push rod is movably connected with the movable frame; the push rod is pushed to move by the left and right movement of the movable frame, the push rod drives the fixed frame to move up and down, and the drilling efficiency is high.

Preferably, the drilling device comprises a drilling part, a drill bit arranged at the lower end of the drilling part and a power motor for driving the drilling part to rotate forwards and backwards, and the power motor is arranged on the fixed frame; the efficiency of drilling can be improved through setting up the drill bit, and it receives the resistance little, therefore drilling speed is fast, simultaneously because set up the drill bit still can adopt hardness height, long service life.

Preferably, a first rail arranged transversely is arranged on the rack, and a first sliding block matched with the first rail is arranged on the movable frame; through setting up first track and first slider, it can ensure that the adjustable shelf can not rock when controlling the action, consequently the push rod lasts to move along a movement track at the in-process that promotes, and is stable when consequently promoting.

Preferably, a second rail is longitudinally arranged on the rack, and a second sliding block matched with the second rail is arranged on the fixed frame; through setting up second track and second slider, can carry on spacingly to the mount, it has high stability when can ensure the mount upper and lower action, therefore the mount is fixed effectual to drilling equipment, has ensured that drilling equipment can not take place to rock about and cause the drilling to enlarge at the drilling in-process.

Preferably, the soil returning device comprises a first soil returning part, a second soil returning part symmetrically arranged with the first soil returning part and a power part for driving the first and second soil returning parts to move oppositely and reversely; through setting up first, second return native spare, can realize returning native automatically, need not artifical return native, it returns native efficient.

Preferably, the blanking device comprises an obliquely arranged conveying belt, a motor structure for driving the conveying belt to rotate and a material containing plate arranged on the conveying belt, wherein the material containing plate is obliquely arranged from top to bottom; the motor structure is arranged on the frame; through setting up the flourishing flitch of slope, consequently at the in-process of planting the tree, only need place the plant after on the flourishing flitch, the plant can along flourishing flitch is in the middle of the hole that bores is fallen to the gliding, only need stand at the in-process person of placing the plant and can lay the plant, and it reduces the degree of difficulty that the plant laid, has reduced artificial manipulation strength.

Preferably, the power part comprises a first gear for driving the first soil returning part to move, a second gear for driving the second soil returning part to move, a driving screw for driving the first gear and the second gear to rotate in opposite directions, and a motor for driving the driving screw to rotate in forward and reverse directions, and the driving screw is located between the first gear and the second gear.

Preferably, the first soil returning part is provided with a first soil shifting part and a first supporting part integrally formed with the first soil shifting part, and the second soil returning part is provided with a second soil shifting part and a second supporting part integrally formed with the second soil shifting part; it can return when soil piece carries out the return soil at first, second, carry on spacingly to the plant, and the in-process plant that the guarantee returned soil can not take place the condition of empting, and it can improve the stability when returning soil.

Preferably, the first supporting part and the second supporting part are both of C-shaped structures; by arranging the first and second support parts in a C-shaped structure, all the soil around the plant can be pushed into the drilled hole, the plant filled with the soil is ensured to be uniform everywhere, and therefore, when the plant is watered, the periphery of the plant receives water uniformly.

In summary, the invention has the following advantages:

(1) simple structure, convenient operation, even the ordinary peasant who has not learned relevant knowledge can also fine use, the operation is extremely fast.

(2) The freedom degree is high, a plurality of flower planting machines can be flexibly distributed and combined, the flower planting machines are convenient to disassemble, assemble, maintain and clean, and the flower planting machine is suitable for different places such as red soil, garden soil, furnace ash soil and the like.

(3) Based on the designed model, the method can be improved into derivative types of various sizes to adapt to the flower seedlings of various sizes, and the limitation of the machine is reduced.

(4) Occupation space is few, can many machines remove simultaneously and plant, great improvement efficiency.

(5) The part is mostly general, has broken can change at any time, and the later stage maintenance need not to look for professional, and the minor problems oneself can be solved with one's hands.

Drawings

Fig. 1 is a first structural schematic diagram of the present invention.

Fig. 2 is a second structural schematic diagram of the present invention.

Fig. 3 is a third schematic structural diagram of the present invention.

Fig. 4 is a schematic structural diagram of the drilling device and the driving device of the invention.

Fig. 5 is a partial structural schematic diagram of the present invention.

Fig. 6 is a first structural schematic view of the soil returning device of the present invention.

Fig. 7 is a schematic structural diagram of the soil reclamation device of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.

