CN114258834A - Robot for desert tree planting - Google Patents
Robot for desert tree planting Download PDFInfo
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- CN114258834A CN114258834A CN202210016314.5A CN202210016314A CN114258834A CN 114258834 A CN114258834 A CN 114258834A CN 202210016314 A CN202210016314 A CN 202210016314A CN 114258834 A CN114258834 A CN 114258834A
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- 230000007246 mechanism Effects 0.000 claims abstract description 91
- 238000012216 screening Methods 0.000 claims abstract description 65
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 25
- 238000005553 drilling Methods 0.000 claims description 41
- 230000001360 synchronised effect Effects 0.000 claims description 41
- 238000000034 method Methods 0.000 claims description 11
- 230000002093 peripheral effect Effects 0.000 claims description 5
- 239000002689 soil Substances 0.000 description 12
- 230000008569 process Effects 0.000 description 8
- 239000004576 sand Substances 0.000 description 8
- 239000000758 substrate Substances 0.000 description 5
- 230000003028 elevating effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 239000002356 single layer Substances 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000010410 layer Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
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Abstract
The invention provides a robot for planting trees in a desert, which comprises a base plate, wherein a sapling screening mechanism and a water supply mechanism are arranged on the upper side of the base plate, a lifting mechanism is arranged on the front side of the sapling screening mechanism and positioned on the base plate, a drill bit planting mechanism is arranged on the lifting mechanism, the lifting mechanism is used for lifting the drill bit planting mechanism, and a crawler belt is arranged on the lower side of the base plate. The invention solves the problems that the existing desert tree planting machine has a complex structure, needs manual screening of saplings, manual filling and the like.
Description
Technical Field
The invention relates to the technical field of desert greening equipment, in particular to a robot for planting trees in desert.
Background
China is one of countries in the world with large desertification land area and the most serious harm. The national desertification land area is 262.2 ten thousand square kilometers, and accounts for 27.3 percent of the total area of the national soil. Mainly distributed in northwest and north China, and relates to 18 provinces, autonomous regions and direct municipalities. Desertification has a serious impact on the industrial and agricultural production of China and the life of people. According to the estimation of experts, the economic loss of China caused by desertification is up to 540 hundred million yuan every year, and in some regions with serious desertification damage, the problem of the temperature fullness of the masses is not completely solved so far. The current general trend of national desertification is: the desertification of local areas is effectively controlled, obvious effect is achieved, but the desertification land in China still expands at the speed of 2460 square kilometers per year and deteriorates generally. The situation of preventing and controlling desertification is still very severe.
In the present day, desert tree planting is mostly carried out manually and mostly by army and professional workers, and desert tree planting machines are still in the experimental stage of concept and small-range possibility. Most of the existing desert tree planting machines can only realize drilling, so that the manual input in the aspect of drilling is reduced. At present, the tree planting robot which is being researched and developed at home and abroad belongs to a modular robot, and different mechanisms are respectively used for punching, planting trees, burying and watering.
For example, patent No. CN201410519064.2 discloses a modular desert tree planting robot, which comprises a self-propelled chassis, a replaceable seedling tray, a seedling grabbing manipulator system, a seedling feeding auxiliary device, a soil drilling device and a sand flowing prevention device. The task of putting the tree seedlings into the sand is completed through the cooperation of the soil drilling device, the sand flowing prevention device and the seedling grabbing mechanical arm system. Although this patent solves the problem of desert planting, it still has the following disadvantages:
1. the existing desert tree planting machine usually adopts a single or a plurality of mechanism modules to complete each tree planting process, so that the machine operation modules of the whole combination are too many, the structure is complex, the connection scheme of different mechanism units is complex, the stability is reduced, and the manufacturing and maintenance difficulty is increased.
2. The current desert tree planter needs manual assistance to cooperate, when placing the sapling, needs artifical screening, increases the cost of labor.
