CN112514604B - Automatic planting device for continuous ditching tree planting machine - Google Patents
Automatic planting device for continuous ditching tree planting machine Download PDFInfo
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- CN112514604B CN112514604B CN202011417431.XA CN202011417431A CN112514604B CN 112514604 B CN112514604 B CN 112514604B CN 202011417431 A CN202011417431 A CN 202011417431A CN 112514604 B CN112514604 B CN 112514604B
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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
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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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Abstract
The application provides an automatic planting device for a continuous ditching tree planting machine. The seedling box is arranged at the front end of the rack, and the seedlings are accommodated in the seedling box according to the uniform direction and move synchronously along with the continuous ditching and tree planting machine. After the ditching is accomplished to the ditching tree planter in succession, automatic planting device transports the sapling backward to the sequencing system through the sapling transport band of seedling bottom of the case portion, adjusts the sapling for the direction that is fit for the seedling transplanting device and receives and guarantees that the spacing distance between the adjacent sapling can cooperate the seedling transplanting device to receive centre gripping sapling to rotate the sapling and open the operation cycle of planting the sapling. From this, this application can realize getting the seedling automatically to through inserting the seedling ware with the gesture of fixed angle upset to being fit for planting, make the seedling can directly fall into the ditch of planting that continuous ditching tree planter offered, realize full-automatic planting.
Description
Technical Field
The application relates to the field of tree planting mechanical equipment, in particular to an automatic planting device for a continuous ditching tree planter.
Background
Land desertification is one of the most serious ecological environmental problems. Xinjiang desertification is representative and typical in China and even all over the world. In order to control the desertification of the land and prevent the wind sand from invading the land, the afforestation is needed. However, depending on manual tree planting, the investment is too large and the efficiency is low. The mechanized tree planting mode can reduce cost and labor intensity, and improve working efficiency and tree planting effect.
The existing mechanized tree planting equipment adopts a semi-automatic design mode mostly. The seedling taking and inserting processes of the existing tree planting equipment also need to depend on manpower. The problems of low working efficiency and high labor cost still exist in manual seedling taking and seedling transplanting.
Disclosure of Invention
This application is not enough to prior art, provides an automatic planting device for ditching tree planter in succession, and this application passes through the cooperation between pendulum rod mechanism, pneumatic cylinder and the sapling transportation area, can realize automatically getting the seedling and plant, practices thrift the human cost. The technical scheme is specifically adopted in the application.
Firstly, in order to achieve the above object, an automatic planting device for a continuous ditching tree planting machine is provided, which is installed on the continuous ditching tree planting machine and comprises:
the bottom of the rack is fixed on a mounting rack of the continuous ditching tree planting machine;
the seedling box is fixedly arranged at the front part of the rack, arranged on the mounting rack and used for accommodating the seedlings, and the lower end of the rear part of the seedling box is provided with an opening for the seedlings to horizontally move out;
a first belt disposed at one side of the bottom of the seedling box;
the seedling conveying belt is arranged between the seedling box and the rack, extends backwards from the bottom of the seedling box to the front side of the seedling inserting device through an opening of the seedling box, rotates synchronously with the first belt and is used for bearing and driving the seedlings to horizontally move backwards from the opening of the seedling box;
the sequencing system is arranged above the seedling conveying belt and positioned between the opening of the seedling box and the seedling transplanting device, is synchronous with the first belt, synchronously adjusts the spacing distance between the seedlings in the process that the seedling conveying belt drives the seedlings to move backwards from the opening of the seedling box to the seedling transplanting device, and adjusts the arrangement direction of each seedling to be vertical to the rotation direction of the seedling conveying belt;
and the seedling inserting device is arranged at the rear side of the seedling conveying belt and used for receiving the seedlings borne on the seedling conveying belt, clamping and overturning the seedlings in a direction perpendicular to the seedling conveying belt, and finally releasing the seedlings to vertically fall into a tree planting ditch formed by the continuous ditching and tree planting machine.
Optionally, the automatic planting apparatus for a continuous trench digging tree planter as described in any one of the above, wherein the sorting system is connected to the tree seedling conveying belt by a transmission system, the transmission system includes the first belt, and further includes:
the hydraulic motor is arranged between the rack and the sapling conveying belt and is used for outputting torque;
the second belt is arranged on one side of the mounting frame and is positioned below the first belt, the bottom end of the second belt is connected with an output shaft of the hydraulic motor, and the second belt is driven to rotate by the torque output by the hydraulic motor;
the swing cam is arranged on one side of the mounting rack, is simultaneously connected with the top end of the second belt, the rear end of the first belt and the sequencing system, and is driven by the second belt to drive the sequencing system to synchronously rotate with the first belt;
the first rotating shaft is arranged at the lower end of the front part of the seedling box, and the first rotating shaft is simultaneously connected with the first belt and the seedling conveying belt to drive the first belt and the seedling conveying belt to synchronously rotate.
