CN114902928A - Intelligence salix mongolica planting robot - Google Patents
Intelligence salix mongolica planting robot Download PDFInfo
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- CN114902928A CN114902928A CN202210607282.6A CN202210607282A CN114902928A CN 114902928 A CN114902928 A CN 114902928A CN 202210607282 A CN202210607282 A CN 202210607282A CN 114902928 A CN114902928 A CN 114902928A
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- drilling
- push rod
- salix
- planting
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- 241000124033 Salix Species 0.000 title claims abstract description 35
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 title claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 206
- 238000005553 drilling Methods 0.000 claims abstract description 58
- 238000003860 storage Methods 0.000 claims abstract description 52
- 238000009826 distribution Methods 0.000 claims abstract description 9
- 230000009467 reduction Effects 0.000 claims description 41
- 230000005540 biological transmission Effects 0.000 claims description 29
- 241000112525 Salix psammophila Species 0.000 claims description 28
- 239000003638 chemical reducing agent Substances 0.000 claims description 19
- 238000012856 packing Methods 0.000 claims description 10
- 239000002689 soil Substances 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 5
- 238000013016 damping Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000035939 shock Effects 0.000 claims description 3
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 11
- 230000008569 process Effects 0.000 abstract description 9
- 239000004576 sand Substances 0.000 abstract description 5
- 230000004083 survival effect Effects 0.000 abstract description 2
- 210000000078 claw Anatomy 0.000 description 8
- 238000011161 development Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 8
- 238000005096 rolling process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000002283 diesel fuel Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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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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- 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
- Y02P60/40—Afforestation or reforestation
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Soil Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Transplanting Machines (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses an intelligent salix mongolica planting robot, which relates to the technical field of desert vegetation planting robots and comprises a seedling drilling mechanism, a seedling storage mechanism, a seedling feeding mechanism, a traveling mechanism, a ridging mechanism, a speed reducing mechanism, wheels, a distribution box and a battery, wherein the seedling drilling mechanism is used for drilling seedlings; the advancing mechanism is provided with a drilling seedling mechanism, a seedling storage mechanism, a seedling conveying mechanism, an advancing mechanism, a ridging mechanism, a speed reducing mechanism and wheels. The electric power is used for driving, zero emission and zero pollution are realized. The upgrading and replacement of each working component can be realized quickly without influencing the operation of the whole structure, a series of processes of drilling, seedling feeding, seedling planting, earthing and the like in the tree planting process are realized, and the full automation of the tree planting process is realized. The redundant structure is reduced, the complexity of the system is reduced, and the survival rate of the salix mongolica seedlings is improved to the greatest extent under the condition that the salix mongolica seedlings are successfully and efficiently planted. Vertical salix mongolica seedlings can be planted on a slope with a certain angle on the sand. A large amount of labor force can be liberated, and the labor cost is saved.
Description
Technical Field
The invention relates to the technical field of desert vegetation planting robots, in particular to an intelligent salix mongolica planting robot.
Background
China is a great forestry country and is also a great desert country. Desert control has become one of the important tasks for promoting economic development and is also the requirement for optimizing ecological environment. At present, China has large-scale tree planting and afforestation engineering, and although certain achievements are achieved, the method still has a long way to go for the sand control in China on the whole. The desert tree planting machine is an important mark representing the mechanized development level of forestry. With the scientific and technological development, the reduction of labor force and the adjustment of the labor structure of population, the development of desert vegetation planting machines is imperative, and the desert vegetation planting machine plays a positive and important role in promoting the technical revolution of forestry and the modernized development of the forestry in China.
Many forestry fields in China, particularly ecological construction fields, still stay at a semi-mechanized level, and still do not completely reach the mechanized level, with the technical development, the forestry equipment in some fields has entered the robot era, but desert vegetation planting robots are still in the experimental stage, and still can not be popularized due to various reasons, and the main problems existing at present are as follows. 1. The existing auxiliary planting machine has single function, still needs a large amount of manual operation, and is difficult to independently and autonomously realize the whole tree planting process. 2. The automatic industrial operation can not be realized, and the problem of high labor intensity of manpower is fundamentally solved. 3. The traditional machinery adopts diesel oil as a power source and does not accord with the green development concept. Therefore, the intelligent desert vegetation planting robot has a great development space and application prospect. At present, no tree planting robot which is applied in a large scale exists in the world, China only has mechanical participation in forestry in related fields to a certain extent, but only stays in a research stage of a personal laboratory in desert planting, and only has a planting robot with a single function, so that the step of manual excavation can be replaced, and independent operation cannot be achieved. Foreign countries do not have mature technology in related fields, and only the model robot can carry out the whole tree planting work in a better ecological environment, so that the purpose of planting trees in deserts cannot be achieved.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an intelligent salix mongolica planting robot combining high-precision positioning equipment and applying a path planning algorithm, so that the problems in the technical background are solved, full automation of planting can be realized, and salix mongolica planting in a specified area can be completed without manual intervention.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides an intelligent salix mongolica planting robot which comprises a seedling drilling mechanism, a seedling storage mechanism, a seedling conveying mechanism, a traveling mechanism, a hilling mechanism, a speed reducing mechanism, wheels, a distribution box and a battery, wherein the seedling drilling mechanism is used for drilling seedlings; the advancing mechanism is provided with the drilling seedling mechanism, the seedling storage mechanism, the seedling conveying mechanism, the advancing mechanism, the hilling mechanism, the speed reducing mechanism and the wheels; the advancing mechanism is used for driving the robot to advance, the drilling seedling mechanism is used for drilling and planting salix psammophila seedlings, the seedling storage mechanism is used for storing salix psammophila seedlings and conveying the salix psammophila seedlings to the seedling conveying mechanism, the seedling conveying mechanism is used for conveying the salix psammophila seedlings from the seedling storage mechanism to the drilling seedling mechanism, and the banking mechanism is used for tamping soil; the speed reducing mechanism is in transmission connection with the wheels; the battery with the block terminal electricity is connected, the block terminal is connected with actuating mechanism, actuating mechanism with the reduction gears transmission is connected.