As shown in fig. 1-7, a tree planting robot includes a frame 1, a drilling device 2, a driving device 3, a soil returning device 4, and a blanking device 5, wherein the frame 1 is an aluminum alloy frame, the frame 1 is in a stable triangular structure, and the side length ratio is 3: 4: 5 right triangle; the size of the frame 1 in the width direction is 100mm, the size of the frame in the length direction is 800mm, and the height size is 600 mm; two crawler wheels 10 are arranged at the lower part of the frame 1, and each crawler wheel 10 consists of a metal crawler and two metal wheel wheels; the two crawler wheels 10 are respectively arranged on the left side and the right side of the rack 1, the servo motor 100 is arranged on the middle lower portion of the rack 1, the servo motor 100 drives the crawler wheels 10 to rotate through metal shafts and metal gears, and therefore the crawler wheels 10 can drive the rack and the drilling device 2, the driving device 3, the soil returning device 4 and the blanking device 5 which are located on the rack to move back and forth.

Further, the drilling device 2 comprises a drilling member 21, a drill 22 and a power motor 23, wherein the drilling member 21 has a drilling shaft 211 and a drilling paddle 212 with a spiral structure, the drilling shaft 211 is a metal shaft, the drilling shaft 211 is connected with an output shaft of the power motor 23 through a connecting sleeve 213 made of a metal material, the power motor 23 is an existing motor in the market, and the power motor 23 drives the drilling shaft 211 to rotate forward and backward; the drilling paddle 212 is fixed on the outer wall of the drilling shaft 211, and the fixing can be fixedly connected by welding or screws and other fixing modes; during operation of the drilling member 21, the drilling paddles 212 carry the soil evenly around the hole; the drill bit 22 is a high-strength fine steel head, and the drill bit 22 is of a conical structure; the drill bit 22 is detachably connected with the lower end part of the drill shaft 211, the drill bit 22 is provided with an inserting convex part, the lower end of the drill shaft 211 is provided with an inserting groove, and the inserting convex part is inserted into the inserting groove when the drill bit 22 is connected with the drill shaft 211, so that the connection between the drill bit 22 and the drill shaft 211 is realized.

Specifically, the driving device 3 drives the drilling device 2 to move up and down, the driving device 3 includes a fixing frame 31, a push rod 32 and a driving component, wherein the fixing frame 31 is an L-shaped metal plate, and the power motor 23 is erected on the fixing frame 31; two second rails 12 are arranged on the rack 1, and the second rails 12 are metal rods; a second sliding block 311 is sleeved on each second track 12, the second sliding block 311 is a metal sleeve, and the second sliding block 311 can move up and down along the second tracks 12; the fixed frame 31 is connected with the second sliding block 311 through screws.

Further, the driving part comprises a driving part 36, a screw rod 37 and a movable frame 35, wherein the screw rod 37 is a conventional metal screw rod, and two ends of the screw rod 37 are fixed on the frame 1 through bearings; the driving member 36 is a motor which can rotate forward and backward in the market, and an output shaft of the driving member 36 is in rotation stopping connection with the screw rod 37 through a metal sleeve, so that the driving member 36 drives the screw rod 37 to rotate forward and backward; the movable frame 35 is a metal frame, the movable frame 35 is provided with a screw socket 355, the screw socket 355 may be integrally formed with the movable frame 35, or of course, the screw socket 355 may be connected to the movable frame 35 through a screw, the screw socket 355 is a metal member having a screw thread on an inner wall, and the screw socket 355 is screwed to the screw rod 37.

Meanwhile, two first rails 11 are erected on the rack 1, and the first rails 11 are metal rods; the screw 37 is positioned between the two first tracks 11; a first sliding block 351 is arranged at the left end and the right end of the movable frame 35, the first sliding block 351 is a horizontal metal sleeve, and the first sliding block 351 is sleeved on the first track 11; the push rod 32 is a metal rod with a bent structure, the lower part of the movable frame 35 is provided with a first connecting rod 350, and the upper part of the push rod 32 is sleeved on the first connecting rod 350, so that the push rod 32 can rotate relative to the movable frame 35; the side wall of the fixing frame 31 is provided with a second connecting rod 310, the second connecting rod 310 is a metal rod with a smooth surface, and the lower part of the push rod 32 is sleeved on the second connecting rod 310, so that the push rod 32 can rotate the second connecting rod 310 first.

Further, the soil returning device 4 comprises a first soil returning part 41, a second soil returning part 42 and a power part, wherein the first soil returning part 41 and the second soil returning part 42 are symmetrically arranged metal parts, and the power part is used for driving the first soil returning part 41 and the second soil returning part 42 to move oppositely and reversely; the first soil returning part 41 is provided with a first rod part 410, a first soil shifting part 411 and a first supporting part 412, and the first rod part 410, the first soil shifting part 411 and the first supporting part 412 are integrally formed; the first soil shifting portion 411 is a metal portion with an arc-shaped inner wall, the first supporting portion 412 is a metal portion with a C-shaped structure, and the first supporting portion 412 is located above the first soil shifting portion 411; the second soil shifting member 42 has a second rod body portion 420, a second soil shifting portion 421 and a second supporting portion 422, and the second soil shifting member 42 and the first soil shifting member 41 are symmetrically disposed, so detailed descriptions thereof are omitted here.