Optionally, the automatic planting device for a continuous trench digging tree planting machine as described in any one of the above, wherein the sorting system includes:
the swing rod is arranged on the mounting frame and positioned on one side of the swing cam, and in the rotating process of the swing cam, the free end of the swing rod is pushed by the cam surface of the swing cam to turn upwards or reset downwards;
the swing rod rotating shaft is arranged on the mounting rack in a direction perpendicular to the sapling conveying belt, at least the height matched with the diameter of the sapling is arranged between the swing rod rotating shaft and the sapling conveying belt at intervals, and the end part of the swing rod rotating shaft is fixedly connected with the fixed end of the swing rod and synchronously rotates or resets along with the swing rod;
the swing stop levers are installed on the swing rod rotating shafts in pairs, and synchronously overturn upwards along with the swing rod rotating shafts to release the saplings or reset downwards correspondingly to abut against the saplings to prevent the saplings from moving backwards.
Optionally, the automatic planting device for a continuous trench digging tree planter as described in any one of the above, wherein the seedling transplanter includes:
the grabbing mechanism comprises channel steel, a clamping plate arranged at an opening part on one side of the channel steel and a clamping plate connecting rod simultaneously connecting the clamping plate and the channel steel, wherein the top of the channel steel is open, and the grabbing mechanism is arranged on the lower side of the rear end of the sapling conveying belt and used for receiving saplings pushed by the sapling conveying belt to fall;
the top end of the swing rod mechanism is provided with a clamp plate sliding groove, a clamp plate connecting rod rotating shaft is arranged in the middle of the clamp plate connecting rod, the upper side of the clamp plate connecting rod rotating shaft is simultaneously connected with a clamp plate and a channel steel through the upper section of the clamp plate connecting rod, the lower end of the clamp plate connecting rod is in sliding connection with the clamp plate sliding groove, the clamp plate connecting rod rotates downwards along with the swing rod mechanism from a vertical position to a first position and slides downwards along the clamp plate sliding groove and expands by taking the clamp plate connecting rod rotating shaft as a rotating center to drive the clamp plate to press close to the inner side of the channel steel to clamp the saplings, then the clamp plate connecting rod rotates downwards along with the swing rod mechanism from the first position to a second position and slides towards the top end of the swing rod mechanism along the clamp plate sliding groove and contracts by taking the clamp plate connecting rod rotating shaft as the rotating center to drive the clamp plate to be far away from the inner side of the channel steel to release the saplings;
and the output end of the hydraulic cylinder is fixedly connected with the bottom end of the swing rod mechanism and is used for driving the swing rod mechanism to reciprocate between the vertical position and the second position so as to correspondingly receive and clamp the sapling or correspondingly turn over and release the sapling.
Optionally, the automatic planting device for a continuous trench digging tree planting machine as described in any one of the above, wherein the swing link mechanism includes:
the middle guide rod comprises a front guide groove and a rear guide groove which are respectively arranged at the front side and the rear side of the middle guide rod along the length direction, the output end of the hydraulic cylinder is connected with the rear guide groove in a sliding manner, the middle guide rod is driven to rotate to an upright position in the lifting process of the output end of the hydraulic cylinder, and the middle guide rod is driven to rotate to a lodging position in the contraction process of the output end of the hydraulic cylinder;
the operation guide rod is parallel to the rotating surface of the middle guide rod, is arranged on the front side of the middle guide rod and is positioned below the grabbing mechanism, a clamping plate sliding groove is formed in the top end of the operation guide rod, a guide sliding rod is arranged in the middle of the operation guide rod, the rear end of the guide sliding rod is in sliding connection with the front guide groove of the middle guide rod, the bottom of the operation guide rod is rotatably connected to the rack, the bottom of the operation guide rod is taken as a rotating center, the operation guide rod is driven by the guide sliding rod to rotate to a vertical position when rotating to an upright position, and the operation guide rod is driven by the guide sliding rod to rotate downwards to a second position through a first position in the process that the middle guide rod rotates downwards to a lodging position;
the curve guide rail is parallel to the rotating surfaces of the middle guide rod and the operation guide rod and is vertically arranged on the front sides of the operation guide rod and the middle guide rod, an inward concave inflection point corresponding to the first position is formed between the top end and the bottom end of the curve guide rail in a connected mode, the front end of the guide slide bar is in sliding connection with the curve guide rail and extends along the curve guide rail, and the top end of the curve guide rail passes through the inward concave inflection point to reach the bottom end of the curve guide rail in the process that the operation guide rod rotates from the vertical position to the second position through the first position.
Optionally, the automatic planting device for the continuous ditching tree planter as described in any one of the above, wherein the rear part of the frame is further fixedly provided with a first bearing and a second bearing;
the bottom of the middle guide rod is rotatably connected with the first bearing and rotates on the frame by taking the first bearing as a rotation center.
The bottom of the operation guide rod is in rotating connection with the second bearing, and the operation guide rod rotates on the rack by taking the second bearing as a rotating center.