Optionally, the travelling mechanism comprises a tire, a support frame, a damping system, a speed reducer, a frame and a motor; the frame comprises an upper frame plate and a lower frame plate which are arranged in parallel, and the support frame is arranged between the upper frame plate and the lower frame plate; the speed reducer is arranged on the periphery of the lower frame plate, an output shaft of the motor is in transmission connection with an input end of the speed reducer, and an output end of the speed reducer is connected with a tire; the damping system is arranged between the wheels and the support frame.
Optionally, the seedling conveying mechanism comprises a longitudinal stepping motor, a connecting plate, a transverse stepping motor, a truss arm, a longitudinal sliding block, a connecting arm, a mechanical arm, a steering engine bracket, a vertical guide rail and a transverse guide rail;
the bottom of the truss arm is connected with the travelling mechanism, the top of the truss arm is provided with the transverse guide rail, the transverse guide rail is provided with a transverse sliding block in a sliding manner, one end of the top of the truss arm is provided with the transverse stepping motor, an output shaft of the transverse stepping motor is connected with a transverse lead screw, the transverse lead screw is in transmission connection with the transverse sliding block, and the connecting plate is arranged on the transverse sliding block;
the side wall of the transverse sliding block is connected with the longitudinal guide rail, the longitudinal stepping motor is arranged at the top of the longitudinal guide rail, the longitudinal sliding block is arranged on the longitudinal guide rail in a sliding manner, an output shaft of the longitudinal stepping motor is connected with a longitudinal screw rod, and the longitudinal screw rod is in transmission connection with the longitudinal sliding block;
the connecting arm is arranged on the longitudinal sliding block; the steering wheel set up in on the linking arm, the output of steering wheel is provided with the arm, the arm is used for centre gripping salix psammophila seedling.
Optionally, the drilling seedling mechanism comprises a drilling mechanism and an angle adjusting mechanism; the angle adjusting mechanism is arranged on the travelling mechanism; the drilling mechanism is connected with the angle adjusting mechanism, the angle adjusting mechanism is used for adjusting the angle of the drilling mechanism, and the drilling mechanism is used for digging pits on the ground.
Optionally, the drilling mechanism comprises a lifting assembly, a driving speed reduction assembly, a drill bit assembly and a packing auger; the lifting assembly is connected with the angle adjusting mechanism; the lifting assembly is used for enabling the driving speed reducing assembly to lift, the driving speed reducing assembly is used for driving the packing auger, and the bottom of the packing auger is provided with a drill bit assembly.
Optionally, the lifting assembly comprises a linear module, and a movable end of the linear module is connected with the driving deceleration assembly; the driving speed reduction assembly comprises a direct current motor and a reduction gearbox, the direct current motor is connected with the input end of the reduction gearbox, and the output end of the reduction gearbox is connected with the auger; a seedling dropping hole is formed in the middle of the auger, and the top of the seedling dropping hole is communicated with a seedling dropping end of the seedling conveying mechanism;
the drill bit assembly comprises a drill bit main body, a drill bit end cover and a push rod; drill bit main part upper portion with the bottom intercommunication in seedling hole falls, the bottom of drill bit main part is provided with the drill bit end cover, just the one end of drill bit end cover with one side activity hinge joint of drill bit main part, the push rod bottom with drill bit end cover activity hinge joint, the push rod top is followed seedling hole internal extension that falls seedling hole top.
Optionally, the angle adjusting mechanism comprises a box body, a worm shaft, a turbine and a turbine fixing plate; the worm shaft is arranged in the box body, and one end of the worm shaft is connected with a stepping motor; the worm wheel is of a semicircular structure, transmission teeth are arranged on the circumferential surface of the worm wheel, and the worm shaft is in transmission fit with the transmission teeth; the turbine fixing plate is arranged on the plane of the turbine; the turbine is rotatably connected with the box body; the turbine fixing plate is connected with the drilling mechanism.