3. In the drilling process of the existing desert tree planter, sandy soil easily flows into the drilled hole again; although the sand is soaked before drilling by the existing desert tree planting machine, the problem of sand soil backfilling is solved, the soil needs to be manually filled after the tree seedlings are placed in the desert tree planting machine, labor cost is wasted, and efficiency is low.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a robot for desert tree planting, which solves the problems that the existing desert tree planting machine is complex in structure, needs to manually screen saplings, manually fill soil and the like.
The technical scheme adopted by the invention for solving the technical problems is as follows: a robot for planting trees in desert comprises a base plate, wherein a sapling screening mechanism and a water supply mechanism are arranged on the upper side of the base plate, a lifting mechanism is arranged on the front side of the sapling screening mechanism and positioned on the base plate, a drill bit planting mechanism is arranged on the lifting mechanism, the lifting mechanism is used for lifting the drill bit planting mechanism, and a crawler belt is arranged on the lower side of the base plate;
the sapling screening mechanism comprises a mounting frame positioned on the upper side of the base plate, a box body and a water tank are arranged on the mounting frame, two conveying shafts and screening shafts which are arranged in parallel are sequentially arranged at the lower end of the interior of the box body from left to right, and the conveying shafts, the screening shafts and the box body are all connected through bearings;
a screening motor is arranged on the front side of the box body and fixedly connected with the box body through a motor support, the screening motor is connected with one end of the screening shaft through a coupler, first gears are arranged at the ends, away from the coupler, of the screening shaft and the conveying shaft, and the two first gears are connected through a conveying belt; the bottom surface of the box body is provided with a strip-shaped opening which is positioned at the right side of the screening shaft;
the surface of the conveying shaft is rough, and a plurality of uniformly arranged strip-shaped grooves are formed in the periphery of the screening shaft; a slide way is arranged on the lower side of the strip-shaped opening, a push plate capable of moving back and forth along the slide way is arranged on the slide way, and the push plate is connected with a sapling pushing cylinder arranged on the mounting frame; the water tank upside is equipped with the water inlet, and the front side is equipped with the delivery port, the delivery port upside is equipped with the automatically controlled valve.
Preferably, the lifting mechanism comprises two first lifting mechanisms which are symmetrically arranged, each first lifting mechanism comprises two first shaft rods which are arranged on the upper side of the base plate and are vertically arranged, a third synchronizing wheel and a first synchronizing wheel which are coaxially arranged are arranged between the two first shaft rods and are positioned on the base plate, a first top plate is arranged on the upper sides of the two first shaft rods, an upper synchronizing wheel fixedly connected with the first top plate is arranged on the lower side of the first top plate, the third synchronizing wheel is connected with the upper synchronizing wheel through a third synchronizing belt, and the first top plate is fixedly connected with the base plate through two first supporting frames;
a first connecting plate capable of moving on the first shaft rod is arranged between the two first shaft rods and fixedly connected with the third synchronous belt;
two symmetrical and meshed synchronous gears are arranged on the base plate and on the symmetrical lines of the two first lifting mechanisms, and the first synchronous gears are connected with the corresponding synchronous gears through first synchronous belts; the relative inboard of two first hoist mechanisms all is equipped with second hoist mechanism.
Preferably, the second lifting mechanism comprises two second synchronous wheels which are positioned on the upper side of the first synchronous belt and are arranged symmetrically up and down, the two second synchronous wheels are connected through a second synchronous belt, the upper second synchronous wheel and the lower second synchronous wheel are respectively arranged on the lower side of the second top plate and the upper side of the bottom plate, the bottom plate is connected with the second top plate through two symmetrically arranged second supporting frames, two symmetrically arranged second shaft levers are arranged between the two second supporting frames, the two second shaft levers are connected through a second connecting plate, and the second connecting plate can move on the second shaft levers; the second connecting plate is fixedly connected with the second synchronous belt;
the first connecting plate is fixedly connected with the second synchronous belt.