Optionally, the automatic planting device for a continuous trench digging tree planting machine as described in any one of the above, wherein the curved guide rail comprises:
the first linear guide rail is vertically arranged on the front side of the operation guide rod, and the bottom of the first linear guide rail is provided with a first radian bent towards the rotation direction of the operation guide rod;
the top of the middle arc guide rail is connected with the bottom of the first linear guide rail, and the middle arc guide rail is in smooth transition and forms the concave inflection point;
and the second linear guide rail is horizontally arranged on the front side of the operation guide rod, the top of the second linear guide rail is connected with the bottom of the middle arc guide rail, and the second linear guide rail is in smooth transition and is bent to the rotation direction of the operation guide rod to form a second radian.
Optionally, the automatic planting device for the continuous ditching tree planter as described in any one of the above, wherein the bottom of the first linear guide rail and the middle of the second linear guide rail are respectively connected with two support rods parallel to each other, and the curved guide rail is fixedly connected above the rear portion of the frame by the support tube.
Optionally, the automatic planting device for the continuous ditching tree planter as described in any one of the above, wherein the first belt, the second belt, the swing cam, the swing link mechanism and the hydraulic cylinder are all disposed on the same side of the frame.
Advantageous effects
This application is at the front end installation seedling case of frame, holds the sapling according to unified direction and follows continuous ditching tree planter synchronous motion in the seedling case. After the ditching is accomplished to the ditching tree planter in succession, automatic planting device transports the sapling backward to the sequencing system through the sapling transport band of seedling bottom of the case portion, adjusts the sapling for the direction that is fit for the seedling transplanting device and receives and guarantees that the spacing distance between the adjacent sapling can cooperate the seedling transplanting device to receive centre gripping sapling to rotate the sapling and open the operation cycle of planting the sapling. From this, this application can realize getting the seedling automatically to through inserting the seedling ware with the gesture of fixed angle upset to being fit for planting, make the seedling can directly fall into the ditch of planting that continuous ditching tree planter offered, realize full-automatic planting.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application and not limit the application. In the drawings:
FIG. 1 is a schematic view of the entire structure of an automatic planting apparatus according to the present application;
FIG. 2 is a schematic view of a seedling transport system in the automatic planting apparatus of the present application;
FIG. 3 is a schematic view of a sorting device in the automatic planting device of the present application;
FIG. 4 is a general assembly view of a seedling inserting device in the automatic planting apparatus of the present application;
FIG. 5 is a side view of a seedling transplanter in the automatic planting device of the present application;
FIG. 6 is a schematic view showing the operation of the seedling inserting device in the automatic planting device of the present application;
FIG. 7 is a schematic view of a curved guide rail used in the seedling transplanter of the present application;
fig. 8 is a schematic diagram of the operation process of the seedling inserting device in the application.
In the figure, 1-seedling box; 2-a first belt; 3-a swing cam; 4-a second belt; 5-a hydraulic motor; 6-a frame; 7-swing stop lever; 8-conveying the saplings; 9-a gripping mechanism; 10-a swing link mechanism; 11-a hydraulic cylinder; 12-sapling; 31-a swing rod rotating shaft; 32-swing link; 91-channel steel; 92-a splint; 93-a cleat link; 94-a cleat runner; 101-curved guide rails; 102-a guide slide bar; 103-intermediate guide rod
Detailed Description
In order to make the purpose and technical solutions of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings of the embodiments of the present application. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the application without any inventive step, are within the scope of protection of the application.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" as used herein is intended to include both the individual components or both.
The meaning of "inside and outside" in the application means that relative to the seedling inserter itself, the direction of the side wall of the channel steel pointing to the space for accommodating the seedlings in the opening is inside, and vice versa; and not as a specific limitation on the mechanism of the device of the present application.
The meaning of "left and right" in the application refers to that when the user is facing the advancing direction of the continuous ditching and tree planting machine, the left side of the user is left, and the right side of the user is right, but not the specific limitation of the device mechanism of the application.
The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components via other components.
The meaning of "up, down" in this application means that the direction from the frame to the opening of the seedling box or channel steel is up, otherwise down, when the user is facing the automatic planting device, rather than the specific limitation of the device mechanism of this application.
The meaning of "front and back" in the application refers to that when a user is just opposite to the advancing direction of the continuous ditching and tree planting machine, the direction from the seedling box to the seedling transplanting device is the back, otherwise, the direction is the front.