Optionally, the ridging mechanism comprises a worm, a turbine, an electric push rod fixing frame, a push rod fixing plate, a bearing seat, a ridging plate, a connecting rod, a ridging rod, a push rod connecting rod and an electric push rod; the bearing frame set up in on the advancing mechanism, push rod fixed plate one end through two semi-axles with bearing in the bearing frame is connected, the worm with the turbine transmission is connected, turbine and one semi-axle coaxial coupling, electric putter set up in on the push rod fixed plate, the expansion end of push rod fixed plate with the one end of push rod connecting rod is connected, the other end of push rod connecting rod with the one end of connecting rod is connected, the other end of connecting rod with the one end of hilling up the pole is connected, the other end of hilling up the pole with the one end of hilling up the board is connected.
Optionally, the seedling storage mechanism comprises a friction roller, a seedling storage box, a seedling storage mechanism fixing seat, a roller frame and a stepping motor; the seedling storage mechanism fixing seat is arranged on the advancing mechanism, the seedling storage box is arranged on the seedling storage mechanism fixing seat, one end of the seedling storage box is provided with a region to be clamped, the seedling storage box is provided with the roller frame close to the region to be clamped, the friction roller is rotatably arranged in the roller frame, and the friction roller is in transmission connection with the stepping motor.
Compared with the prior art, the invention has the following technical effects:
(1) the invention adopts solar energy as auxiliary energy, uses electric power to drive the whole equipment to operate, and realizes zero emission and zero pollution in the working engineering.
(2) The invention adopts a modularized design idea, can quickly realize the upgrade and replacement of each working component without influencing the operation of the whole structure, completely realizes a series of processes of drilling, seedling feeding, seedling planting, earthing and the like in the tree planting process by using a set of equipment, and realizes the full automation of the tree planting process.
(3) The invention optimizes partial structure. The hollow drill bit structure is innovatively designed, the functions of drilling, planting, supporting and the like are considered, the redundant and miscellaneous structure in the multi-structure cooperation is reduced, the complexity of the system is reduced, and the survival rate of the salix mongolica seedlings is improved as far as possible under the condition that the salix mongolica seedlings are successfully and efficiently planted.
(4) The vertical salix mongolica seedlings can be planted on the slope with a certain angle on the sand land by arranging the angle adjusting mechanism.
(6) The invention integrates the internet of things and the intelligent thought, can remotely monitor the running condition of the equipment in real time, sends related working instructions and controls the running of the equipment.
(7) The invention can complete all planting work only by one person, compared with manual planting, a large amount of labor force can be liberated, and labor cost is saved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic side structure diagram of an intelligent salix mongolica planting robot of the invention;
FIG. 2 is a schematic diagram of a top view structure of the intelligent salix mongolica planting robot of the present invention;
FIG. 3 is a schematic perspective view of an intelligent salix psammophila planting robot according to the present invention;
FIG. 4 is a schematic diagram of a front view structure of the intelligent salix mongolica planting robot of the invention;
FIG. 5 is a schematic structural diagram of a drilling mechanism and an angle adjusting mechanism in the intelligent salix psammophila planting robot of the present invention;
FIG. 6 is a schematic view of the main structure of a drilling mechanism and an angle adjusting mechanism in the intelligent salix psammophila planting robot of the present invention;
FIG. 7 is a schematic view of an exploded structure of a drilling mechanism and an angle adjusting mechanism in the intelligent salix psammophila planting robot of the present invention;
FIG. 8 is a schematic structural diagram of a drill bit in the intelligent salix mongolica planting robot of the invention;
FIG. 9 is a schematic structural diagram of a traveling mechanism in the intelligent salix psammophila planting robot of the present invention;
FIG. 10 is a schematic structural diagram of a banking mechanism in the intelligent salix psammophila planting robot of the present invention;
FIG. 11 is a schematic structural view of a seedling feeding mechanism in the intelligent salix psammophila planting robot of the present invention;
fig. 12 is a schematic structural diagram of a seedling storage mechanism in the intelligent salix psammophila planting robot of the present invention.