Preferably, the sapling screening mechanism comprises a fixed plate positioned between the two second connecting plates, wherein a funnel is arranged on the upper side of the fixed plate, and a hollow pipe connected with a bearing of the fixed plate is arranged on the lower side of the fixed plate; the funnel is communicated with a hollow pipe, and the lower end of the hollow pipe is provided with a drill bit which can be opened and closed; the drilling machine is characterized in that a drilling driven gear is arranged on the hollow pipe, a drilling driving gear is arranged on the lower side of the fixing plate and connected with the drilling driven gear through a drilling conveying belt, and a drilling motor used for driving the drilling driving gear to rotate is arranged on the upper side of the fixing plate.
Preferably, a spiral sheet is arranged on the outer periphery of the hollow pipe.
Preferably, the drill comprises a plurality of arc-shaped fan blades in an annular array, and the arc-shaped fan blades are arc-shaped and gradually decrease in width from top to bottom; the adjacent arc-shaped fan blades are partially overlapped, the overlapped part is one third of the arc-shaped fan blades, and the upper ends of the inner sides of the arc-shaped fan blades are connected with the outer peripheral side of the hollow pipe through springs.
The invention has the beneficial effects that:
1. conveying axle surface is crude, and screening axle periphery side is equipped with a plurality of align to grid groove, can convey the sapling that piles up together to the bar opening part one by one, has realized piling up sapling together and has converted the individual layer and arrange, need not manual operation.
2. The setting of elevating system structure sets up and the synchromesh gear of meshing through two symmetries, and two first connecting plates synchronous motion on first axostylus axostyle has further reached two second connecting plates synchronous motion on the second axostylus axostyle, has realized the further promotion of elevating system elevating height, can be applicable to the planting of different topography (in the uneven planting region of height, can further promote the height of drill bit, be convenient for drill in the higher regional drilling of topography).
3. The hollow pipe and the drill bit are arranged, so that the saplings can be separated from the drill bit by controlling the rotation direction of the drill bit and directly fall into the drilled hole; the arc-shaped fan blades are arranged in an annular shape, the inner sides of the arc-shaped fan blades are connected with the hollow pipe through springs, holes can be drilled when the arc-shaped fan blades rotate clockwise, and soil is filled when the arc-shaped fan blades rotate anticlockwise.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a front view of the robot according to the present embodiment;
FIG. 2 is a schematic rear view of the robot in the present embodiment;
FIG. 3 is a schematic structural view of the seedling screening mechanism and the water supply mechanism in this embodiment;
FIG. 4 is a schematic view showing an internal structure of the seedling screening mechanism according to the present embodiment;
FIG. 5 is a schematic structural view of the elevating mechanism in the present embodiment;
FIG. 6 is a schematic view of the lifting mechanism of the present embodiment at another angle;
FIG. 7 is a schematic view of a connection structure between the lifting mechanism and the drill planting mechanism in the present embodiment;
FIG. 8 is a schematic view of a connection structure of the drill and the funnel in this embodiment;
FIG. 9 is a schematic view of the structure of the drill bit of this embodiment;
fig. 10 is a schematic view of the connection structure of the drill and the hollow tube in this embodiment.
Reference numerals:
101: sapling screening mechanism 102: the water supply mechanism 103: lifting mechanism
104: crawler belt 105: the drill planting mechanism 106: substrate
301: a box body 302: a water tank 303: mounting rack
304: water outlet 305: the electric control valve 306: screening motor
307: the motor bracket 308: slide way
401: coupling 402: the strip-shaped opening 403: transmission shaft
404: the screening shaft 405: first gear 406: sapling pushing cylinder
407: push plate
501: first top plate 502: the first support frame 503: first connecting plate
504: first shaft 505: first synchronization belt 506: second shaft lever
507: second timing belt 508: second synchronizing wheel 509: second support frame
510: second connection plate 511: third timing belt 512: second top plate
601: synchronizing gear 602: first synchronizing wheel 603: third synchronizing wheel
701: drilling motor 702: a hopper 703: drilling driving gear
704: drill conveyor 705: drilling driven gear 706: fixing plate
707: hollow tube 708: flight 709: drill bit
901: arc-shaped fan blades 902: spring
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
In the present invention, the terms "mounted," "connected," "fixed," and the like are used in a broad sense, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, the practical directional terms such as "upper, lower, left, right" generally refer to upper, lower, left, right as shown in the drawings, unless otherwise specified; "inner and outer" refer to the inner and outer relative to the profile of the components themselves.