Fig. 1 is an overall structure of an automatic planting device for a continuous ditching tree planter according to the present application. The automatic planting machine is arranged on a continuous ditching tree planting machine and moves synchronously along with the continuous ditching tree planting machine so as to automatically plant seedlings in a tree planting ditch which is ditched and formed at the rear side of the continuous ditching tree planting machine. For the automatic planting of sapling of realizing, this automatic planting device can set up to specifically including:
the bottom of the frame 6 is fixed on a mounting rack of the continuous ditching tree planting machine;
the seedling box 1 is fixedly arranged at the front part of the rack 6, arranged on the mounting rack and used for accommodating the seedlings 12, and the lower end of the rear part of the seedling box 1 is provided with an opening for the seedlings 12 to horizontally move out;
a first belt 2 disposed at one side of the bottom of the seedling box 1;
the sapling conveying belt 8 is arranged between the seedling box 1 and the rack 6, extends backwards from the bottom of the seedling box 1 to the front side of the sapling inserting device through an opening of the seedling box 1, and synchronously rotates with the first belt 2 to bear and drive saplings to horizontally move backwards from the opening of the seedling box 1;
the sequencing system is arranged above the seedling conveying belt 8 and positioned between the opening of the seedling box 1 and the seedling transplanting device, is synchronous with the first belt 2, synchronously adjusts the spacing distance between the seedlings in the process that the seedling conveying belt 8 drives the seedlings to move backwards from the opening of the seedling box 1 to the seedling transplanting device, and adjusts the arrangement direction of each seedling to be vertical to the rotation direction of the seedling conveying belt 8;
and the seedling inserting device is arranged at the rear side of the seedling conveying belt 8 and is used for receiving the seedlings borne on the seedling conveying belt 8, clamping and overturning the seedlings in a direction perpendicular to the seedling conveying belt 8, and finally releasing the seedlings to vertically fall into a tree planting ditch formed by the continuous ditching and tree planting machine.
Therefore, the continuous ditching tree planter can realize continuous ditching through two groups of rotary coulters in the process of forward operation driven by a tractor, and correspondingly, orderly-arranged saplings are output at intervals through a sequencing system according to the forward speed of the continuous ditching tree planter and the requirements of the front and back planting intervals between the saplings, and the saplings are vertically dropped into the tree planting ditches arranged on the continuous ditching tree planter through the corresponding sapling receiving and root downward rotation of the saplings by the sapling inserting device. This application through sapling transportation area, sequencing system, insert the cooperation between devices such as seedling ware, can realize getting the seedling automatically and insert the seedling, reduce human cost and intensity of labour, improve work efficiency and tree planting effect.
Specifically, in the automatic planting device, the sequencing system and the seedling conveying belt 8 can be connected through the transmission system shown in fig. 2, so that the sequencing system can correspondingly arrange the seedlings to be output to the seedling transplanting device according to the planting distance requirement in accordance with the rotating speed of the seedling conveying belt 8. This drive train connection, the drive train includes the first belt 2, still includes:
the hydraulic motor 5 is arranged between the rack 6 and the sapling conveying belt 8 and is used for outputting torque;
a second belt 4 disposed at one side of the mounting frame and below the first belt 2, wherein a bottom end of the second belt 4 is connected to an output shaft of the hydraulic motor 5 and is driven to rotate by a torque output from the hydraulic motor 5;
the swing cam 3 is arranged on one side of the mounting rack, the swing cam 3 is simultaneously connected with the top end of the second belt 4, the rear end of the first belt 2 and the sequencing system, and the sequencing system is driven by the second belt 4 to synchronously rotate with the first belt 2;
the first rotating shaft is arranged at the lower end of the front part of the seedling box 1, and the first rotating shaft is simultaneously connected with the first belt 2 and the seedling conveying belt 8 to drive the first belt 2 and the seedling conveying belt 8 to synchronously rotate;
from this, second belt 4 accessible shaft coupling, band pulley are installed in hydraulic motor 5 left sides, swing cam 3 passes through the band pulley and is connected with second belt 4, rotates along with second belt 4, second belt 2 passes through the camshaft of band pulley and swing cam 3, sapling conveyer belt 8 passes through the band pulley and is connected with second belt 2, constitutes transmission system. Before planting, the root of the tree seedling needs to be uniformly placed into the seedling box 1 leftwards, so that the tree seedling is output to the seedling inserting device by the tree seedling conveying belt 8, and then the seedling inserting device receives corresponding leftwards overturning to enable the tree root to fall into a tree planting ditch formed by the continuous ditching and tree planting machine to plant the tree seedling.
In order to realize the sorting of the saplings output by the sapling conveying belt 8 and ensure that one sapling can be accurately received in each operating period of the sapling transplanting device to realize the planting, the sorting system can be arranged as shown in fig. 3, and comprises the following components:
the swing rod 32 is installed on the installation frame and is positioned on one side of the swing cam 3, and in the rotating process of the swing cam 3, the free end of the swing rod 32 is pushed by the cam surface of the swing cam 3 to turn upwards or reset downwards;
the swing rod rotating shaft 31 is arranged on the mounting frame in a direction perpendicular to the sapling conveying belt 8, at least the interval between the swing rod rotating shaft 31 and the sapling conveying belt 8 is of a height matched with the diameter of the sapling, and the end part of the swing rod rotating shaft 31 is fixedly connected with the fixed end of the swing rod 32 and synchronously rotates or resets along with the swing rod 32;
the swing stop levers 7 are installed on the swing rod rotating shafts 31 in pairs, and synchronously overturn upwards to release the saplings along with the swing rod rotating shafts 31 or correspondingly reset downwards to abut against the saplings to prevent the saplings from moving backwards;
from this, this sequencing system's swing pin 7 can be connected through pendulum rod pivot 31 and install in swing cam 3 right side to swing along with swing cam 3 together, constitute sapling sequencing system, seedling case 1 is placed in fuselage upper portion front position, send the seedling through the belt backward transmission, swing pin 7 separation sapling that is connected on the swing cam 3, automatic sequencing, make sapling automatic singly pass through in proper order and export it with the direction that is on a parallel with the seedling ware receiving opening backward through swing pin 7.