Description of reference numerals:
101. an angle adjusting mechanism; 102. a seedling drilling mechanism; 103. a seedling storage mechanism; 104. a seedling conveying mechanism; 105. a traveling mechanism; 106. a ridging mechanism; 107. a speed reduction mechanism; 108. a wheel; 109. a distribution box; 110. a battery; 111. a DC brushless motor;
201. a tire; 202. a support frame; 203. a spring shock absorbing system; 204. a worm gear reducer; 205. a frame;
301. a drilling mechanism; 302. a linear module; 303. an angle adjusting mechanism; 304. a drill bit; 305. a direct current motor; 306. an electric push rod; 307. the electric push rod fixes the pressing plate; 308. an electric push rod fixing plate; 309. an electric push rod placing rack; 310. a push rod connector; 311. a reducer end cover; 312. an output shaft gear; 313. a limiting ring; 314. a thrust bearing; 315. an input shaft gear; 316. a linear bearing; 317. an angle adjusting support shaft; 318. an angle adjusting support shaft support; 319. a lead screw; 320. a linear module lower fixing plate; 321. a guide rail fixing plate; 322. a turbine fixing plate; 323. a guide rail; 324. a slider; 325. a linear module upper fixing plate; 326. a sliding shaft support; 327. a sliding support shaft fixing plate; 328. a connecting member; 329. a turbine; 330. the angle adjustment and deceleration is carried out on the upper box body; 331. a turbine connecting shaft; 332. a key; 333. a worm shaft; 334. a rolling bearing; 335. the lower box body is subjected to angle adjustment and deceleration; 336. a stepping motor; 337. a reduction gearbox fixing plate; 338. a sliding support shaft; 339. an angle adjustment reduction box body end; 340. a drill head; 341. a bit head end cap; 342. a pin; 343. a drill bit body; 344. a push rod; 345. a sliding shaft is pressed and ring; 346. a reduction box body;
401. a longitudinal stepper motor; 402. a connecting plate; 403. a transverse stepper motor; 404. a truss arm; 405. a longitudinal slide block; 406. a connecting arm; 407. a mechanical arm; 408. a steering engine bracket; 409. a second steering engine; 411. a front claw; 412. a first steering engine; 413. a vertical guide rail; 414. a transverse guide rail; 415. a vertical screw rod;
501. a worm; 502. a turbine; 503. an electric push rod fixing frame; 504. a push rod fixing plate; 505. a bearing seat; 506. a hilling plate; 507. a connecting rod; 508. a hilling rod; 509. a push rod connecting rod; 510. an electric push rod;
601. a friction roller; 602. a bearing bracket; 603. a seedling storage box; 604. a seedling storage mechanism fixing seat; 605. a roller frame; 606. a motor fixing support; 607. a stepping motor; 608. and (5) a region to be clamped.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 12, the present embodiment provides an intelligent salix psammophila planting robot, which includes a seedling drilling mechanism 1, a seedling storage mechanism 2, a seedling feeding mechanism, a traveling mechanism 105, a banking mechanism 106, a speed reduction mechanism 107, wheels 108, a distribution box 109, and a battery 110; the advancing mechanism 105 is provided with a drilling seedling mechanism 1, a seedling storage mechanism 2, a seedling feeding mechanism, an advancing mechanism 105, a banking mechanism 106, a speed reducing mechanism 107 and wheels 108; the advancing mechanism 105 is used for driving the robot to advance, the drilling seedling mechanism 1 is used for drilling and planting salix psammophila seedlings, the seedling storage mechanism 2 is used for storing the salix psammophila seedlings and conveying the salix psammophila seedlings to the seedling conveying mechanism, the seedling conveying mechanism is used for conveying the salix psammophila seedlings from the seedling storage mechanism 2 to the drilling seedling mechanism 1, and the ridging mechanism 106 is used for tamping soil; the speed reducing mechanism 107 is in transmission connection with wheels 108; the battery 110 is electrically connected to the distribution box 109, and the distribution box 109 is connected to a driving mechanism, which is drivingly connected to the reduction mechanism 107.
In this embodiment, the driving mechanism is a motor, the battery 110 supplies power to the motor, the distribution box 109 controls the operation and the stop of the motor, the battery 110 supplies power to the drilling seedling mechanism 1, the seedling storage mechanism 2, the seedling feeding mechanism and the hilling mechanism 106 at the same time, and the distribution box 109 distributes and controls the power.
The traveling mechanism 105 comprises a tire 201, a support frame 202, a spring damping system 203, a worm gear reducer 204, a frame 205 and a brushless direct current motor 111; the frame 205 comprises an upper frame plate and a lower frame plate which are arranged in parallel, and a support frame 202 is arranged between the upper frame plate and the lower frame plate; the reduction gear sets up around the lower frame plate, and the output shaft of DC brushless motor 111 is connected with the input transmission of reduction gear, and the output of reduction gear is connected with a tire 201, realizes turning to through four DC brushless motor 111's differential. The shock absorption system is arranged between the wheels 108 and the support frame 202, so that stable running on the sand is guaranteed, and meanwhile, the device is suitable for complex terrains. More specifically, the supporting frame 202 is an i-shaped structure, and two supporting frames 202 are respectively disposed between the upper frame plate and the lower frame plate and on two sides of the worm gear reducer 204.
The seedling conveying mechanism comprises a longitudinal stepping motor 401, a connecting plate 402, a transverse stepping motor 403, a truss arm 404, a longitudinal sliding block 405, a connecting arm 406, a mechanical arm 407, a first steering engine 412, a second steering engine 409, a steering engine support 408, a vertical guide rail 413 and a transverse guide rail 414; the bottom of the truss arm 404 is connected with the traveling mechanism 105, the top of the truss arm 404 is provided with a transverse guide rail 414, a transverse sliding block 324 is arranged on the transverse guide rail 414 in a sliding manner, one end of the top of the truss arm 404 is provided with a transverse stepping motor 403, an output shaft of the transverse stepping motor 403 is connected with a transverse screw rod, the transverse screw rod is in transmission connection with the transverse sliding block 324, and the connecting plate 402 is arranged on the transverse sliding block 324;
the side wall of the transverse sliding block 324 is connected with a longitudinal guide rail 323, the longitudinal stepping motor 401 is arranged at the top of the longitudinal guide rail 323, the longitudinal sliding block 405 is arranged on the longitudinal guide rail 323 in a sliding manner, the output shaft of the longitudinal stepping motor 401 is connected with a longitudinal screw rod, and the longitudinal screw rod is in transmission connection with the longitudinal sliding block 405; the connecting arm 406 is arranged on the longitudinal slider 405; the first steering engine 412 and the second steering engine 409 are arranged on the connecting arm 406, the output ends of the first steering engine 412 and the second steering engine 409 are provided with a mechanical arm 407, and the mechanical arm 407 is used for clamping salix mongolica seedlings. More specifically, as shown in fig. 2, the seedling feeding mechanism is located between the drilling seedling mechanism 1 and the seedling storage mechanism 2, and the two truss arms 404 are located on the same side of the upper frame plate.
