CN112400650A

CN112400650A - Intelligent desert tree planting robot

Info

Publication number: CN112400650A
Application number: CN202011422610.2A
Authority: CN
Inventors: 王强; 任子菁; 葛俊杰; 李普霖
Original assignee: Wuhan University of Technology WUT
Current assignee: Wuhan University of Technology WUT
Priority date: 2020-12-08
Filing date: 2020-12-08
Publication date: 2021-02-26

Abstract

The invention relates to an intelligent desert tree planting robot which comprises a travelling mechanism, a base, a loading box, a blocking cover and a planting mechanism, wherein the travelling mechanism comprises a travelling driving piece and travelling crawler wheels, and the travelling crawler wheels are connected to two sides of the travelling driving piece; the base comprises a horizontal part, a vertical part and a driving lever, the vertical part is connected to one end of the horizontal part, the horizontal part is connected to the walking driving part, a connecting groove is formed in the horizontal part, an inserting strip hole and a punching groove are formed in the vertical part, the inserting strip hole penetrates through the vertical part and is respectively communicated with the connecting groove and the punching groove.

Description

Intelligent desert tree planting robot

Technical Field

The invention relates to the technical field of robots, in particular to an intelligent desert tree planting robot.

Background

Desertification and desertification are major ecological problems facing the world, and the main measures taken to cope with the problems are to return part of desertified cultivated lands to forest lands.

At present, the related modes of desert tree planting at home and abroad are mainly divided into four modes, the first mode is the most common manual tree planting mode, but the storage, transportation, soil excavation, seedling planting and cultivation of tree seedlings consume a large amount of manpower, the operation efficiency is low, the labor intensity is high, and the operation quality cannot be guaranteed. And secondly, semi-mechanized planting, namely mechanized ditching and manual strip placement, wherein the mechanical ditching width is about 1 m, and the damage to original soil vegetation is serious. The third is mechanical cutting planting, i.e. a caterpillar tractor is used to draw a hydraulic seedling planting machine to carry out afforestation, and the ditching, planting, earthing and pressing are completed at one time, so that the efficiency is high, the labor is saved, but the cost is high, and the operation on sand dunes with poor water content is not suitable. The fourth is a modular tree planting robot which is currently researched and developed at home and abroad, but the modular robot still has the problems of high desert planting cost, complex operation modules, low stability, lack of watering devices, difficulty in adapting to complex desert terrain due to chassis design and the like at the present stage.

Therefore, it is necessary to provide an intelligent desert tree planting robot to solve the above problems, which can realize tree planting in desert, and has the advantages of good tree planting effect, high efficiency and low cost. The national university student innovation startup training program subsidizes S202010497194.

Disclosure of Invention

In view of the above, the invention provides an intelligent desert tree planting robot to solve the problem that the existing tree planting robot is difficult to adapt to complex desert terrain.

In order to achieve the above object, the technical solution of the present invention for solving the technical problem is to provide an intelligent desert tree planting robot, comprising: the planting device comprises a walking mechanism, a base, a loading box, a blocking cover and a planting mechanism, wherein the walking mechanism comprises a walking driving piece and walking crawler wheels, and the walking crawler wheels are connected to two sides of the walking driving piece; the base comprises a horizontal part, a vertical part and a shifting lever, the vertical part is connected to one end of the horizontal part, the horizontal part is connected to the walking driving piece, a connecting groove is formed in the horizontal part, an inserting bar hole and a punching groove are formed in the vertical part, and the inserting bar hole penetrates through the vertical part and is respectively communicated with the connecting groove and the punching groove; the deflector rod is positioned in the connecting groove, and one end of the deflector rod, which is close to the vertical part, is rotatably connected with the inner wall of the connecting groove; the loading box comprises a box body and a branch piece, the box body is connected to the horizontal part and is a hollow cavity, and a branch groove penetrating through the box body is formed in one side wall of the box body; the branch piece is positioned in the branch groove and is rotationally connected with the inner wall of the box body; the baffle cover is a hollow cavity, is positioned in the connecting groove and covers the deflector rod, is provided with a feeding groove, and is superposed with the branch groove; the planting mechanism comprises a planting driving piece, a stamping rod and a water pipe, the planting driving piece, the stamping rod and the water pipe are all located in the stamping groove, and the planting driving piece is connected to the inner wall of the stamping groove; one end of the water pipe is connected to the inner wall of the punching groove and is communicated with an external water source, and one end of the water pipe, which is far away from the punching groove, penetrates through the inserting bar hole and is exposed out of the base; one end of the punching rod penetrates through the inserting bar hole to be exposed out of the base, is connected with the vertical part in a sliding mode, and is connected with the planting driving part so as to reciprocate along the axial direction of the inserting bar hole under the driving of the planting driving part.