Examples
Referring to fig. 1 to 10, a robot for planting trees in a desert comprises a base plate 106, wherein a seedling screening mechanism 101 and a water supply mechanism 102 are arranged on the upper side of the base plate 106, a lifting mechanism 103 is arranged on the front side of the seedling screening mechanism 101 and on the base plate 106, a drill planting mechanism 105 is arranged on the lifting mechanism 103, the lifting mechanism 103 is used for lifting the drill planting mechanism 105, and a crawler 104 is arranged on the lower side of the base plate 106; in the embodiment, the sapling is screened by the sapling screening mechanism 101, and one sapling is screened from a plurality of saplings for planting;
referring to fig. 3 and 4, the sapling screening mechanism 101 includes a mounting frame 303 located on the upper side of the base plate 106, a box body 301 and a water tank 302 are arranged on the mounting frame 303, two conveying shafts 403 and two screening shafts 404 which are arranged in parallel are sequentially arranged at the lower end of the interior of the box body 301 from left to right, and the conveying shafts 403 and the screening shafts 404 are connected with the box body 301 through bearings (the two ends of the conveying shafts 403 and the two ends of the screening shafts 404 are connected with the front and rear side walls of the box body 301 through bearings);
a screening motor 306 is arranged on the side wall of the front side of the box body 301, the screening motor 306 is fixedly connected with the box body 301 through a motor support 307, the screening motor 306 is connected with one end of the screening shaft 404 through a coupler 401, first gears 405 are arranged at the ends of the screening shaft 404 and the conveying shaft 403 far away from the coupler 401, and the two first gears 405 are connected through a conveyor belt; a bar-shaped opening 402 is formed in the bottom surface of the box body 301, the bar-shaped opening 402 is located on the right side of the screening shaft 404, and the bar-shaped opening 402 is parallel to the axis of the screening shaft 404; the surface of the conveying shaft 403 is rough, a plurality of uniformly arranged strip-shaped grooves are formed in the outer peripheral side of the screening shaft 404, and the strip-shaped grooves are parallel to the axis of the screening shaft 404; a slide way 308 is arranged at the lower side of the strip-shaped opening 402, a push plate 407 capable of moving back and forth along the slide way 308 is arranged on the slide way 308, and the push plate 407 is connected with a sapling pushing cylinder 406 arranged on the mounting frame 303; the upper side of the water tank 302 is provided with a water inlet, the front side is provided with a water outlet 304, and the upper side of the water outlet 304 is provided with an electric control valve 305.
Specifically, referring to fig. 3 and 4, a plurality of saplings are placed in the box 301, the screening motor 306 is started to drive the screening shaft 404 to rotate, and the two first gears 405 are driven by the conveyor belt, so that the conveying shaft 403 and the screening shaft 404 rotate synchronously; because the surface of the conveying shaft 403 is rough (the friction force between the saplings and the conveying shaft 403 is increased), a plurality of strip-shaped grooves which are uniformly arranged are arranged on the outer peripheral side of the screening shaft 404, the saplings can be driven to be converted from being stacked into being arranged in a single layer in the rotating process of the conveying shaft 403 and the screening shaft 404, the saplings enter the strip-shaped grooves on the screening shaft 404 and then fall onto the slide way 308 from the strip-shaped opening 402, and the screening and conveying of the saplings are completed;
the seedling pushing cylinder 406 in this embodiment is provided with an infrared sensor, and when detecting that there is a seedling in the slideway 308, the pushing plate 407 is driven to push the seedling to the drill planting mechanism 105.