The drilling seedling mechanism 1 comprises a drilling mechanism 301 and an angle adjusting mechanism 303; the angle adjusting mechanism 303 is arranged on the traveling mechanism 105; the drilling mechanism 301 is connected with an angle adjusting mechanism 303, the angle adjusting mechanism 303 is used for adjusting the angle of the drilling mechanism 301, and the drilling mechanism 301 is used for digging a pit on the ground.
The drilling mechanism 301 comprises a lifting assembly, a driving speed reducing assembly, a drill bit 304 assembly and a packing auger; the lifting assembly is connected with the angle adjusting mechanism 303; the lifting assembly is used for lifting the driving speed reducing assembly, the driving speed reducing assembly is used for driving the packing auger, and the bottom of the packing auger is provided with a drill bit 304 assembly.
The lifting assembly comprises a linear module 302, and the movable end of the linear module 302 is connected with the driving speed reduction assembly; the driving speed reduction assembly comprises a direct current motor 305 and a reduction box, the direct current motor 305 is connected with the input end of the reduction box, and the output end of the reduction box is connected with the auger; a seedling dropping hole is formed in the middle of the auger, and the top of the seedling dropping hole is communicated with a seedling dropping end of the seedling conveying mechanism;
the drill bit 304 assembly includes a bit body 343, a bit end cap 341, and a push rod 344; the upper part of the drill bit body 343 is communicated with the bottom of the seedling falling hole, the bottom of the drill bit body 343 is provided with a drill bit end cover 341, one end of the drill bit end cover 341 is movably hinged with one side of the drill bit body 343, the bottom of the push rod 344 is movably hinged with the drill bit end cover 341, and the top of the push rod 344 extends to the top of the seedling falling hole along the seedling falling hole. Furthermore, the bit end cap 341 is hinged to the bit 340 of the bit body 343, and the bottom of the push rod 344 is connected to the bit end cap 341 through a pin 342.
The angle adjusting mechanism 303 comprises a box body, a worm shaft 333, a turbine 329 and a turbine fixing plate 322; the worm shaft 333 is arranged in the box body, and one end of the worm shaft 333 is connected with a stepping motor 336; the turbine 329 is in a semicircular structure, transmission teeth are arranged on the circumferential surface of the turbine 329, and the worm shaft 333 is in transmission fit with the transmission teeth; the turbine fixing plate 322 is arranged on the plane of the turbine 329; the turbine 329 is rotatably connected with the box body; the turbine fixing plate 322 is connected to the drilling mechanism 301.
In a more specific embodiment, the drilling mechanism 301 includes a dc motor 305, an electric push rod 510, an electric push rod fixing press plate 307, an electric push rod fixing plate 308, an electric push rod placing frame 309, a push rod connector 310, a reducer end cover 311, an output shaft gear 312, a retainer ring 313, a thrust bearing 314, an input shaft gear 315, a linear bearing 316, an angle adjustment supporting shaft 317, an angle adjustment supporting shaft holder 318, a lead screw 319, a linear module lower fixing plate 320, a guide rail fixing plate 321, a guide rail 323, a slider 324, a linear module upper fixing plate 325, a reduction box fixing plate 337, and a reduction box 346; the direct current motor 305 is arranged at the top of the reducer end cover 311, the reducer end cover 311 is arranged at the top of the reducer box 346 through bolts, the input shaft gear 315 is arranged on the output shaft of the direct current motor 305 and is positioned inside the reducer box 346, the input shaft gear 315 is meshed with the output shaft gear 312, the limit ring 313 and the thrust bearing 314 which are coaxially arranged with the output shaft gear 312 are sleeved on the auger, and the top of the auger penetrates through the reducer end cover 311. The electric push rod 510 is fixed on the top of the reducer end cover 311 through the electric push rod fixing pressure plate 307, the electric push rod fixing plate 308 and the electric push rod placing rack 309, the top of the push rod 344 extends out of the top of the packing auger and is connected with the electric push rod 510 through the push rod connecting piece 310, and the electric push rod 510 pushes the push rod 344 to open and close the bit end cover 341. One side of the guide rail fixing plate 321 is connected with the angle adjusting mechanism 303, the other side of the guide rail fixing plate is connected with the guide rail 323, the top of the guide rail 323 is provided with a linear module upper fixing plate 325, the bottom of the guide rail 323 is provided with a linear module lower fixing plate 320, the lead screw 319 is arranged between the linear module upper fixing plate 325 and the linear module lower fixing plate 320, the slider 324 is arranged on the lead screw 319, and the reduction gearbox fixing plate 337 is arranged between the slider 324 and the reduction gearbox 346. The linear bearing 316 penetrates through the angle adjusting support shaft 317, meanwhile, the linear bearing 316 is fixed on the side of the reduction box 346, the lower end of the angle adjusting support shaft 317 is fixedly connected with the angle adjusting support shaft support 318, the drilling mechanism 301 is integrally inclined in the slope planting process, the linear bearing 316 moves up and down along the angle adjusting support shaft 317 to drive the angle adjusting support shaft support 318 to rotate, the box is limited from moving left and right, and the pressure born by the linear module 302 in the angle adjusting process is reduced.
