CN112586305A - Full-automatic tree planting robot - Google Patents
Full-automatic tree planting robot Download PDFInfo
- Publication number
- CN112586305A CN112586305A CN202110060729.8A CN202110060729A CN112586305A CN 112586305 A CN112586305 A CN 112586305A CN 202110060729 A CN202110060729 A CN 202110060729A CN 112586305 A CN112586305 A CN 112586305A
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- robot
- steering engine
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- 238000003860 storage Methods 0.000 claims abstract description 31
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims description 17
- 239000007921 spray Substances 0.000 claims description 5
- 238000004146 energy storage Methods 0.000 claims description 3
- 239000002689 soil Substances 0.000 abstract description 22
- 238000000034 method Methods 0.000 abstract description 7
- 230000007613 environmental effect Effects 0.000 abstract description 4
- 239000004576 sand Substances 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000009471 action Effects 0.000 description 7
- 230000005484 gravity Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 3
- 230000004083 survival effect Effects 0.000 description 2
- 241001278112 Populus euphratica Species 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 239000003643 water by type Substances 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
- A01C5/04—Machines for making or covering holes for sowing or planting
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Soil Sciences (AREA)
- Engineering & Computer Science (AREA)
- Water Supply & Treatment (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
- Cultivation Of Plants (AREA)
- Transplanting Machines (AREA)
Abstract
The invention belongs to the technical field of agricultural and forestry mechanical equipment, and particularly relates to a full-automatic tree planting robot which is characterized by comprising two groups of supporting chassis devices, an integrated multifunctional sleeve arranged on the two groups of supporting chassis devices and positioned at the rear end, a sapling sorting and rotating device arranged above the integrated multifunctional sleeve, a watering water storage device and a solar energy supply and storage device which are arranged on the two groups of supporting chassis devices and positioned at the front end. The invention combines the traditional method of controlling sand by soil method with the modern robot technology, uses the robot to replace manpower, realizes the automatic planting in desert, greatly improves the efficiency and ensures higher accuracy, stability, safety and environmental suitability.
Description
Technical Field
The invention belongs to the technical field of agricultural and forestry mechanical equipment, and particularly relates to a full-automatic tree planting robot.
Background
Desertification is a global environmental problem, and China is one of the most serious countries in the world suffering from desertification. The desertified land in northwest of China becomes the most familiar sand storm of the people in Beijing jin Ji under the sweep of the wind in northwest. The development of desertification in northwest China already causes serious harm and threat to the ecological environment, resources, social and economic development of vast desertification areas in China and the production and life of people, even endangers the survival of surrounding residents, and hinders the sustainable development of China. Therefore, the strengthening of the control of desertification plays an important role in promoting ecological balance and economic development in China. At the present stage, the planting of the populus diversifolia seedlings mainly depends on original labor force, and the working environment of tree growers is extremely severe. At this time, a robot is urgently needed to replace the manual labor of the robot.
Disclosure of Invention
The invention aims to provide a full-automatic tree planting robot which is high in integration degree, accurate in tree planting, good in continuity and high in survival rate of saplings.
The purpose of the invention is realized by the following technical scheme:
the full-automatic tree planting robot of the invention is characterized by comprising two groups of supporting chassis devices, an integrated multifunctional sleeve which is arranged on the two groups of supporting chassis devices 1 and is positioned at the rear end, a sapling sorting and rotating device which is arranged above the integrated multifunctional sleeve, a watering and water storage device and a solar energy supply and energy storage device which are arranged on the two groups of supporting chassis devices and are positioned at the front end,
each group of supporting chassis devices comprises a triangular supporting plate, two groups of wheel sets respectively arranged at two corners of the triangular supporting plate, and motors respectively connected with each group of wheel sets,
the integrated multifunctional sleeve comprises a steering engine I, a connecting rod I and a connecting rod II which are sequentially connected with the steering engine I, a crank block mechanism hinged with the connecting rod II, a steering engine III arranged on the crank block mechanism, a sleeve connected with the steering engine III through a flange plate II, a rammer arranged at the top of the sleeve, and two baffles arranged at two sides of the bottom of the sleeve and connected with the sleeve through a pin shaft,
the sapling sorting and rotating device comprises carrying plates arranged on the two groups of supporting chassis devices, steering engines II arranged on the carrying plates, single poking sheets connected with the steering engines II through flange plates I, and a group of sapling storage barrels arranged on the single poking sheets, wherein through holes corresponding to the sleeves are arranged on the carrying plates,
the watering water storage device comprises water pumps arranged on the two groups of supporting chassis devices, a spray head connected with the water pumps and a water storage tank connected with the water pumps.