Furthermore, a U-shaped fixture block is arranged on the stamping rod, the planting driving piece comprises a gear box, a driving gear, a driven gear, a clamping plate and a driven gear, the driving gear and the driven gear are both arranged in the gear box, and the driving gear is meshed with the driven gear; the clamping plate is arranged on the outer wall of the gear box and extends towards the direction close to the stamping rod, and the U-shaped clamping block is clamped with the clamping plate; the punching groove is internally provided with a gear rack, the driven gear is exposed out of the gear box and meshed with the gear rack so as to drive the driven gear to rotate through the driving gear, and therefore transmission is formed between the driven gear and the gear rack through meshing, the clamping plate is further utilized to drive the U-shaped clamping block to move together, and therefore the planting driving piece drives the punching rod to move.

Further, a motor for driving the driving gear is arranged in the gear box to provide motive power for the driving motor.

Further, still be provided with the punching press on the base and rotate the motor, the punching press rotate the output shaft of motor with the punching press pole is connected, in order to drive the punching press pole rotates, thereby makes the U go the fixture block with joint board joint or break away from the joint.

Furthermore, a sliding groove is formed in the horizontal part, a sliding boss is arranged on the box body, and the sliding boss is in sliding fit with the sliding groove.

Further, the sliding boss is T-shaped.

Furthermore, one end of the water pipe close to the ground is provided with an annular sand flushing block, and the annular sand flushing block is communicated with the water pipe.

Furthermore, a water gun is arranged on one surface, close to the ground, of the annular sand flushing block, and the water gun is communicated with the water pipe through the annular sand flushing block.

Furthermore, the box body comprises a cutting placing area and a cutting arranging area, and the inner wall of the cutting placing area is an inclined plane and is communicated with the cutting arranging area; the cutting arranging area is internally provided with an arranging component, the branch grooves are formed in the side walls of the arranging area, and therefore the cutting to be planted is arranged by the arranging component and falls out of the branch grooves.

Further, the arrangement component comprises a transmission belt and a plurality of clamping plates, the clamping plates are connected to the transmission belt at equal intervals, so that the cuttings to be planted are placed in the cuttings placement area and fall onto the arrangement component, and then the cuttings are just clamped between the two clamping plates, and the cuttings to be planted are transported to the branch grooves by utilizing the connection of the clamping plates.

Compared with the prior art, the intelligent desert tree planting robot provided by the invention has the following beneficial effects:

through running gear, base, loading case, keep off cover and planting mechanism mutually support, utilize running gear to provide the removal function promptly, the base provides the support function, loads the incasement and loads the cutting of waiting to plant with keeping off cover and planting mechanism cooperation with the cutting, can realize the tree planting in the desert, it is effectual to plant the tree, efficient, with low costs.

Drawings

Fig. 1 is a schematic structural diagram of an intelligent desert tree planting robot according to a first embodiment of the present invention;

FIG. 2 is a schematic structural view of the travel mechanism of FIG. 1;

FIG. 3 is a schematic structural view of the base of FIG. 1;

FIG. 4 is a schematic view of the structure of the loading compartment of FIG. 1;

FIG. 5 is a schematic view of the shield of FIG. 1;

FIG. 6 is a schematic structural view of the planting mechanism of FIG. 1;

FIG. 7 is an enlarged view of a portion of FIG. 6 at A;

FIG. 8 is a schematic cross-sectional view of the driving member of FIG. 6;

FIG. 9 is a schematic mechanical view of the collating assembly of FIG. 4;