In a more specific embodiment, the angle adjustment mechanism 303 includes a turbine fixing plate 322, a sliding shaft bracket 326, a sliding support shaft fixing plate 327, a connecting member 328, a turbine 329, an angle adjustment deceleration upper case 330, a turbine connecting shaft 331, a key 332, a worm shaft 333, a rolling bearing 334, an angle adjustment deceleration lower case 335, a stepping motor 336, a sliding support shaft 338, a sliding shaft pressing ring 345, and an angle adjustment deceleration case end 339; the two sides of the sliding support shaft fixing plate 327 are respectively connected with a sliding shaft bracket 326 through a connecting piece 328, the sliding shaft bracket 326 is provided with an arc-shaped guide groove, the two sides of the turbine 329 are respectively connected with the turbine fixing plate 322 through a connecting piece 328, the middle part of the turbine connecting shaft 331 is connected with the turbine 329 through a key 332, the two ends of the turbine connecting shaft 331 are respectively rotatably connected with the two sides of the angle adjusting and speed reducing upper box body 330, the inner side of the end 339 of the angle adjusting and speed reducing box body is provided with a bearing, and the two ends of the turbine connecting shaft 331 are respectively connected with the corresponding bearings. The angle adjustment speed reduction lower box body 335 is arranged on an upper frame plate of the walking mechanism, the top of the angle adjustment speed reduction lower box body 335 is connected with the angle adjustment speed reduction upper box body 330 through a bolt, the stepping motor 336 is arranged in the angle adjustment speed reduction lower box body 335, the worm shaft 333 is arranged in the angle adjustment speed reduction upper box body 330, the stepping motor 336 is connected with the bottom end of the worm shaft 333, and rolling bearings 334 are respectively arranged between the worm shaft 333 and the angle adjustment speed reduction upper box body 330 and the angle adjustment speed reduction lower box body 335. The middle of the sliding support shaft 338 is connected to a sliding support shaft fixing plate 327 through a sliding shaft press ring 345, and both ends of the sliding support shaft 338 are inserted into arc-shaped guide grooves provided in the sliding shaft bracket 326.
The ridging mechanism 106 comprises a worm 501, a turbine 502, an electric push rod fixing frame 503, a push rod fixing plate 504, a bearing seat 505, a ridging plate 506, a connecting rod 507, a ridging rod 508, a push rod connecting rod 509 and an electric push rod 510; bearing frame 505 sets up on advancing mechanism 105, push rod fixed plate 504 one end is connected with the bearing in the bearing frame 505 through two semi-axes, worm 501 is connected with the transmission of turbine 502, turbine 502 and a semi-axis coaxial coupling, electric putter 510 sets up on push rod fixed plate 504, the expansion end of push rod fixed plate 504 is connected with the one end of push rod connecting rod 509, the other end of push rod connecting rod 509 is connected with the one end of connecting rod 507, the other end of connecting rod 507 is connected with the one end of hilling pole 508, the other end of hilling pole 508 is connected with the one end of hilling plate 506.
The seedling storage mechanism 2 comprises a friction roller 601, a seedling storage box 603, a seedling storage mechanism fixing seat 604, a roller frame 605, a motor fixing support 606 and a stepping motor 607; seedling storage mechanism fixing seat 604 is arranged on advancing mechanism 105, seedling storage box 603 is arranged on seedling storage mechanism fixing seat 604, one end of seedling storage box 603 is provided with to wait to press from both sides district 608, seedling storage box 603 is provided with drum stand 605 near to waiting to press from both sides district 608, drum stand 605 is rotatable through bearing frame 602 and is provided with friction roller 601, friction roller 601 is connected with step motor 607 transmission, step motor 607 sets up on motor fixing support 606. In a more specific embodiment, a spring is arranged inside the seedling storage box 603, the salix psammophila seedlings inside the seedling storage box 603 are placed in an extruding mode and are guaranteed to be in a vertical position, a slope is arranged inside the seedling storage box 603, and the seedlings placed in the seedling storage box 603 move to the friction roller 601 under the action of gravitational potential energy and spring force.
