CN110972879A - Tree planting machine for changing seedlings by cylindrical coordinate system - Google Patents
Tree planting machine for changing seedlings by cylindrical coordinate system Download PDFInfo
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- CN110972879A CN110972879A CN202010023981.7A CN202010023981A CN110972879A CN 110972879 A CN110972879 A CN 110972879A CN 202010023981 A CN202010023981 A CN 202010023981A CN 110972879 A CN110972879 A CN 110972879A
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- cylindrical coordinate
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- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 6
- 239000010959 steel Substances 0.000 claims abstract description 6
- 238000000034 method Methods 0.000 claims abstract description 5
- 230000009467 reduction Effects 0.000 claims abstract description 4
- 230000008569 process Effects 0.000 claims abstract description 3
- 238000009434 installation Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims 2
- 239000002689 soil Substances 0.000 abstract description 21
- 239000003550 marker Substances 0.000 abstract description 2
- 241000196324 Embryophyta Species 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003971 tillage Methods 0.000 description 1
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Classifications
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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
- A01G23/00—Forestry
- A01G23/02—Transplanting, uprooting, felling or delimbing trees
- A01G23/04—Transplanting trees; Devices for grasping the root ball, e.g. stump forceps; Wrappings or packages for transporting trees
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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
- A01C5/06—Machines for making or covering drills or furrows for sowing or planting
- A01C5/062—Devices for making drills or furrows
-
- 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
- A01C5/06—Machines for making or covering drills or furrows for sowing or planting
- A01C5/066—Devices for covering drills or furrows
-
- 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
- A01C5/06—Machines for making or covering drills or furrows for sowing or planting
- A01C5/066—Devices for covering drills or furrows
- A01C5/068—Furrow packing devices, e.g. press wheels
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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Transplanting Machines (AREA)
Abstract
The invention discloses a traction type tree planting machine for changing seedlings by a cylindrical coordinate system, which comprises a front frame, a seedling frame, a cylindrical coordinate system seedling changing mechanism, a rear frame, a press wheel, a soil coverer, a furrow opener and a rowing device, wherein the seedling frame is installed on the front frame through bolts, the cylindrical coordinate system seedling changing mechanism is installed on the upper part of the front part of the rear frame through bolts, the soil coverer is installed on the lower part of the rear frame through square steel, and the press wheel is installed on the rear part of the soil coverer through square steel. The lower parts of the front frame and the rear frame are provided with furrow openers through a gear reduction box, and the left end of the front part of each furrow opener is provided with a rowing machine through a bolt. The invention is driven by a tractor, ditches are firstly opened by a ditcher, 4 hydraulic motors are electrically controlled and respectively control a manipulator to take and insert seedlings in space, a marker lines the seedlings, the uniform planting interval is ensured, two seedling taking mechanisms are arranged on the left side and the right side to accelerate the speed, the seedlings are inserted into the grooves, and then soil is sequentially covered and compacted by a soil covering plate and a press wheel, so that the whole process of planting the trees is completed, and time and labor are saved.
Description
Technical Field
The invention relates to a tree planting machine, in particular to a traction type tree planting machine suitable for large-area tree planting and afforestation in mobile, semi-mobile and fixed sand dunes and arid desert regions.
Background
By using the traditional afforestation method, the planting structure is disordered, the labor intensity is high, the labor efficiency is low, and the current trend of robot changing is far from being met. In order to improve the working efficiency, a tree planter is also used for afforestation at present, for example, a tree planter disclosed in patent No. CN 205727379U can improve the labor efficiency and reduce the labor intensity, but there are many disadvantages, a person needs to stand on a rack of the tree planter to continuously transplant tree seedlings into gullies when planting trees, the distance between the planted tree seedlings is completely determined by the manual work, the manual seedling carrying does not necessarily enable the tree seedlings to be planted straightly, and the manual seedling carrying is completely felt, has a large error, and is also unsafe when the person stands on the machine, and is bumpy when passing through an uneven zone, so that potential safety hazards exist.
Disclosure of Invention
As mentioned earlier, a tree planter that cylindrical coordinate system traded seedling, including preceding frame, seedling frame, cylindrical coordinate system trades seedling mechanism, after-frame, covering device, press wheel, furrow opener, row ware, its characterized in that passes through bolt installation seedling frame in the preceding frame, and after-frame front portion upper portion trades seedling mechanism through bolt installation cylindrical coordinate system, after-frame rear portion lower part passes through the covering device of square steel installation, and covering device rear portion passes through the press wheel of square steel installation. The lower parts of the front frame and the rear frame are provided with furrow openers through a gear reduction box, and the left end of the front part of each furrow opener is provided with a rowing machine through a bolt.
For the tree planting machine for changing the seedlings by the cylindrical coordinate system, the rotating speed and the rotating direction of the four hydraulic motors are controlled by programming of an electric system, and the hydraulic motors control the mechanical arms of the cylindrical coordinate seedling changing device to move to the specified positions according to the motion tracks set by the (r, theta, z) coordinates at preset speed and acceleration by rotating.