Further, as shown in fig. 5 to 7, the lifting mechanism 103 includes two first lifting mechanisms symmetrically arranged, the two first lifting mechanisms are respectively located on the left and right sides of the front end of the upper side of the substrate 106, the first lifting mechanisms include two first shaft rods 504 vertically arranged on the upper side of the substrate 106, a third synchronizing wheel 603 and a first synchronizing wheel 602 coaxially arranged between the two first shaft rods 504 and on the substrate 106, a first top plate 501 is arranged on the upper side of the two first shaft rods 504, an upper synchronizing wheel fixedly connected to the first top plate 501 is arranged on the lower side of the first top plate 501, the third synchronizing wheel 603 is connected to the upper synchronizing wheel through a third synchronizing belt 511, and the first top plate 501 is fixedly connected to the substrate 106 through two first supporting frames 502;
a first connecting plate 503 capable of moving on the first shaft 504 is sleeved between the two first shafts 504, and the first connecting plate 503 is fixedly connected with the third synchronous belt 511;
two symmetrically arranged and meshed synchronizing gears 601 are arranged on the base plate 106 at the symmetrical line of the two first lifting mechanisms, and the first synchronizing wheels 602 are connected with the corresponding synchronizing gears 601 through first synchronizing belts 505;
specifically, referring to fig. 5-6, the synchronizing gear 601 in the present embodiment is driven by a motor; because the two synchronizing gears 601 are meshed, the synchronizing gears 601 are driven to rotate by the motor, the two first synchronizing wheels 602 synchronously rotate under the driving of the first synchronizing belt 505, and because the first synchronizing wheels 602 and the third synchronizing wheels 603 are coaxially arranged (on the same shaft rod), when the first synchronizing wheels 602 drive, the two third synchronizing wheels 603 rotate, and further the two third synchronizing belts 511 are driven to transmit; a first connecting plate 503 fixedly connected with a third timing belt 511 moves up and down on the two first shafts 504;
in order to further improve the lifting height of the lifting mechanisms, second lifting mechanisms are arranged on the opposite inner sides of the two first lifting mechanisms; as shown in fig. 5 to 6, the second lifting mechanism includes two second synchronizing wheels 508 located on the upper side of the first synchronizing belt 505 and symmetrically arranged up and down, the two second synchronizing wheels 508 are connected by a second synchronizing belt 507, the two second synchronizing wheels 508 are respectively located on the lower side of the second top plate 512 and the upper side of the bottom plate, the bottom plate is connected with the second top plate 512 by two symmetrically arranged second supporting frames 509, the second supporting frames 509 are located at the two ends of the second top plate 512, two symmetrically arranged second shafts 506 are located between the two second supporting frames 509, the two second shafts 506 are connected by a second connecting plate 510, and the second connecting plate 510 can move on the second shafts 506; the second connecting plate 510 is fixedly connected with the second synchronous belt 507; the first connecting plate 503 is fixedly connected with the second timing belt 507.
Specifically, when the first connecting plate 503 moves on the first shaft 504, the first connecting plate 503 drives the second synchronous belt 507 to move, and since the second connecting plate 510 is fixedly connected with the second synchronous belt 507, when the second synchronous belt 507 is driven by two second synchronous wheels 508, the second connecting plate 510 is driven to move on the second shaft 506, and the second lifting mechanism is driven to integrally lift in the moving process of the second connecting plate 510; therefore, the first lifting mechanism and the second lifting mechanism are combined, so that the second lifting mechanism can integrally lift only by driving the first connecting plate 503, and meanwhile, the second connecting plate 510 also lifts on the second shaft rod 506, so that the lifting height of the lifting mechanism 103 is further increased.