Specifically, the power component includes a first gear 431, a second gear 432, a driving screw 433 and a motor 434, the first gear is a 431 metal gear, the outer wall of the first gear 431 is provided with a plurality of grooves, and the first gear 431 is connected with the end of the first rod 410 through a metal shaft; the second gear 432 is the same as the first gear 431, and the second gear 432 is connected to the second rod 420 through a shaft; the driving screw 433 is a metal screw, and the thread part of the driving screw 433 is embedded into the groove of the first gear 431 and the groove of the second gear 432; the motor 434 is an AC motor capable of rotating forward and backward, and an output shaft of the motor 434 is connected to one end of the driving screw 433 in a rotation-stop manner, so that the motor 434 can rotate by the driving screw 433, thereby realizing the rotation of the first rod 410, and similarly, the rotation manner of the second rod 420 is the same as the rotation manner of the first rod 410, and therefore, details are not described herein again.

Further, the blanking device 5 is used for putting the sapling into the drilled hole, the blanking device 5 includes a conveying belt 51, a motor structure and a material containing plate 52 which are arranged along the longest side of the rack 1, wherein the conveying belt 51 is a traditional conveying belt, the conveying belt 51 is arranged in an inclined manner from top to bottom, the motor structure includes a driving roller movably connected to the upper portion of the rack 1, a driven roller movably connected to the lower portion of the rack 1 and an AC motor, the driving roller and the driven roller are both metal rollers, the conveying belt 51 is sleeved on the driving roller and the driven roller, and the AC motor drives the driving roller to rotate.

The material containing plate 52 is a metal plate, the lower end of the material containing plate 52 is fixed on the conveying belt 51, and the material containing plate 52 is arranged in an inclined manner from top to bottom.

It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Claims

1. A tree planting robot comprises a frame (1), a drilling device (2), a driving device (3) for driving the drilling device (2) to move up and down, a soil returning device (4) and a blanking device (5) which are positioned on one side of the drilling device (2); the method is characterized in that: the driving device (3) comprises a fixing frame (31) used for supporting the drilling device (2), a push rod (32) with one end movably connected with the fixing frame (31) and a driving part used for driving one end of the push rod (32) to move left and right, and the push rod (32) is of a bending structure or a bending structure.

2. The tree planting robot of claim 1, wherein: the driving part comprises a movable frame (35) and a driving piece (36) used for driving the movable frame (35) to move left and right, and the push rod (32) is movably connected with the movable frame (35).

3. A tree planting robot as claimed in claim 2, wherein: the drilling device (2) comprises a drilling part (21), a drill bit (22) arranged at the lower end of the drilling part (21) and a power motor (23) used for driving the drilling part (21) to rotate forwards and backwards, wherein the power motor (23) is arranged on the fixed frame (31).

4. A tree planting robot as claimed in claim 2, wherein: the movable frame is characterized in that a first rail (11) transversely arranged is arranged on the frame (1), and a first sliding block (351) matched with the first rail (11) is arranged on the movable frame (35).

5. The tree planting robot of claim 1, wherein: the rack (1) is provided with a second rail (12) which is longitudinally arranged, and the fixed frame (31) is provided with a second sliding block (311) which is matched with the second rail (12).

6. The tree planting robot of claim 1, wherein: the soil returning device comprises a first soil returning piece (41), a second soil returning piece (42) and a power part, wherein the second soil returning piece (42) is symmetrically arranged with the first soil returning piece (41), and the power part is used for driving the first soil returning piece and the second soil returning piece to oppositely and reversely move.

7. The tree planting robot of claim 1, wherein: unloader (5) are including conveyer belt (51) that the slope set up, be used for the drive conveyer belt (51) pivoted motor structure and locate flourishing flitch (52) on conveyer belt (51), flourishing flitch (52) are for the slope setting from top to bottom, motor structure locates on frame (1).

8. The tree planting robot of claim 6, wherein: the power component comprises a first gear (431) for driving the first soil returning part (41) to move, a second gear (432) for driving the second soil returning part (42) to move, a driving screw (433) for driving the first gear and the second gear to rotate in opposite directions and a motor (434) for driving the driving screw (433) to rotate in forward and reverse directions, and the driving screw (433) is positioned between the first gear and the second gear.

9. The tree planting robot of claim 6, wherein: the soil-returning device is characterized in that a first soil-shifting portion (411) and a first supporting portion (412) integrally formed with the first soil-shifting portion (411) are arranged on the first soil-returning piece (41), and a second soil-shifting portion (421) and a second supporting portion (422) integrally formed with the second soil-shifting portion (421) are arranged on the second soil-returning piece (42).

10. The tree planting robot of claim 9, wherein: the first supporting part (412) and the second supporting part (422) are both C-shaped structures.