description of reference numerals: 10. an intelligent desert tree planting robot; 20. a traveling mechanism; 30. a base; 40. a loading bin; 50. a shield; 60. a planting mechanism; 21. a travel drive; 22. a walking crawler wheel; 31. a horizontal portion; 32. a vertical portion; 33. a deflector rod; 311. connecting grooves; 312. a sliding groove; 321. a strip inserting hole; 322. punching a groove; 41. a box body; 42. a branch member; 411. a branch groove; 412. a sliding boss; 51. a feed chute; 61. a planting driving member; 62. a stamping rod; 621. a U-shaped clamping block; 63. a water pipe; 631. annular sand washing blocks; 632. a water gun; 611. a gear case; 612. a drive gear; 613. a clamping and connecting plate; 614. a driven gear; 412. a cutting placement area; 413. a cutting arrangement area; 43. arranging the components; 431. a conveyor belt; 432. and (4) clamping the plate.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1-9, the intelligent desert tree planting robot 10 provided by the invention comprises a traveling mechanism 20, a base 30, a loading box 40, a blocking cover 50 and a planting mechanism 60, wherein the base 30 is connected to the traveling mechanism 20, and the loading box 40, the blocking cover 50 and the planting mechanism 60 are all connected to the base 30, so that the base 30, the loading box 40, the blocking cover 50 and the planting mechanism 60 are driven to move by the traveling mechanism 20. Wherein, the cutting with planting is positioned in the loading box 40, when the cutting needs to be planted, the cutting in the loading box 40 is transmitted to the planting mechanism 60, and the planting mechanism 60 is used for planting, watering and irrigating.

Specifically, the traveling mechanism 20 includes a traveling driver 21 and traveling crawler wheels 22, and the traveling crawler wheels 22 are connected to both sides of the traveling driver 21 to drive the traveling crawler wheels 22 through the traveling driver 21, thereby realizing movement on the ground.

It can be understood that the walking driving member 21 may be a motor, the walking track wheel 22 may be a roller wrapped by a track, and an output shaft of the motor is connected to the roller, so as to drive the walking track wheel 22.

The base 30 includes a horizontal portion 31, a vertical portion 32 and a lever 33, the vertical portion 32 is connected to one end of the horizontal portion 31, and the horizontal portion 31 is connected to the walking driving member 21. The horizontal portion 31 is formed with a connecting slot 311, the vertical portion 32 is formed with an inserting hole 321 and a punching slot 322, wherein the inserting hole 321 penetrates through the vertical portion 32 and is respectively communicated with the connecting slot 311 and the punching slot 322. The shift lever 33 is located in the connecting slot 311, and one end of the shift lever close to the vertical portion 32 is rotatably connected to the inner wall of the connecting slot 311.

The loading box 40 includes a box 41 and a branch member 42, the box 41 is connected to the horizontal portion 31 and is a hollow cavity, and a branch slot 411 is formed on one side wall of the box 41 and penetrates through the box 41. The branch member 42 is located in the branch slot 411 and is rotatably connected to the inner wall of the case 41 so as to turn the cuttings to be planted in the case 41 out of the case 41 by the rotation of the branch member 42 relative to the case 41.

It will be understood that the cuttings to be planted are young plants and are placed in the housing 41, and the branch member 42 is a semi-cylindrical shell having an opening at one side, and when the opening of the branch member 42 faces the inside of the housing 41, the cuttings can be put into the branch member 42 from the opening, thereby being carried out of the housing 41 when the branch member 42 is rotated relative to the housing 41 to open away from the housing 41.

The blocking cover 50 is a hollow cavity inside, is located in the connecting groove 311 and covers the shift lever 33, and is provided with a feeding groove 51 thereon, and the feeding groove 51 coincides with the branch groove 411, so that when the branch member 42 rotates the slip out of the box 41, the slip just enters the blocking cover 50 from the feeding groove 51.

It will be appreciated that, after the slip is received in the shield 50, the slip can be shifted into the slip hole 321 by rotating the shift lever 33 from a direction parallel to the horizontal plane to a direction perpendicular to the horizontal plane, thereby dropping the slip out of the base 30 from the slip hole 321 in a direction perpendicular to the horizontal plane.

Planting mechanism 60 is including planting driving piece 61, punching press pole 62 and water pipe 63, and planting driving piece 61, punching press pole 62 and water pipe 63 all are located punching press groove 322, and wherein, plant driving piece 61 and connect on punching press groove 322's inner wall. One end of the water pipe 63 is connected to the inner wall of the stamping groove 322 and is communicated with an external water source, and the end thereof far away from the stamping groove 322 passes through the bar-inserting hole 321 and is exposed out of the base 30. One end of the punching rod 62 also penetrates through the inserting bar hole 321 to be exposed out of the base 30, is connected with the vertical part 32 in a sliding manner, and is connected with the planting driving part 61 so as to reciprocate along the axial direction of the inserting bar hole 321 under the driving of the planting driving part 61, so that the punching rod 62 is used for punching the ground, the inserting bar to be planted is conveniently pushed by the shifting rod 33 to fall out of the base 30, and then directly enters a hole formed by the punching rod 62 punching the ground, and then water is sprayed by the water pipe 63, and planting is completed.