Further, referring to fig. 7-10, the sapling screening mechanism 101 includes a fixing plate 706 located between two second connecting plates 510, a funnel 702 is disposed on the upper side of the fixing plate 706, a hollow pipe 707 connected to the fixing plate via a bearing is disposed on the lower side of the fixing plate 706, and a drill 709 capable of being opened and closed is disposed at the lower end of the hollow pipe 707; a drilling driven gear 705 is arranged on the hollow pipe 707, a drilling driving gear 703 is arranged on the lower side of the fixing plate 706, the drilling driving gear 703 is connected with the drilling driven gear 705 through a drilling conveyor belt 704, a drilling motor 701 for driving the drilling driving gear 703 to rotate is arranged on the upper side of the fixing plate 706, and the funnel 702 is communicated with the hollow pipe 707. The hollow pipe 07 is provided with a spiral piece 708 on the outer circumference.
The free end of the slide way 308 inclines obliquely downwards, the free end of the slide way is positioned on the upper side of the funnel 702, the water outlet 304 is connected with a water pipe, and one end of the water pipe, which is far away from the water outlet, is positioned on the upper side of the funnel 702.
Further, as shown in fig. 7-10, the drill 709 includes a plurality of arc-shaped fan blades 901 in an annular array, the arc-shaped fan blades 901 are arc-shaped, the width of each arc-shaped fan blade 901 gradually decreases from top to bottom, the adjacent arc-shaped fan blades 901 are partially overlapped, the overlapped portion is one third of the arc-shaped fan blades 901, and the upper end of the inner side of each arc-shaped fan blade 901 is connected with the outer peripheral side of the hollow tube 707 through a spring 902.
Specifically, the drilling motor 701 is started, the drilling driving gear 703 and the drilling driven gear 705 synchronously rotate under the driving of the drilling conveyor belt 704, and the hollow tube 708 and the drill bit 709 synchronously rotate; under the driving of the lifting mechanism 103, the drill 709 is driven to move downwards; because the drill 709 in this embodiment is composed of a plurality of sliding arc-shaped fan blades 901, when the drill 709 rotates clockwise, and the outer side walls of the arc-shaped fan blades 901 are squeezed by sand, the drill 709 keeps a closed state and is in a cone shape (the drill 709 is composed of a plurality of arc-shaped fan blades 901, and the widths of the arc-shaped fan blades 901 are gradually decreased from top to bottom); when the drill 709 rotates counterclockwise, the sidewall of the arc-shaped fan 901 is subjected to sand resistance, so as to drive the arc-shaped fan 901 to scatter outwards, and because the upper end of the inner side of the arc-shaped fan 901 is connected with the outer periphery of the hollow pipe 707 through the spring 902, the lower end of the drill 709 scatters under the action of the spring 902, and the upper end is connected with the hollow pipe 707.
When the robot is implemented, the method comprises a sapling screening stage, a lifting mechanism adjusting stage and a drilling planting stage;
and (3) seedling screening: placing the saplings in the box body 301, driving the crawler belts 104 to run to the sapling planting place, then starting the screening motor 306, and driving the conveying shaft 403 and the screening shaft 404 to synchronously rotate under the driving of the coupler 401; the conveying shaft 403 is rough in surface, the stacked saplings are converted into a single-layer arrangement state, then the single saplings are conveyed into the strip-shaped grooves on the screening shaft 404, and finally fall onto the slide way 308 through the strip-shaped openings 402; an infrared sensor arranged on the sapling pushing cylinder 406 detects that saplings are on the slideway 308, the sapling pushing cylinder 406 drives a push plate 407, the saplings are pushed to the funnel 702 and finally fall into a hollow pipe 707;
the adjusting stage of the lifting mechanism: a control motor drives a synchronous gear 601 to rotate, a first synchronous wheel 602 is driven by a first synchronous belt 505 to drive a third synchronous wheel 603 to rotate, and the third synchronous belt 511 drives the first connecting plate 503 to move on the first shaft 504; the first connecting plate 503 drives the second synchronous belt 507 to transmit on two second synchronous wheels 508, and finally the second connecting plate 510 moves on the second shaft rod 506 and the second lifting mechanism moves; the drill 709 on the fixing plate 706 is driven to descend continuously by the two second connecting plates 510;