The crank-slider mechanism comprises a mechanical arm hinged with the connecting rod II, a slider arranged on the mechanical arm, and a vertical guide rail connected with the slider in a sliding manner, and the steering engine III and the flange plate II are both arranged on the mechanical arm.
The solar energy supplying and storing device comprises a solar panel and a storage battery.
The number of the seedling storage barrels in the group is 3-5.
The invention has the advantages that:
the full-automatic tree planting robot provided by the invention combines the traditional soil desertification control method with the modern robot technology, replaces manpower with the robot, realizes automatic planting in desert, greatly improves the efficiency, and ensures higher accuracy, stability, safety and environmental adaptability.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic front view of the present invention.
Fig. 3 is a schematic top view of the present invention.
Fig. 4 is a schematic structural view of the sapling sorting and rotating device of the present invention.
Fig. 5 is a schematic structural view of the integrated multifunctional sleeve of the present invention.
Fig. 6 is a schematic structural view of the sleeve of the present invention.
Detailed Description
The following further describes the embodiments of the present invention with reference to the drawings.
As shown in fig. 1-6, the full-automatic tree planting robot of the present invention is characterized by comprising two sets of supporting chassis devices 1, an integrated multifunctional sleeve 2 arranged on the two sets of supporting chassis devices 1 and located at the rear end, a sapling sorting rotating device 3 arranged above the integrated multifunctional sleeve 2, a watering water storage device 4 and a solar energy supply and storage device 5 arranged on the two sets of supporting chassis devices 1 and located at the front end,
each group of supporting chassis devices 1 comprises a triangular supporting plate, two groups of wheel sets 1-1 respectively arranged at two corners of the triangular supporting plate, and motors 1-2 respectively connected with each group of wheel sets 1-1,
the integrated multifunctional sleeve 2 comprises a steering engine I2-1, a connecting rod I2-2 and a connecting rod II 2-3 which are sequentially connected with the steering engine I2-1, a crank block mechanism hinged with the connecting rod II 2-3, a steering engine III 2-12 arranged on the crank block mechanism, a sleeve 2-8 connected with the steering engine III 2-12 through a flange II 2-7, a rammer 2-9 arranged at the top of the sleeve 2-8, two baffles 2-10 arranged at two sides of the bottom of the sleeve 2-8 and connected with the sleeve 2-8 through a pin shaft 2-11,
the sapling sorting and rotating device 3 comprises object carrying plates 3-1 arranged on the two groups of supporting chassis devices 1, steering engines II 3-2 arranged on the object carrying plates 3-1, single poking sheets 3-4 connected with the steering engines II 3-2 through flange plates I3-3, and a group of sapling storage barrels 3-5 arranged on the single poking sheets 3-4, through holes 3-6 corresponding to the sleeves 2-8 are arranged on the object carrying plates 3-1,
the watering water storage device 4 comprises water pumps 4-1 arranged on the two groups of supporting chassis devices 1, spray heads 4-3 connected with the water pumps 4-1, and water storage tanks 4-2 connected with the water pumps 4-1.
The crank-slider mechanism comprises a mechanical arm 2-4 hinged with the connecting rod II 2-3, a slider 2-5 arranged on the mechanical arm 2-4, a vertical guide rail 2-6 connected with the slider 2-5 in a sliding mode, and the steering engine III 2-12 and the flange plate II 2-7 are arranged on the mechanical arm 2-4.
The solar energy supply and storage device 5 comprises a solar panel and a storage battery.
The number of the group of seedling storage barrels is 3-5.