The seedling transplanting device comprises the following structures as shown in figure 4:
the grabbing mechanism 9 comprises a channel steel 91 with a sapling receiving opening formed in the top, a clamp plate 92 arranged at an open position on one side of the channel steel 91, and a clamp plate connecting rod 93 simultaneously connecting the clamp plate 92 with the channel steel 91, wherein the top of the channel steel 91 is open, is arranged on the lower side of the rear end of the sapling conveying belt 8 and is used for receiving the sapling 12 pushed by the sapling conveying belt 8 to fall;
the swing link mechanism 10 is provided at the top end thereof with a clamp plate chute 94 in the manner shown in fig. 5, a clamp plate connecting rod rotating shaft is provided in the middle of the clamp plate connecting rod 93, the upper side of the rotating shaft of the splint connecting rod is simultaneously connected with the splint 92 and the channel steel 91 through the upper section of the splint connecting rod 93, the lower end of the clamp connecting rod 93 is slidably connected to the clamp sliding groove 94, the clamp connecting rod 93 rotates downward along with the swing link mechanism 10 from the vertical position to the first position and slides downward along the clamp sliding groove 94 and is unfolded by using the clamp connecting rod rotating shaft as a rotating center, so as to drive the clamp plate 92 to press close to the inner side of the channel steel 91 to clamp the sapling 12, then, the clamp connecting rod 93 rotates downwards along with the swing rod mechanism 10 from the first position to the second position, slides to the top end of the swing rod mechanism 10 along the clamp sliding groove 94 and contracts by taking the clamp connecting rod rotating shaft as a rotating center, and drives the clamp plate 92 to be away from the inner side of the channel steel 91 so as to release the sapling 12;
and the output end of the hydraulic cylinder 11 is fixedly connected with the bottom end of the swing rod mechanism 10 and is used for driving the swing rod mechanism 10 to reciprocate between a vertical position on the left side of the graph 6 and a second position on the right side of the graph 6 in a mode shown in the graph 6 so as to correspondingly receive the saplings, then correspondingly clamping the saplings at the first position shown in the middle of the graph 6 to gradually turn over, and finally releasing the saplings in the vertical direction at the second position so as to place the saplings into the tree planting deep groove. The reciprocating motion of the cylinder can drive the corresponding connecting rod structures to realize the actions of receiving and inserting the seedlings, and the opening-closing-opening reciprocating motion of the mechanical arm consisting of the clamping plate 92 and the channel steel 91 is realized correspondingly through the matching relation between the connecting rods by the limit of the chute curve.
The swing link mechanism 10 may be specifically designed to include the following structure shown in fig. 8:
the middle guide rod 103 comprises a front guide groove and a rear guide groove which are respectively arranged at the front side and the rear side of the middle guide rod along the length direction, the output end of the hydraulic cylinder 11 is connected with the rear guide groove in a sliding manner, the middle guide rod 103 is driven to rotate to the vertical position in the lifting process of the output end of the hydraulic cylinder 11, and the middle guide rod 103 is driven to rotate to the lodging position in the contraction process of the output end of the hydraulic cylinder 11;
the operation guide rod is parallel to the rotating surface of the middle guide rod 103, is arranged on the front side of the middle guide rod 103 and is positioned below the grabbing mechanism 9, the top end of the operation guide rod is provided with a clamping plate sliding groove 94, the middle part of the operation guide rod is provided with a guide sliding rod 102, the rear end of the guide sliding rod 102 is in sliding connection with the front guide groove of the middle guide rod 103, the bottom of the operation guide rod is rotatably connected to the rack 6, the bottom of the operation guide rod is taken as a rotating center, the operation guide rod is driven by the guide sliding rod 102 to rotate to a vertical position when the middle guide rod 103 rotates to an upright position, and the operation guide rod 102 is driven by the guide sliding rod 102 to rotate downwards to a second position through a first position in the process that the middle guide rod 103 rotates downwards to a lodging position;
the curved guide rail 101 is parallel to the rotation surfaces of the intermediate guide rod 103 and the operation guide rod, and is vertically arranged on the front sides of the operation guide rod and the intermediate guide rod 103, a concave inflection point corresponding to the first position is formed by connecting the top end and the bottom end of the curved guide rail 101 in a manner shown in fig. 7, and the front end of the guide slide bar 102 is slidably connected with the curved guide rail 101 and reaches the bottom end of the curved guide rail 101 from the top end of the curved guide rail 101 through the concave inflection point in the process that the operation guide rod rotates from the vertical position to the second position through the first position along the curved guide rail 101.