drilling and planting: in the process that the drill planting mechanism 105 descends, the drilling motor 701 is started to drive the drilling driving gear 703 to rotate clockwise, and the hollow pipe 707 and the drill 709 rotate clockwise under the drive of the drilling conveyor belt 704; in the descending process of the drill 709, the arc-shaped fan blades 901 are driven to be relatively and inwardly extruded through sand extrusion, and the arc-shaped fan blades 901 are tightly closed together to form a conical drill;
after the drill bit 709 descends to a specified depth, the drill bit 709 is driven to rotate anticlockwise by controlling the drilling motor 701, and in the process of anticlockwise rotation of the drill bit 709, the arc-shaped fan blades 901 are driven to move outwards relatively under the action of resistance of sandy soil, and the lower end of the drill bit 709 is opened; then, the lifting mechanism 103 is controlled to drive the drill bit 709 and the hollow pipe 707 to integrally move upwards, and the saplings in the hollow pipe 707 gradually separate from the lower end of the drill bit 709; however, in the process of ascending, the drill 709 fills the hole with sandy soil again under the action of the arc-shaped fan 901 to complete the filling of the saplings; after the drill 709 is separated from the sandy soil, the water tank 302 injects water into the hole; and (5) completing the planting of the saplings, driving the crawler belts 104 to enter the next planting place, and repeating the operations.
In a word, the robot of the embodiment can convert the stacked saplings into a form of single-layer arrangement through the conveying shaft 403 and the screening shaft 404, does not need manpower, solves the cost, and realizes the automation of sapling screening; the arrangement of the first lifting mechanism and the second lifting mechanism further raises the lifting height of the lifting mechanism 103 for lifting the drill bit 709; particularly, in the embodiment, the hollow pipe 707 and the drill 709 are arranged, so that the saplings can be separated from the drill 709 and directly planted in the drilled holes; the arc-shaped fan blades 901 are arranged in a ring shape, the inner sides of the arc-shaped fan blades 901 are connected with the hollow pipe 707 through springs 902, holes can be drilled when the arc-shaped fan blades rotate clockwise, and soil can be filled when the arc-shaped fan blades rotate anticlockwise.
The above embodiments are only preferred embodiments of the present invention, and it should be understood that the above embodiments are only for assisting understanding of the method and the core idea of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalents and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. A robot for planting trees in desert comprises a base plate, wherein a sapling screening mechanism and a water supply mechanism are arranged on the upper side of the base plate, a lifting mechanism is arranged on the front side of the sapling screening mechanism and positioned on the base plate, a drill bit planting mechanism is arranged on the lifting mechanism, the lifting mechanism is used for lifting the drill bit planting mechanism, and a crawler belt is arranged on the lower side of the base plate; the method is characterized in that:
the sapling screening mechanism comprises a mounting frame positioned on the upper side of the base plate, a box body and a water tank are arranged on the mounting frame, two conveying shafts and screening shafts which are arranged in parallel are sequentially arranged at the lower end of the interior of the box body from left to right, and the conveying shafts, the screening shafts and the box body are all connected through bearings;
a screening motor is arranged on the front side of the box body and fixedly connected with the box body through a motor support, the screening motor is connected with one end of the screening shaft through a coupler, first gears are arranged at the ends, away from the coupler, of the screening shaft and the conveying shaft, and the two first gears are connected through a conveying belt; the bottom surface of the box body is provided with a strip-shaped opening which is positioned at the right side of the screening shaft;
the surface of the conveying shaft is rough, and a plurality of uniformly arranged strip-shaped grooves are formed in the periphery of the screening shaft; a slide way is arranged on the lower side of the strip-shaped opening, a push plate capable of moving back and forth along the slide way is arranged on the slide way, and the push plate is connected with a sapling pushing cylinder arranged on the mounting frame; the water tank upside is equipped with the water inlet, and the front side is equipped with the delivery port, the delivery port upside is equipped with the automatically controlled valve.