For the tree planting machine for changing seedlings in the cylindrical coordinate system, the manipulator adopts a double-crank rocker symmetric mechanism, and the structure is simple and the work is reliable.
For the tree planting machine for changing seedlings in the cylindrical coordinate system, the rear shaft of the tractor is connected with the input shaft of the reduction gearbox of the ditcher of the tree planting machine through the universal joint, and the torque power source for ditching is provided by the ditcher, so that the coulter of the ditcher performs rotary tillage and soil excavation motion.
For the tree planting machine for changing the seedlings in the cylindrical coordinate system, the front frame is driven by the tractor during tree planting, forward traction is provided for the tree planting machine, the tractor drags the front frame, the tree planting machine is made to advance, and meanwhile, a forward force is provided for the furrow opener.
In order to overcome the current situations of poor maneuverability and poor seedling carrying of the existing tree planting machine, the invention provides the traction type tree planting machine with the function of changing seedlings by a cylindrical coordinate system. The method has the advantages of high automation degree, tree planting depth, self-control of tree planting distance and good tree planting effect.
Drawings
Fig. 1 is a schematic structural view of the present invention.
FIG. 2 is a top plan view of FIG. 1 with a dotted line showing a row of seedling planting movement trajectories.
Fig. 3 is a schematic structural diagram of the coordinate seedling changing system 2 of the tree planter.
Fig. 4 is a schematic view of the robot structure.
Fig. 5 is a schematic view of a one-way seedling taking channel on the seedling frame 2 of the tree planter.
FIG. 6 is a flow chart of a tree planting process of the tree planter.
In the attached figure 1: 1. the device comprises a front frame, 2 seedling frames, 3 cylindrical coordinate system seedling changing mechanisms, 4 rear frames, 5 press wheels, 6 soil coverers, 7 furrow openers and 8 row rowers.
In FIG. 3: 9. the mechanical arm, 10.r coordinate direct-acting guide rail mechanism, 11.z coordinate vertical moving mechanism and 12. theta coordinate horizontal rotating mechanism.
Detailed Description
The invention is described in further detail below with reference to the figures and the detailed description.
As shown in figure 1, when the tree planter plants trees, arrange the sapling earlier on the seedling frame, the tractor pulls the front frame through the round pin hub connection and moves forward, give a forward traction force of front frame, make the tree planter move forward, the rear axle of tractor passes through the universal joint and connects, make the tree planter furrow opener rotate, dig out a soil box, post coordinate trades seedling mechanism and moves the sapling on the seedling frame to soil box top through the manipulator and inserts, then backfill soil by the covering device, there is the compacting of press wheel again, accomplish the tree planting, can plant in succession in batches, the liberation labour, the efficiency that the sapling was planted is greatly improved, time saving and labor saving. When the tree is planted, the line marker on the left side of the tree planter can mark a line on the left side, and the tree planting is guaranteed to be regular.
As mentioned above, before planting, the seedling frame is lifted up to be vertical to the front frame, the seedlings are inserted from the small ends of the tops of the seedlings, the seedlings are uniformly inserted into the rectangular seedling frame in a 7 x 16 scale, and the seedling frame is put down after being fully inserted, so that the seedling inserting work is completed. The seedling frame of the tree planting machine is suitable for 50mmThe left and right thick and thin saplings are 130 per minute on the seedling frame considering the larger rootmm×130mmA plant seedling is interpolated in the space.
As mentioned above, after the sapling is planted, the tractor is connected with the front frame to drive the tree-planting machine to move forward, so as to provide forward force for the tree-planting machine, at the same time, the rear shaft of the tractor is connected with the input shaft of the speed reducer of the furrow opener through the input shaft, so as to provide torque and rotating speed for the input shaft of the speed reducer, so that the coulter of the furrow opener rotates, and the resultant force of the forward force and the rotating speed can make the tree-planting machine dig a soil groove and till deepa=250mmWidth of cultivationb=350mm。
As shown in figure 2, a cylindrical coordinate seedling changing mechanism is mounted on the rear rack, so that cyclic continuous seedling clamping and seedling inserting can be realized, an electrical system controlled by a PLC controls each switch of a hydraulic system, the r coordinate linear motion guide rail mechanism, the z coordinate vertical motion mechanism and the theta coordinate horizontal motion mechanism change the coordinate value of a manipulator through the rotation of a motor of the hydraulic system, and the manipulator of the cylindrical coordinate seedling changing mechanism clamps and plants the tree seedlings in space according to preset motion track, speed and acceleration.
As shown in fig. 4, the manipulator adopts a central symmetric double-crank rocker mechanism, and two parallel jaws move oppositely under the drive of a hydraulic motor to form the opening and closing of the manipulator.
As shown in fig. 5, when the manipulator takes the seedlings from the seedling frame, the seedlings are taken from the outside to the inside, each row of seedlings on the seedling frame move along a one-way channel in the processed small lattices, when the seedlings are placed in the lattices, the seedlings cannot move, and when the manipulator clamps the seedlings to give an outward force to the seedlings, the seedling planting machine can overcome the elasticity of the elastic plate to move out under the action of the force.