In order to limit the rotation path of the intermediate guide rod 103 and the operation guide rod and realize the installation and fixation of the intermediate guide rod 103 and the operation guide rod, a first bearing and a second bearing can be fixedly installed on the rear bottom plate of the frame 6, so that:
the bottom of the middle guide rod 103 is rotatably connected with the first bearing and rotates on the frame 6 by taking the first bearing as a rotation center;
the bottom of the operation guide rod is rotatably connected with the second bearing and rotates on the frame 6 by taking the second bearing as a rotation center.
Therefore, the sapling can be backward output in the conveying process of the conveying belt and fall into the receiving port of the channel steel, and the channel steel and the clamping plate form a manipulator for clamping in the falling process. Splint, the folding mechanical hand that splint connecting rod, splint spout are constituteed, its turned angle position that opens and shuts the accessible operation guide arm, corresponding through splint connecting rod bottom in figure 5 to the distance S decision of operation guide arm bottom, make splint open and shut along with the change of distance S: the distance s is increased to cause the connecting rod of the splint to be opened and the splint to be opened; the s distance becomes smaller causing the link to contract and the clamp plate to close. The guide slide bar moves along the track of the curved guide rail, so that the distance 2 becomes smaller along with the curve, as shown in fig. 6, the guide slide bar moves upwards and downwards on the first guide rail 101-a of the curved guide rail 101 in fig. 7 to become larger, and the downward movement s becomes smaller, so that on the first guide rail 101-a, the clamp plate just starts to be opened, and after receiving the tree seedling, the clamp plate moves from top to bottom and then closes. In the arc section in the middle of the curved guide rail 101, the clamping plates are kept closed because the guide slide rail makes arc motion S in a small range. And finally, on the linear guide rail section in the horizontal direction at the lower side, the guide slide rod moves leftwards from the right side of the figure 7, the s is increased, the clamping plate is gradually opened, the tree seedling is released, and the planting is completed.
The curved guide 101 may be specifically configured to include:
a first linear guide 101-a vertically arranged at the front side of the operation guide rod, the bottom of which is provided with a first radian bending towards the rotation direction of the operation guide rod, and the bottom of the first linear guide 101-a can be provided with a support rod for fixedly connecting the curved guide 101 to the upper part of the rear part of the frame 6 through the support tube;
the top of the middle arc guide rail 101-b is connected with the bottom of the first linear guide rail 101-a, and the middle arc guide rail is in smooth transition and forms the concave inflection point;
the second linear guide rail 101-c is horizontally arranged on the front side of the operation guide rod, the top of the second linear guide rail is connected with the bottom of the middle arc guide rail 101-b, the second linear guide rail is in smooth transition and is bent towards the rotation direction of the operation guide rod to form a second radian, and the middle of the second linear guide rail 101-c can also be connected with a support rod perpendicular to the bottom surface of the rack 6 for fixing the curve guide rail in a connecting mode so as to avoid dislocation or deformation.
In the invention, in order to conveniently drive the saplings to be output and turned over, the first belt 2, the second belt 4, the swing cam 3, the swing rod 32, the swing rod mechanism 10 and the hydraulic cylinder 11 can be correspondingly arranged on the same side of the rack 6. The invention can also adopt PLC programming control to match with the driving of a hydraulic system, and the spacing between the saplings is set to be 1 m. Under the state that the advancing speed of the tree planting machine is 5km/s, the hydraulic motor 5 and the hydraulic cylinder 11 are controlled to enable the cam to send out a sapling every 3s of rotation, and the hydraulic motor 5 correspondingly finishes one working stroke of the sapling inserting system every 3 s. In a preferred implementation mode, the structure can further improve the control precision of the position spacing of the sapling by further adding a sensor for position feedback.
From this, this application can be with full-automatic mode, and the sapling that will sprout box 1 is through sapling transport mechanism backward transportation, makes its level fall into the channel-section steel of inserting the seedling system in, then cliies the sapling by 11 driven link mechanism of pneumatic cylinder, loosens after the pneumatic cylinder is rotated the vertical direction with the sapling by the horizontal direction, makes the sapling can be by the direct downward insertion of action of gravity plant the tree planting ditch of planting that the tree planting machine opened, the completion process of planting.
The above are merely embodiments of the present application, and the description is specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the protection scope of the present application.