The full-automatic tree planting robot comprises two groups of supporting chassis devices 1, each group of wheel sets 1-1 of each group of supporting chassis devices 1 are driven by an independent motor 1-2, each group of wheel sets 1-1 can realize steering through differential speed of the motors 1-2 while ensuring stability of power output, and chain type tracks can be used in complex desert environments by modifying the chassis for better sand operation.
The top of the integrated multifunctional sleeve 2 is provided with a rammer 2-9, the bottom of the integrated multifunctional sleeve is connected with two baffles 2-10 through two pin shafts 2-11, so that the bottom of the sleeve 2-8 is conical, the conical contact area of the bottom of the sleeve 2-8 is small, and the pressure is strong, so that the sleeve 2-8 can be conveniently deep into sandy soil; the baffle plates 2-10 in the sleeves 2-8 can be self-locked by self gravity and the gravity of soil in the process of lifting the sleeves 2-8, so that the soil is left in the sleeves 2-8 to be rotated to take out the soil; the rammer 2-9 at the top of the sleeve 2-8 has large contact area, so that soil can be better compacted.
The seedling sorting and rotating device 3 is characterized in that a seedling with a downward root is placed in each seedling storage barrel 3-5, after the sleeve 2-8 finishes digging a pit, the steering engine II 3-2 drives the seedling sorting and rotating device 3 to rotate by an angle, so that the seedling storage barrel 3-5 is aligned with the through hole 3-6 of the object carrying plate 3-1, and then the seedling vertically falls into the pit dug in advance through the through hole 3-6 of the object carrying plate 3-1 and the sleeve 2-8 in sequence under the action of self gravity. The steering engine I2-1 drives the connecting rod I2-2 and the connecting rod II 2-3, and then the crank slider mechanism drives the sleeve 2-8 to move up and down, and the sleeve 2-8 is vertical all the time in the movement process, so that vertical pit digging, tree planting and soil compacting are guaranteed.
After the watering water storage device 4 finishes planting once, the water pump 4-1 operates, and the spray head 4-3 waters.
Solar energy supplies energy memory 5 to include solar panel and battery, uses the battery to supply energy during the robot operation, and solar panel assists the energy supply. When the robot stops working, the solar panel can charge the storage battery, and the working time of the robot is ensured.
The full-automatic tree planting robot shown in fig. 1-3 is composed of a support chassis device 1 (tire or crawler) which can be modified, an integrated multifunctional sleeve 2, a sapling sorting and rotating device 3, a watering water storage device 4 and a solar energy supply and energy storage device 5, and can automatically complete the functions of digging, dividing saplings, planting, soil compacting and watering.
Before the robot works, the seedlings to be planted are stored in the seedling storage barrels 3-5, and then the motors 1-2 respectively drive the four sets of wheel sets 1-1 to advance to reach the positions of the designated tree planting positions. The steering engine I2-1 drives the mechanical arm 2-4 to move downwards through a slider-crank mechanism, so that the integrated multifunctional sleeve 2 is inserted into soil, then the steering engine I2-1 drives the mechanical arm 2-4 to move upwards through the slider-crank mechanism, at the moment, two baffles 2-10 in the sleeve 2-8 realize self-locking, soil is left in the sleeve 2-8, and tree pit digging work is completed; the steering engine III 2-12 drives the sleeve 2-8 to rotate 180 degrees through the flange plate II 2-7 and throw away sand, the lower end of the sleeve 2-8 is provided with a rammer 2-9, the steering engine II 3-2 drives the poking sheet 3-4 to rotate for an angle through the flange plate I3-3, so that the seedling storage cylinder 3-5 is aligned with the through hole 3-6 of the loading plate 3-1, and then the tree seedlings can vertically fall into a pit dug in advance through the through hole 3-6 of the loading plate 3-1 and the sleeve 2-8 in sequence under the action of self gravity. The steering engine I2-1 drives the mechanical arm 2-4 to repeatedly and rapidly move up and down through a crank slider mechanism, the soil is tamped by the tamping hammer 2-9 of the sleeve 2-8, and the sleeve 2-8 stays at the highest position after the soil is tamped. The water pump 4-1 pumps out the water in the water storage tank 4-2, and the watering is carried out through the spray head 4-3, the whole mechanism is reset, and the full-automatic continuous planting is realized through the circulation of the actions.