In the seedling storage mechanism 2, the friction roller 601 is driven by the stepping motor 336 to screw out the salix mongolica seedlings in the seedling storage box 603, so that the salix mongolica seedlings reach the to-be-clamped area 608.
When the seedling storage mechanism 2 sends the salix psammophila seedlings to the front claw 411, the front claw 411 is closed. When the salix mongolica seedlings move to the drilling mechanism 301 through the transverse guide rail 414 and the longitudinal guide rail 323, the first steering engine 412 and the second steering engine 409 control the front claw 411 to rotate 180 degrees integrally, the first steering engine 412 and the second steering engine 409 control the front claw 411 to open, and the salix mongolica seedlings fall in seedling falling holes of the drilling mechanism 301.
When the hilling mechanism 106 works, the worm 501 drives the worm wheel 502 to rotate so as to adjust the heights of the push rod fixing plate 504 and the hilling plate 506. When the height reaches a designated height, the electric push rod 510 extends to press the hilling plate 506 downwards, so that the hilling plate presses downwards to tamp the soil. The electric push rod 510 retracts to lift the hilling plate 506, the worm 501 and the worm wheel 502 rotate reversely to return the push rod fixing plate 504 and the hilling plate 506 to the designated positions.
The intelligent salix mongolica planting robot starts to work and is driven to a designated position by the advancing mechanism 105, the direct current motor 305 drives the drill bit main body 343 to start rotating, meanwhile, the lead screw 319 starts to rotate to drive the speed reduction box 346 and the drill bit main body 343 to descend, namely, drilling is started, after a certain position is reached, the stepping motor 336 drives the friction roller 601 to rotate out salix mongolica seedlings in the seedling storage box 603, the salix mongolica seedlings reach the to-be-clamped area 608, the seedling sending mechanism starts to operate, and the front claw 411 is closed to clamp the salix mongolica seedlings. After the salix mongolica seedlings move to the guide positions through the transverse guide rail 414 and the longitudinal guide rail 323, the front claws 411 are controlled to integrally rotate 180 degrees by the first steering engine 412 and the second steering engine 409, the front claws 411 are controlled to be opened by the first steering engine 412 and the second steering engine 409, and the salix mongolica seedlings fall in seedling falling holes of the drilling mechanism 301. The electric push rod 510 is driven to move the push rod 344 downwards, the drill head end cover 341 is pushed to rotate around the drill head 340, the opening action of the drill head 340 is completed, the salix psammophila seedlings fall down, then the direct current motor 305 is driven in a reverse direction to drive the drill head main body 343 to rotate, meanwhile, the lead screw 319 rotates to drive the reduction box 346 and the drill head main body 343 to ascend, and then sand and soil begin to be backfilled, and the drill head main body 343 is lifted out. The hilling mechanism 106 starts to work, and when the hilling mechanism 106 works, the worm 501 drives the turbine 502 to rotate so as to adjust the heights of the push rod fixing plate 504 and the hilling plate 506. When the height reaches the designated height, the electric push rod 510 extends to press the hilling plate 506 downwards, so that the hilling plate presses downwards to tamp the soil. The electric push rod 510 retracts to lift the hilling plate 506, and the worm 501 and the worm wheel 502 rotate reversely to return the push rod fixing plate 504 and the hilling plate 506 to the original positions. And finishing the planting at one time.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (9)
1. An intelligent salix psammophila planting robot is characterized by comprising a seedling drilling mechanism, a seedling storage mechanism, a seedling conveying mechanism, a traveling mechanism, a hilling mechanism, a speed reducing mechanism, wheels, a distribution box and a battery; the advancing mechanism is provided with the drilling seedling mechanism, the seedling storage mechanism, the seedling conveying mechanism, the advancing mechanism, the hilling mechanism, the speed reducing mechanism and the wheels; the advancing mechanism is used for driving the robot to advance, the drilling seedling mechanism is used for drilling and planting salix psammophila seedlings, the seedling storage mechanism is used for storing salix psammophila seedlings and conveying the salix psammophila seedlings to the seedling conveying mechanism, the seedling conveying mechanism is used for conveying the salix psammophila seedlings from the seedling storage mechanism to the drilling seedling mechanism, and the banking mechanism is used for tamping soil; the speed reducing mechanism is in transmission connection with the wheels; the battery with the block terminal electricity is connected, the block terminal is connected with actuating mechanism, actuating mechanism with the reduction gears transmission is connected.
2. The intelligent salix mongolica planting robot of claim 1, wherein the traveling mechanism comprises tires, a support frame, a shock absorption system, a speed reducer, a frame and a motor; the frame comprises an upper frame plate and a lower frame plate which are arranged in parallel, and the support frame is arranged between the upper frame plate and the lower frame plate; the speed reducer is arranged on the periphery of the lower frame plate, an output shaft of the motor is in transmission connection with an input end of the speed reducer, and an output end of the speed reducer is connected with a tire; the damping system is arranged between the wheels and the support frame.