It can be understood that the punching rod 62 can be slidably connected to the vertical portion 32 by any means such as a sliding slot, a spring, etc. as long as it can slide in the punching slot 322 and the inserting hole 321 under the driving of the planting driving member 61 to punch the ground.

Furthermore, a U-shaped block 621 is disposed on the pressing rod 62, the plant driving member 61 includes a gear box 611, a driving gear 612, a clamping plate 613 and a driven gear 614, the driving gear 612 and the driven gear 614 are disposed in the gear box 611, the driving gear 612 is engaged with the driven gear 614, the clamping plate 613 is disposed on an outer wall of the gear box 611 and extends toward a direction close to the pressing rod 62, and the U-shaped block 621 is clamped with the clamping plate 613. A rack (not shown) is further disposed in the punching groove 322, the driven gear 614 is exposed out of the gear box 611 and is engaged with the rack, so that the driven gear 614 is driven by the driving gear 612 to rotate, the driven gear 614 and the rack are engaged to form transmission, and the clamping plate 613 is further used to drive the U-shaped clamping block 621 to move together, so that the planting driving member 61 drives the punching rod 62 to move.

It will be appreciated that a motor is provided within the gear box 611 to rotate the drive gear 612 to provide motive force to the drive gear 612.

Further, a stamping rotating motor (not shown) is further disposed on the base 30, and an output shaft of the stamping rotating motor is connected to the stamping rod 62 to drive the stamping rod 62 to rotate, so that the U-shaped clamping block is clamped or disengaged from the clamping plate 613.

Furthermore, the horizontal portion 31 is further provided with a sliding groove 312, the box 41 is provided with a sliding boss 412, the sliding boss 412 is in sliding fit with the sliding groove 312, so as to connect the box 41 and the horizontal portion 31, and the box 41 can be conveniently detached by providing the sliding boss 412 and the sliding groove 312.

Further, the sliding boss 412 is T-shaped to increase the stability of the sliding boss 412 and the sliding groove 312.

Further, an annular sand washing block 631 is arranged at one end of the water pipe 63 close to the ground, and the annular sand washing block 631 is communicated with the water pipe 63 to spray an external water source.

Furthermore, a water gun 632 is arranged on one surface, close to the ground, of the annular sand flushing block 631, and the water gun 632 is communicated with the water pipe 63 through the annular sand flushing block 631 so as to increase the pressure of water flow when water is sprayed.

Further, the box body 41 comprises a cutting placing area 412 and a cutting arranging area 413, the inner wall of the cutting placing area 412 is an inclined surface and is communicated with the cutting arranging area 413, an arranging assembly 43 is further arranged in the cutting arranging area 413, a cutting to be planted is initially located in the cutting placing area 412 and rolls onto the arranging assembly 43 in the cutting arranging area 413 through the inclined surface, and the branch grooves 411 are formed in the side wall of the cutting arranging area 413 so as to arrange the cutting to be planted in the box body 41 by the arranging assembly 43 and enable the cutting to fall out of the branch grooves 411 on the box body 41 in sequence.

Further, the arranging assembly 43 comprises an arranging conveyor 431 and clamping plates 432, wherein the clamping plates 432 are connected to the conveyor 431 at equal intervals so as to be exactly clamped to the two clamping plates 432 when the cutting to be planted falls onto the arranging assembly 43 from the cutting placing area 412, so that the cutting to be planted is continuously transported to the branch slot 411 by the plurality of clamping plates 432.

The working principle of the invention is as follows: when the travelling mechanism 20 runs to the position to be planted, the planting driving piece 61 drives the punching rod 62 to punch a hole for planting on the ground, then the branch piece 42 turns the cutting to be planted in the box body 41 into the blocking cover 50, the shifting rod 33 is lifted to enable the cutting to be planted to fall out of the blocking cover 50 from the cutting hole 321 in the direction perpendicular to the ground and fall into the hole punched by the punching rod 62, and the water pipe 63 injects water into the hole to complete planting.