As shown in figure 4, the sapling sorting and rotating device 3 and the steering engine II 3-2 rotate by an angle, the poking sheet 3-4 is driven to rotate by the flange plate I3-3, and when the steering engine II 3-2 rotates by an angle, the sapling storage cylinder 3-5 is just positioned above the through hole 3-6 of the object carrying plate 3-1, and saplings fall into the sleeve 2-8 under the action of self weight.
As shown in fig. 5, the up-and-down motion of the integrated multifunctional sleeve 2 is completed by a crank-slider mechanism driven by a steering engine i 2-1, specifically, the steering engine i 2-1 rotates by an angle, a connecting rod i 2-2 and a connecting rod ii 2-3 move to drive a mechanical arm 2-4 to move, one end of the mechanical arm 2-4 is connected with a slider 2-5, and the other end is connected with a sleeve 2-8, and the slider 2-5 can only slide on a vertical guide rail 2-6, so that the sleeve is always vertical in the hole digging, planting and soil compacting operations; the rotation action of the sleeve 2-8 is driven by the steering engine III 2-12 to rotate 180 degrees through the flange plate II 2-7, and the tasks of soil dumping and switching between the hole digging end and the soil pressing end of the sleeve 2-8 can be completed.
As shown in figure 6, one end of the sleeve 2-8 is a rammer 2-9, and the other end is a self-locking mechanism consisting of two baffles 2-10 and a pin shaft 2-11. When digging a pit, the end of the self-locking mechanism is the lower end, the wall of the sleeve 2-8 at the end is conical, so that the pressure intensity can be increased, the sleeve 2-8 can be inserted into soil, the two baffles 2-10 can be self-locked under the action of sandy soil and self gravity in the process of lifting the sleeve 2-8, and the sandy soil is taken out along with the sleeve 2-8; after the sleeve 2-8 rotates 180 degrees, the two baffles 2-10 can be opened for self-locking under the action of self gravity, the saplings can pass through the sleeve 2-8 to the tree pit, when soil is compacted, the rammer 2-9 is arranged at the lower end, the wall thickness of the sleeve 2-8 at the end is thick, the contact area is large, and the soil is easy to tamp.
The full-automatic tree planting robot provided by the invention combines the traditional soil desertification control method with the modern robot technology, replaces manpower with the robot, realizes automatic planting in desert, greatly improves the efficiency, and ensures higher accuracy, stability, safety and environmental adaptability.
Claims (4)
1. A full-automatic tree planting robot is characterized by comprising two groups of supporting chassis devices, an integrated multifunctional sleeve arranged on the two groups of supporting chassis devices 1 and positioned at the rear end, a sapling sorting and rotating device arranged above the integrated multifunctional sleeve, a watering and water storage device and a solar energy supply and energy storage device which are arranged on the two groups of supporting chassis devices and positioned at the front end,
each group of supporting chassis devices comprises a triangular supporting plate, two groups of wheel sets respectively arranged at two corners of the triangular supporting plate, and motors respectively connected with each group of wheel sets,
the integrated multifunctional sleeve comprises a steering engine I, a connecting rod I and a connecting rod II which are sequentially connected with the steering engine I, a crank block mechanism hinged with the connecting rod II, a steering engine III arranged on the crank block mechanism, a sleeve connected with the steering engine III through a flange plate II, a rammer arranged at the top of the sleeve, and two baffles arranged at two sides of the bottom of the sleeve and connected with the sleeve through a pin shaft,
the sapling sorting and rotating device comprises carrying plates arranged on the two groups of supporting chassis devices, steering engines II arranged on the carrying plates, single poking sheets connected with the steering engines II through flange plates I, and a group of sapling storage barrels arranged on the single poking sheets, wherein through holes corresponding to the sleeves are arranged on the carrying plates,
the watering water storage device comprises water pumps arranged on the two groups of supporting chassis devices, a spray head connected with the water pumps and a water storage tank connected with the water pumps.
