CN114902928B - Intelligent salix psammophila planting robot - Google Patents
Intelligent salix psammophila planting robot Download PDFInfo
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- CN114902928B CN114902928B CN202210607282.6A CN202210607282A CN114902928B CN 114902928 B CN114902928 B CN 114902928B CN 202210607282 A CN202210607282 A CN 202210607282A CN 114902928 B CN114902928 B CN 114902928B
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- hilling
- turbine
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- 241000112525 Salix psammophila Species 0.000 title claims abstract description 48
- 230000007246 mechanism Effects 0.000 claims abstract description 200
- 238000005553 drilling Methods 0.000 claims abstract description 56
- 238000003860 storage Methods 0.000 claims abstract description 49
- 238000009826 distribution Methods 0.000 claims abstract description 13
- 230000009467 reduction Effects 0.000 claims description 33
- 230000005540 biological transmission Effects 0.000 claims description 30
- 239000003638 chemical reducing agent Substances 0.000 claims description 17
- 239000002689 soil Substances 0.000 claims description 8
- 238000013016 damping Methods 0.000 claims description 5
- 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
- 238000012856 packing Methods 0.000 claims description 3
- 230000035939 shock Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 11
- 230000008569 process Effects 0.000 abstract description 8
- 239000004576 sand Substances 0.000 abstract description 4
- 230000004083 survival effect Effects 0.000 abstract description 2
- 210000000078 claw Anatomy 0.000 description 8
- 238000011161 development Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000003825 pressing Methods 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression 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
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
- A01G23/02—Transplanting, uprooting, felling or delimbing trees
- A01G23/04—Transplanting trees; Devices for grasping the root ball, e.g. stump forceps; Wrappings or packages for transporting trees
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/04—Machines for making or covering holes for sowing or planting
-
- 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 psammophila planting robot, which relates to the technical field of desert vegetation planting robots and comprises a drilling seedling mechanism, a seedling storage mechanism, a seedling conveying mechanism, a travelling mechanism, a hilling mechanism, a speed reducing mechanism, wheels, a distribution box and a battery; the advancing mechanism is provided with a drilling seedling mechanism, a seedling storage mechanism, a seedling conveying mechanism, an advancing mechanism, a hilling mechanism, a speed reducing mechanism and wheels. And the electric power is used for driving, so that zero emission and zero pollution are realized. The device can quickly realize the upgrade and replacement of all working parts without affecting the operation of the whole structure, realize a series of processes of drilling, seedling feeding, seedling planting, hilling and the like in the tree planting process, and realize the full automation of the tree planting process. Reduces the redundant structure, reduces the complexity of the system, and improves the survival rate of the salix psammophila seedlings as much as possible under the condition of ensuring the successful and efficient planting of the salix psammophila seedlings. The vertical salix psammophila seedlings can be planted on the slope with a certain angle of the sand. A large amount of labor force can be liberated, and 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 psammophila planting robot.
Background
The Chinese is forestry country and desert country. Desert control has become one of the important tasks for promoting economic development and is also a requirement for optimizing ecological environment. At present, large-scale tree planting projects exist in China, and although certain achievements are achieved, the China desertification control still has a long path to travel in the whole. Desert tree planting machines are an important indicator representing the state of the art of forestry mechanization. Along with the technological development, labor force reduction and adjustment of population labor structures, the development of desert vegetation planting machines is imperative, and the method plays a positive and important role in promoting the forestry technical revolution and the forestry modernization development in China.
Many forestry fields in China, especially ecological construction fields, still stay at the semi-mechanization level, and the mechanization level is not completely reached yet, and along with the technical development, forestry equipment in certain fields has entered the robot era, but desert vegetation planting robots are still in a test stage, and for various reasons, the main problems existing at present are as follows. 1. The existing auxiliary planting machine has single function, a large amount of manual operation is still needed, and the whole tree planting process is difficult to independently and independently realize. 2. Automatic industrial operation cannot be realized, and the problem of high labor intensity 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 field has great development space and application prospect. At present, no robot for planting trees, which is applied on a large scale, is available in the world, china only has a certain degree of mechanical participation in forestry in the related field, and only stays in a research stage of a personal laboratory in the aspect of desert planting, and only has a single-function planting robot, which can only replace the step of manual excavation and cannot independently operate. The related field of foreign countries does not have mature technology, and only a model robot can perform the whole tree planting work in a better ecological environment, so that the aim of tree planting in the desert cannot be achieved.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides an intelligent salix psammophila planting robot which combines high-precision positioning equipment and utilizes a path planning algorithm to solve the problems in the technical background, so that the planting is full-automatic, and salix psammophila planting in a designated area can be completed without manual intervention.