Claims (7)
1. An automatic planting apparatus for a continuous trenching tree-planting machine, characterized in that the automatic planting apparatus is mounted on the continuous trenching tree-planting machine, comprising:
the bottom of the rack (6) is fixed on a mounting rack of the continuous ditching tree planting machine;
the seedling box (1) is fixedly arranged at the front part of the rack (6), arranged on the mounting rack and used for accommodating the seedlings (12), and the lower end of the rear part of the seedling box (1) is provided with an opening for the seedlings (12) to move out horizontally;
a first belt (2) arranged on one side of the bottom of the seedling box (1);
the sapling conveying belt (8) is arranged between the seedling box (1) and the rack (6), extends backwards from the bottom of the seedling box (1) to the front side of the sapling transplanting device through an opening of the seedling box (1), and synchronously rotates with the first belt (2) and is used for bearing and driving saplings to horizontally move backwards from the opening of the seedling box (1);
the sequencing system is arranged above the seedling conveying belt (8) and is positioned between the opening of the seedling box (1) and the seedling inserting device, the sequencing system is synchronous with the first belt (2), the interval distance between the seedlings is synchronously adjusted in the process that the seedling conveying belt (8) drives the seedlings to move out of the seedling box (1) from the opening backwards to the seedling inserting device, and the arrangement direction of each seedling is adjusted to be vertical to the rotation direction of the seedling conveying belt (8);
the seedling transplanting device is arranged at the rear side of the seedling conveying belt (8) and is used for receiving the seedlings borne on the seedling conveying belt (8), clamping and overturning the seedlings in a direction perpendicular to the seedling conveying belt (8), and finally releasing the seedlings to enable the seedlings to vertically fall into a tree planting ditch formed by the continuous ditching and tree planting machine; the seedling transplanting device comprises:
the grabbing mechanism (9) comprises a channel steel (91), a clamping plate (92) arranged at an open position on one side of the channel steel (91) and a clamping plate connecting rod (93) simultaneously connecting the clamping plate (92) and the channel steel (91), wherein the top of the channel steel (91) is open and arranged on the lower side of the rear end of the sapling conveying belt (8) and used for receiving the saplings (12) which are pushed by the sapling conveying belt (8) and fall down;
a swing link mechanism (10) which is connected to the hydraulic cylinder and provided with: the middle guide rod (103) comprises a front guide groove and a rear guide groove which are respectively arranged at the front side and the rear side of the middle guide rod along the length direction, the output end of the hydraulic cylinder (11) is connected with the rear guide groove in a sliding manner, the middle guide rod (103) is driven to rotate to the vertical position in the lifting process of the output end of the hydraulic cylinder (11), and the middle guide rod (103) is driven to rotate to the lodging position in the contraction process of the output end of the hydraulic cylinder (11); the operation guide rod is parallel to the rotating surface of the middle guide rod (103), is arranged on the front side of the middle guide rod (103) and is positioned below the grabbing mechanism (9), a clamping plate sliding groove (94) is formed in the top end of the operation guide rod, a guide sliding rod (102) is arranged in the middle of the operation guide rod, the rear end of the guide sliding rod (102) is in sliding connection with a front guide groove of the middle guide rod (103), the bottom of the operation guide rod is rotatably connected to the rack (6), the bottom of the operation guide rod is used as a rotating center, the middle guide rod (103) is driven by the guide sliding rod (102) to rotate to a vertical position when rotating to an upright position, and the middle guide rod (103) is driven by the guide sliding rod (102) to rotate downwards to a second position through a first position in the process of downward rotation to a lodging position of the middle guide rod (103); the curve guide rail (101) is parallel to the middle guide rod (103) and the rotating surface of the operation guide rod, is vertically arranged on the front side of the operation guide rod and the middle guide rod (103), an inward concave inflection point corresponding to the first position is formed between the top end and the bottom end of the curve guide rail (101) in a connecting mode, the front end of the guide slide rod (102) is connected with the curve guide rail (101) in a sliding mode, and the front end of the guide slide rod (102) reaches the bottom end of the curve guide rail (101) from the top end of the curve guide rail (101) through the inward concave inflection point in the process that the operation guide rod rotates from the vertical position to the second position through the first position along the curve guide rail (101); a splint connecting rod rotating shaft is arranged in the middle of the splint connecting rod (93), the upper side of the splint connecting rod rotating shaft is simultaneously connected with a splint (92) and a channel steel (91) through the upper section of the splint connecting rod (93), the lower end of the splint connecting rod (93) is connected with the splint sliding groove (94) in a sliding way, the splint connecting rod (93) rotates downwards along the swing rod mechanism (10) from the vertical position to the first position and slides downwards along the splint sliding groove (94) and is unfolded by taking the splint connecting rod rotating shaft as a rotating center to drive the splint (92) to press close to the inner side of the channel steel (91) to clamp a sapling (12), then the splint connecting rod (93) rotates downwards along the swing rod mechanism (10) from the first position to the second position and slides towards the top end of the swing rod mechanism (10) along the splint sliding groove (94) and contracts by taking the splint connecting rod rotating shaft as a rotating center, driving the clamping plate (92) to be far away from the inner side of the channel steel (91) so as to release the saplings (12);
and the output end of the hydraulic cylinder (11) is fixedly connected with the bottom end of the swing rod mechanism (10) and is used for driving the swing rod mechanism (10) to reciprocate between a vertical position and a second position so as to correspondingly receive and clamp the sapling or correspondingly turn over and release the sapling.