2. The full-automatic tree planting robot of claim 1, wherein the slider-crank mechanism comprises a mechanical arm hinged to the connecting rod II, a slider arranged on the mechanical arm, and a vertical guide rail connected with the slider in a sliding manner, and the steering engine III and the flange plate II are both arranged on the mechanical arm.
3. The robot of claim 1, wherein the solar energy supply and storage device comprises a solar panel and a battery.
4. The full-automatic tree planting robot as claimed in claim 1, wherein the number of the seedling storage cylinders is 3-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110060729.8A CN112586305B (en) | 2021-01-18 | 2021-01-18 | Full-automatic tree planting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110060729.8A CN112586305B (en) | 2021-01-18 | 2021-01-18 | Full-automatic tree planting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112586305A true CN112586305A (en) | 2021-04-02 |
| CN112586305B CN112586305B (en) | 2024-06-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110060729.8A Active CN112586305B (en) | 2021-01-18 | 2021-01-18 | Full-automatic tree planting robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113854095A (en) * | 2021-11-11 | 2021-12-31 | 盐城工学院 | Automatic tree planting robot for desert |
| CN114402940A (en) * | 2022-01-10 | 2022-04-29 | 南通大学 | Desert area unmanned salix mongolica planting device |
| CN114747450A (en) * | 2022-03-31 | 2022-07-15 | 广州大学 | Sprinkling irrigation formula desert dashes hole tree planting device |
| CN115380793A (en) * | 2022-05-17 | 2022-11-25 | 重庆交通大学 | Tree planter for desert |
| CN115903572A (en) * | 2022-10-17 | 2023-04-04 | 武汉纺织大学 | Desert tree planting machine control system based on 51 single-chip microcomputer |
| CN117441572A (en) * | 2023-12-05 | 2024-01-26 | 巢湖学院 | Integrative car is planted to photovoltaic based on STM32 singlechip |
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| CN209806666U (en) * | 2019-03-19 | 2019-12-20 | 东北大学秦皇岛分校 | Intelligent desert seedling planting robot |
| CN111480547A (en) * | 2020-05-22 | 2020-08-04 | 中建八局第一建设有限公司 | Device suitable for automatically planting trees on multiple terrains |
| CN212013890U (en) * | 2020-03-02 | 2020-11-27 | 骆媛媛 | Sapling seeder |
| CN214385380U (en) * | 2021-01-18 | 2021-10-15 | 辽宁科技大学 | Full-automatic tree planting robot |
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| CN106522232A (en) * | 2017-01-17 | 2017-03-22 | 许建芹 | Dam hole filling robot |
| CN108575658A (en) * | 2018-05-30 | 2018-09-28 | 马鞍山松鹤信息科技有限公司 | A kind of excavator that can plant tree automatically |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113854095A (en) * | 2021-11-11 | 2021-12-31 | 盐城工学院 | Automatic tree planting robot for desert |
| CN114402940A (en) * | 2022-01-10 | 2022-04-29 | 南通大学 | Desert area unmanned salix mongolica planting device |
| CN114747450A (en) * | 2022-03-31 | 2022-07-15 | 广州大学 | Sprinkling irrigation formula desert dashes hole tree planting device |
| CN114747450B (en) * | 2022-03-31 | 2023-08-04 | 广州大学 | Spray irrigation type desert pit-flushing tree planting device |
| CN115380793A (en) * | 2022-05-17 | 2022-11-25 | 重庆交通大学 | Tree planter for desert |
| CN115380793B (en) * | 2022-05-17 | 2024-03-29 | 重庆交通大学 | Desert tree planter |
| CN115903572A (en) * | 2022-10-17 | 2023-04-04 | 武汉纺织大学 | Desert tree planting machine control system based on 51 single-chip microcomputer |
| CN115903572B (en) * | 2022-10-17 | 2023-10-24 | 武汉纺织大学 | Desert tree planter control system based on 51 singlechip |
| CN117441572A (en) * | 2023-12-05 | 2024-01-26 | 巢湖学院 | Integrative car is planted to photovoltaic based on STM32 singlechip |
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| Publication number | Publication date |
|---|---|
| CN112586305B (en) | 2024-06-25 |
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