The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an intelligence desert tree planting robot which characterized in that includes:

the planting device comprises a walking mechanism, a base, a loading box, a blocking cover and a planting mechanism, wherein the walking mechanism comprises a walking driving piece and walking crawler wheels, and the walking crawler wheels are connected to two sides of the walking driving piece;

the base comprises a horizontal part, a vertical part and a shifting lever, the vertical part is connected to one end of the horizontal part, the horizontal part is connected to the walking driving piece, a connecting groove is formed in the horizontal part, an inserting bar hole and a punching groove are formed in the vertical part, and the inserting bar hole penetrates through the vertical part and is respectively communicated with the connecting groove and the punching groove; the deflector rod is positioned in the connecting groove, and one end of the deflector rod, which is close to the vertical part, is rotatably connected with the inner wall of the connecting groove;

the loading box comprises a box body and a branch piece, the box body is connected to the horizontal part and is a hollow cavity, and a branch groove penetrating through the box body is formed in one side wall of the box body; the branch piece is positioned in the branch groove and is rotationally connected with the inner wall of the box body;

the baffle cover is a hollow cavity, is positioned in the connecting groove and covers the deflector rod, is provided with a feeding groove, and is superposed with the branch groove;

the planting mechanism comprises a planting driving piece, a stamping rod and a water pipe, the planting driving piece, the stamping rod and the water pipe are all located in the stamping groove, and the planting driving piece is connected to the inner wall of the stamping groove; one end of the water pipe is connected to the inner wall of the punching groove and is communicated with an external water source, and one end of the water pipe, which is far away from the punching groove, penetrates through the inserting bar hole and is exposed out of the base; one end of the punching rod penetrates through the inserting bar hole to be exposed out of the base, is connected with the vertical part in a sliding mode, and is connected with the planting driving part so as to reciprocate along the axial direction of the inserting bar hole under the driving of the planting driving part.

2. The intelligent desert tree planting robot as claimed in claim 1, wherein:

the punching rod is provided with a U-shaped clamping block, the planting driving piece comprises a gear box, a driving gear, a driven gear, a clamping plate and a driven gear, the driving gear and the driven gear are both arranged in the gear box, and the driving gear is meshed with the driven gear; the clamping plate is arranged on the outer wall of the gear box and extends towards the direction close to the stamping rod, and the U-shaped clamping block is clamped with the clamping plate; the punching groove is internally provided with a gear rack, the driven gear is exposed out of the gear box and meshed with the gear rack so as to drive the driven gear to rotate through the driving gear, and therefore transmission is formed between the driven gear and the gear rack through meshing, the clamping plate is further utilized to drive the U-shaped clamping block to move together, and therefore the planting driving piece drives the punching rod to move.

3. The intelligent desert tree planting robot as claimed in claim 2, wherein:

the gear box is internally provided with a motor which drives the driving gear so as to provide motive power for the driving motor.

4. The intelligent desert tree planting robot as claimed in claim 2, wherein:

still be provided with the punching press on the base and rotate the motor, the punching press rotate the output shaft of motor with the punching press pole is connected, in order to drive the punching press pole rotates, thereby makes the U line fixture block with joint plate joint or break away from the joint.

5. The intelligent desert tree planting robot as claimed in claim 1, wherein:

the horizontal part is provided with a sliding groove, the box body is provided with a sliding boss, and the sliding boss is in sliding fit with the sliding groove.

6. The intelligent desert tree planting robot as claimed in claim 5, wherein:

the sliding boss is T-shaped.

7. The intelligent desert tree planting robot as claimed in claim 1, wherein:

one end of the water pipe close to the ground is provided with an annular sand flushing block, and the annular sand flushing block is communicated with the water pipe.

8. The intelligent desert tree planting robot as claimed in claim 7, wherein:

and a water gun is arranged on one surface of the annular sand flushing block, which is close to the ground, and is communicated with the water pipe through the annular sand flushing block.

9. The intelligent desert tree planting robot as claimed in claim 1, wherein:

the box body comprises a cutting placing area and a cutting arranging area, and the inner wall of the cutting placing area is an inclined plane and is communicated with the cutting arranging area; the cutting arranging area is internally provided with an arranging component, the branch grooves are formed in the side walls of the arranging area, and therefore the cutting to be planted is arranged by the arranging component and falls out of the branch grooves.

10. The intelligent desert tree planting robot as claimed in claim 9, wherein:

the arrangement component comprises a transmission belt and a plurality of clamping plates, the clamping plates are connected to the transmission belt at equal intervals, so that the cuttings to be planted are placed on the arrangement component in an area where the cuttings are placed, and then are just clamped between the two clamping plates, and the cuttings to be planted are transported to the branch grooves by means of connection of the clamping plates.