2. The robot of claim 1, wherein: the lifting mechanism comprises two first lifting mechanisms which are symmetrically arranged, each first lifting mechanism comprises two first shaft levers which are arranged on the upper side of the base plate and are vertically arranged, a third synchronizing wheel and a first synchronizing wheel which are coaxially arranged are arranged between the two first shaft levers and are positioned on the base plate, a first top plate is arranged on the upper sides of the two first shaft levers, an upper synchronizing wheel fixedly connected with the first top plate is arranged on the lower side of the first top plate, the third synchronizing wheel is connected with the upper synchronizing wheel through a third synchronizing belt, and the first top plate is fixedly connected with the base plate through two first supporting frames;
a first connecting plate capable of moving on the first shaft rod is arranged between the two first shaft rods and fixedly connected with the third synchronous belt;
two symmetrical and meshed synchronous gears are arranged on the base plate and on the symmetrical lines of the two first lifting mechanisms, and the first synchronous gears are connected with the corresponding synchronous gears through first synchronous belts; the relative inboard of two first hoist mechanisms all is equipped with second hoist mechanism.
3. The robot of claim 2, wherein: the second lifting mechanism comprises two second synchronous wheels which are positioned on the upper side of the first synchronous belt and are arranged in an up-down symmetrical mode, the two second synchronous wheels are connected through a second synchronous belt, the upper second synchronous wheel and the lower second synchronous wheel are respectively arranged on the lower side of the second top plate and the upper side of the bottom plate, the bottom plate is connected with the second top plate through two second support frames which are arranged in a symmetrical mode, two second shaft levers which are arranged in a symmetrical mode are arranged between the two second support frames, the two second shaft levers are connected through a second connecting plate, and the second connecting plate can move on the second shaft levers; the second connecting plate is fixedly connected with the second synchronous belt; the first connecting plate is fixedly connected with the second synchronous belt.
4. A robot as claimed in claim 3, wherein: the sapling screening mechanism comprises a fixed plate positioned between the two second connecting plates, wherein a funnel is arranged on the upper side of the fixed plate, and a hollow pipe connected with a bearing of the funnel is arranged on the lower side of the fixed plate; the funnel is communicated with a hollow pipe, and the lower end of the hollow pipe is provided with a drill bit which can be opened and closed; the drilling machine is characterized in that a drilling driven gear is arranged on the hollow pipe, a drilling driving gear is arranged on the lower side of the fixing plate and connected with the drilling driven gear through a drilling conveying belt, and a drilling motor used for driving the drilling driving gear to rotate is arranged on the upper side of the fixing plate.
5. The robot of claim 4, wherein: the periphery of the hollow pipe is provided with a spiral sheet.
6. The robot of claim 4, wherein: the drill comprises a plurality of arc-shaped fan blades in an annular array, wherein the arc-shaped fan blades are arc-shaped, and the width of each arc-shaped fan blade is gradually reduced from top to bottom; the adjacent arc-shaped fan blades are partially overlapped, the overlapped part is one third of the arc-shaped fan blades, and the upper ends of the inner sides of the arc-shaped fan blades are connected with the outer peripheral side of the hollow pipe through springs.
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| CN202210016314.5A CN114258834B (en) | 2022-01-07 | 2022-01-07 | Robot for planting trees in desert |
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| CN202210016314.5A CN114258834B (en) | 2022-01-07 | 2022-01-07 | Robot for planting trees in desert |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117694199A (en) * | 2024-02-08 | 2024-03-15 | 水利部牧区水利科学研究所 | Arid region shrub planting device and application method thereof |
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|---|---|
| CN114258834B (en) | 2024-07-12 |
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Inventor after: Liu Dong Inventor after: Lin Xiaoliang Inventor after: Song Bin Inventor after: Chen Zuji Inventor after: Zhang Yaoxing Inventor after: Yan Jiya Inventor after: Di Jiejian Inventor before: Di Jiejian Inventor before: Lin Xiaoliang Inventor before: Song Bin Inventor before: Chen Zuji Inventor before: Zhang Yaoxing Inventor before: Yan Jiya Inventor before: Liu Dong |
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