As mentioned above, after the tree planter inserts the tree seedling, the coverer at the tail of the tree planter can backfill the sandy soil, the coverer is two plates with V-shaped structures, and the sandy soil beside the groove is pushed into the soil groove through the slopes of the two plates at the left side and the right side. The back of the covering device is provided with a press wheel which is a supporting part at the tail part of the tree planting machine below the back frame of the tree planting machine, and the backfilled sandy soil is compacted by the gravity of the upper tree planting machine after the sandy soil is backfilled.
As shown in figure 5, the working principle of the invention is that firstly, the sapling is placed through a man-machine interaction system, the program is programmed, and after the furrow opener ditches, the electric system controls a hydraulic system to complete the continuous grabbing and transplanting of the sapling by a manipulator. And finally, covering soil by using the V-shaped soil covering device, wherein the soil covering angle of the V-shaped soil covering device is 60 degrees, and the press wheel compacts sandy soil by depending on the gravity of the tree planting machine.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which are all covered by the claims of the present invention.
Claims (3)
1. The utility model provides a tree planter that cylindrical coordinate system traded seedling, including preceding frame (1), seedling frame (2), cylindrical coordinate system trades seedling mechanism (3), after-frame (4), press wheel (5), covering device (6), furrow opener (7), row ware (8), through bolt installation seedling frame (2) on its characterized in that preceding frame (1), after-frame (4) front portion divides the part to trade seedling mechanism (3) through bolt installation cylindrical coordinate system, after-frame (4) rear portion divides the lower part to pass through square steel installation covering device (6), covering device rear portion passes through square steel installation press wheel (5), gear reduction box installation furrow opener (7) are passed through to preceding frame (1) and after-frame (4) lower part, row ware (8) have been installed through the bolt in furrow opener (7) anterior left end.
2. The tree planter that cylindrical coordinate system trades seedling of claim 1, characterized by: the seedling changing mechanism (3) is installed on the rear rack (4) through bolts, the seedling changing mechanism of the cylindrical coordinate system is provided with a theta coordinate horizontal rotating mechanism (12) through a bottom plate installation belt, a z coordinate vertical moving mechanism (11) is installed at the top of the theta coordinate horizontal rotating mechanism (12) through lead screw transmission, the front portion of the z coordinate vertical moving mechanism (11) is connected and installed through an r coordinate direct-acting guide rail mechanism (10) through belt transmission, the front portion of the r coordinate direct-acting guide rail mechanism (10) is connected with a mechanical arm (9) through bolts, and the mechanical arm (9) adopts a centrosymmetric double-crank rocker mechanism.
3. According to the claims 1 and 2, in order to ensure the tree planting speed in the tree planting process, the theta coordinate horizontal rotating mechanism (12) and the r coordinate straight moving guide rail mechanism (10) of the cylindrical coordinate seedling changing mechanism are driven by belts, so that the speed can be increased, and the function of overload protection is achieved, the left side and the right side of the rear rack (4) are respectively provided with the cylindrical coordinate seedling changing mechanism (3), so that the seedling changing speed can be doubled, the seedling rack (2) is provided with a one-way channel, the mechanical hand (9) is opened and closed by a central symmetrical crank rocker, and the seedlings can be pulled out under the tensile force of the mechanical hand (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010023981.7A CN110972879A (en) | 2020-01-09 | 2020-01-09 | Tree planting machine for changing seedlings by cylindrical coordinate system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010023981.7A CN110972879A (en) | 2020-01-09 | 2020-01-09 | Tree planting machine for changing seedlings by cylindrical coordinate system |
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| CN110972879A true CN110972879A (en) | 2020-04-10 |
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| CN202010023981.7A Pending CN110972879A (en) | 2020-01-09 | 2020-01-09 | Tree planting machine for changing seedlings by cylindrical coordinate system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111406472A (en) * | 2020-05-21 | 2020-07-14 | 石河子大学 | Drum-type tree planter capable of automatically changing seedlings and planting |
| CN112514604A (en) * | 2020-12-07 | 2021-03-19 | 石河子大学 | Automatic planting device for continuous ditching tree planting machine |
| CN115250865A (en) * | 2022-08-18 | 2022-11-01 | 兰州工业学院 | Container seedling planting machine suitable for desert area |
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Cited By (5)
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| CN111406472B (en) * | 2020-05-21 | 2022-06-14 | 石河子大学 | Drum-type tree planter capable of automatically changing seedlings and planting |
| CN112514604A (en) * | 2020-12-07 | 2021-03-19 | 石河子大学 | Automatic planting device for continuous ditching tree planting machine |
| CN112514604B (en) * | 2020-12-07 | 2021-11-30 | 石河子大学 | Automatic planting device for continuous ditching tree planting machine |
| CN115250865A (en) * | 2022-08-18 | 2022-11-01 | 兰州工业学院 | Container seedling planting machine suitable for desert area |
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