3. The intelligent salix mongolica planting robot of claim 1, wherein the seedling conveying mechanism comprises a longitudinal stepping motor, a connecting plate, a transverse stepping motor, a truss arm, a longitudinal sliding block, a connecting arm, a mechanical arm, a steering engine bracket, a vertical guide rail and a transverse guide rail;
the bottom of the truss arm is connected with the advancing mechanism, the top of the truss arm is provided with the transverse guide rail, the transverse guide rail is provided with a transverse sliding block in a sliding manner, one end of the top of the truss arm is provided with the transverse stepping motor, an output shaft of the transverse stepping motor is connected with a transverse lead screw, the transverse lead screw is in transmission connection with the transverse sliding block, and the connecting plate is arranged on the transverse sliding block;
the side wall of the transverse sliding block is connected with the longitudinal guide rail, the longitudinal stepping motor is arranged at the top of the longitudinal guide rail, the longitudinal sliding block is arranged on the longitudinal guide rail in a sliding manner, an output shaft of the longitudinal stepping motor is connected with a longitudinal screw rod, and the longitudinal screw rod is in transmission connection with the longitudinal sliding block;
the connecting arm is arranged on the longitudinal sliding block; the steering wheel set up in on the linking arm, the output of steering wheel is provided with the arm, the arm is used for centre gripping salix psammophila seedling.
4. The intelligent salix mongolica planting robot of claim 1, wherein the drilling seedling mechanism comprises a drilling mechanism and an angle adjusting mechanism; the angle adjusting mechanism is arranged on the travelling mechanism; the drilling mechanism is connected with the angle adjusting mechanism, the angle adjusting mechanism is used for adjusting the angle of the drilling mechanism, and the drilling mechanism is used for digging pits on the ground.
5. The intelligent salix mongolica planting robot of claim 4, wherein the drilling mechanism comprises a lifting assembly, a driving speed reduction assembly, a drill bit assembly and a packing auger; the lifting assembly is connected with the angle adjusting mechanism; the lifting assembly is used for enabling the driving speed reducing assembly to lift, the driving speed reducing assembly is used for driving the packing auger, and the bottom of the packing auger is provided with a drill bit assembly.
6. The intelligent salix mongolica planting robot of claim 5, wherein the lifting assembly comprises a linear module, and a movable end of the linear module is connected with the driving deceleration assembly; the driving speed reduction assembly comprises a direct current motor and a reduction gearbox, the direct current motor is connected with the input end of the reduction gearbox, and the output end of the reduction gearbox is connected with the auger; a seedling dropping hole is formed in the middle of the auger, and the top of the seedling dropping hole is communicated with a seedling dropping end of the seedling conveying mechanism;
the drill bit assembly comprises a drill bit main body, a drill bit end cover and a push rod; drill bit main part upper portion with the bottom intercommunication in seedling hole falls, the bottom of drill bit main part is provided with the drill bit end cover, just the one end of drill bit end cover with one side activity hinge joint of drill bit main part, the push rod bottom with drill bit end cover activity hinge joint, the push rod top is followed seedling hole internal extension that falls seedling hole top.
7. The intelligent salix psammophila planting robot of claim 4, wherein the angle adjustment mechanism comprises a box, a worm shaft, a turbine, and a turbine fixing plate; the worm shaft is arranged in the box body, and one end of the worm shaft is connected with a stepping motor; the worm wheel is of a semicircular structure, transmission teeth are arranged on the circumferential surface of the worm wheel, and the worm shaft is in transmission fit with the transmission teeth; the turbine fixing plate is arranged on the plane of the turbine; the turbine is rotatably connected with the box body; the turbine fixing plate is connected with the drilling mechanism.
8. The intelligent salix mongolica planting robot of claim 1, wherein the banking mechanism comprises a worm, a turbine, an electric push rod fixing frame, a push rod fixing plate, a bearing seat, a banking plate, a connecting rod, a banking rod, a push rod connecting rod and an electric push rod; the bearing frame set up in on the advancing mechanism, push rod fixed plate one end through two semi-axles with bearing in the bearing frame is connected, the worm with the turbine transmission is connected, turbine and one semi-axle coaxial coupling, electric putter set up in on the push rod fixed plate, the expansion end of push rod fixed plate with the one end of push rod connecting rod is connected, the other end of push rod connecting rod with the one end of connecting rod is connected, the other end of connecting rod with the one end of hilling up the pole is connected, the other end of hilling up the pole with the one end of hilling up the board is connected.
9. The intelligent salix mongolica planting robot of claim 1, wherein the seedling storage mechanism comprises a friction roller, a seedling storage box, a seedling storage mechanism fixing seat, a roller frame and a stepping motor; the seedling storage mechanism fixing seat is arranged on the advancing mechanism, the seedling storage box is arranged on the seedling storage mechanism fixing seat, one end of the seedling storage box is provided with a region to be clamped, the seedling storage box is provided with the roller frame close to the region to be clamped, the friction roller is rotatably arranged in the roller frame, and the friction roller is in transmission connection with the stepping motor.
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| CN115362904A (en) * | 2022-09-13 | 2022-11-22 | 中国民航大学 | Continuously-advancing type salix mongolica integrated tree planting vehicle |
| 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 |
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| CN114902928B (en) | 2024-03-08 |
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