2. The automatic planting apparatus for a continuous trench digging tree planter as claimed in claim 1, wherein said sequencing system is connected to a tree transport belt (8) by a drive system, said drive system including said first belt (2), further comprising:
the hydraulic motor (5) is arranged between the rack (6) and the sapling conveying belt (8) and is used for outputting torque; the second belt (4) is arranged on one side of the mounting frame and is positioned below the first belt (2), the bottom end of the second belt (4) is connected with an output shaft of the hydraulic motor (5), and the second belt is driven to rotate by the torque output by the hydraulic motor (5);
the swing cam (3) is arranged on one side of the mounting rack, the swing cam (3) is simultaneously connected with the top end of the second belt (4), the rear end of the first belt (2) and the sequencing system, and the sequencing system is driven by the second belt (4) to synchronously rotate with the first belt (2);
the first rotating shaft is arranged at the lower end of the front part of the seedling box (1), and the first rotating shaft is simultaneously connected with the first belt (2) and the seedling conveying belt (8) to drive the first belt (2) and the seedling conveying belt (8) to synchronously rotate.
3. The automated planting apparatus for a continuous trench digging tree planter as claimed in claim 2 wherein said sequencing system comprises:
the swing rod (32) is mounted on the mounting frame and located on one side of the swing cam (3), and in the rotating process of the swing cam (3), the free end of the swing rod (32) is pushed by the cam surface of the swing cam (3) to be turned upwards or reset downwards;
the swing rod rotating shaft (31) is arranged on the mounting rack in a direction perpendicular to the sapling conveying belt (8), at least the interval between the swing rod rotating shaft (31) and the sapling conveying belt (8) is provided with a height matched with the diameter of the saplings, and the end part of the swing rod rotating shaft (31) is fixedly connected with the fixed end of the swing rod (32) and synchronously rotates or resets along with the swing rod (32);
the swing stop levers (7) are installed on the swing rod rotating shafts (31) in pairs and synchronously overturn upwards to release the saplings along with the swing rod rotating shafts (31) or reset downwards to abut correspondingly to prevent the saplings from moving backwards.
4. The automatic planting device for the continuous ditching tree planting machine as claimed in claim 2, wherein a first bearing and a second bearing are fixedly arranged at the rear part of the frame (6);
the bottom of the middle guide rod (103) is rotationally connected with the first bearing, and the middle guide rod rotates on the rack (6) by taking the first bearing as a rotation center
The bottom of the operation guide rod is rotationally connected with the second bearing and rotates on the rack (6) by taking the second bearing as a rotation center.
5. The automatic planting apparatus for a continuous trench digging tree planter as claimed in claim 4, wherein said curvilinear guide (101) comprises:
a first linear guide rail (101-a) vertically arranged at the front side of the operation guide rod, and the bottom of the first linear guide rail is provided with a first radian bending towards the rotation direction of the operation guide rod;
the top of the middle arc guide rail (101-b) is connected with the bottom of the first linear guide rail (101-a), and the middle arc guide rail is in smooth transition and forms the concave inflection point;
and the second linear guide rail (101-c) is horizontally arranged at the front side of the operation guide rod, the top of the second linear guide rail is connected with the bottom of the middle arc guide rail (101-b), and the second linear guide rail is in smooth transition and is bent towards the rotation direction of the operation guide rod to form a second radian.
6. The automatic planting apparatus for continuous trench digging tree-planting machine according to claim 5, characterized in that the bottom of the first linear guide (101-a) and the middle of the second linear guide (101-c) are respectively connected with two parallel supporting rods, the curved guide (101) is fixedly connected above the rear part of the frame (6) by the supporting rods.
7. The automatic planting device for the continuous ditching tree planting machine as claimed in claim 1, wherein the first belt (2), the second belt (4), the swing cam (3), the swing link (32), the swing link mechanism (10) and the hydraulic cylinder (11) are all arranged on the same side of the frame (6).
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| CN202011417431.XA CN112514604B (en) | 2020-12-07 | 2020-12-07 | Automatic planting device for continuous ditching tree planting machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011417431.XA CN112514604B (en) | 2020-12-07 | 2020-12-07 | Automatic planting device for continuous ditching tree planting machine |
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| CN112514604A CN112514604A (en) | 2021-03-19 |
| CN112514604B true CN112514604B (en) | 2021-11-30 |
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| CN202011417431.XA Active CN112514604B (en) | 2020-12-07 | 2020-12-07 | Automatic planting device for continuous ditching tree planting machine |
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| CN115053782B (en) * | 2022-07-11 | 2024-06-14 | 江苏三维园艺有限公司 | Vehicle-mounted integrated conveying and inserting machine for transplanting sapling |
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