In order to achieve the above object, the present invention provides the following solutions:
the invention provides an intelligent salix psammophila planting robot which comprises a drilling seedling mechanism, a seedling storage mechanism, a seedling conveying mechanism, a travelling mechanism, a hilling mechanism, a speed reducing mechanism, wheels, a distribution box and a battery, wherein the drilling seedling mechanism is used for drilling the seedlings; the travelling mechanism is provided with the drilling seedling mechanism, the seedling storage mechanism, the seedling conveying mechanism, the travelling 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 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 to the drilling seedling mechanism, and the soil compacting mechanism is used for compacting soil; the speed reducing mechanism is in transmission connection with the wheels; the battery is electrically connected with the distribution box, the distribution box is connected with the driving mechanism, and the driving mechanism is in transmission connection with the speed reducing mechanism.
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 supporting frame is arranged between the upper frame plate and the lower frame plate; the speed reducer is arranged around 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 wheel and the support frame.
Optionally, the seedling feeding 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 a transverse guide rail, a transverse sliding block is arranged on the transverse guide rail in a sliding manner, one end of the top of the truss arm is provided with a transverse stepping motor, an output shaft of the transverse stepping motor is connected with a transverse screw rod, the transverse screw rod 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 engine set up in on the linking arm, the output of steering engine is provided with the arm, the arm is used for centre gripping Sha Liumiao.
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 holes in the ground.
Optionally, the drilling mechanism comprises a lifting assembly, a driving speed reducing 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 auger, and a drill bit assembly is arranged at the bottom of the auger.
Optionally, the lifting assembly comprises a linear module, and the movable end of the linear module is connected with the driving speed reducing assembly; the driving speed reduction assembly comprises a direct current motor and a speed reduction box, wherein the direct current motor is connected with the input end of the speed reduction box, and the output end of the speed reduction box is connected with the auger; the middle part of the auger is provided with a seedling falling hole, and the top of the seedling falling hole is communicated with a seedling falling 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; the drill bit comprises a drill bit body, a drill bit end cover, a drill bit, a push rod and a push rod, wherein the upper part of the drill bit body is communicated with the bottom of a seedling falling hole, the bottom of the drill bit body is provided with the drill bit end cover, one end of the drill bit end cover is movably hinged to one side of the drill bit body, the bottom of the push rod is movably hinged to the drill bit end cover, and the top of the push rod extends to the top of the seedling falling hole along the seedling falling hole.
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 turbine is of a semicircular structure, a transmission tooth is arranged on the circumferential surface of the turbine, and the worm shaft is in transmission fit with the transmission tooth; 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 hilling mechanism comprises a worm, a turbine, an electric push rod fixing frame, a push rod fixing plate, a bearing seat, a hilling plate, a connecting rod, a hilling rod, a push rod connecting rod and an electric push rod; the bearing frame set up in on the mechanism of marcing, push rod fixed plate one end pass through two semi-axles with bearing in the bearing frame is connected, the worm with turbine transmission is connected, the turbine with 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 the pole is connected, the other end of hilling the pole with the one end of hilling the board is connected.
Optionally, the seedling storage mechanism comprises a friction roller, a seedling storage box, a Miao Jigou storage fixing seat, a roller frame and a stepping motor; the seedling storage Miao Jigou fixing seat is arranged on the travelling mechanism, the seedling storage box is arranged on the seedling storage mechanism fixing seat, a region to be clamped is arranged at one end of the seedling storage box, a roller frame is arranged on the seedling storage box and is close to the region to be clamped, a 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 source, uses electric power to drive the operation of the whole equipment, and realizes zero emission and zero pollution in working engineering.
(2) The invention adopts a modularized design thought, can rapidly realize the upgrade and replacement of each working part without affecting the operation of the whole structure, and completely realizes a series of processes of drilling, seedling feeding, seedling planting, hilling and the like in the tree planting process by using one set of equipment, thereby realizing the full automation of the tree planting process.
(3) The invention optimizes part of the structure. The hollow drill bit structure is innovatively designed, functions of drilling, planting and supporting seedlings are taken into account, redundant structures in multi-structure cooperation are reduced, complexity of a system is reduced, and survival rate of salix psammophila seedlings is improved as much as possible under the condition that the successful and efficient planting of the salix psammophila seedlings is guaranteed.
(4) The invention is provided with the angle adjusting mechanism, and vertical salix psammophila seedlings can be planted on the slope with a certain angle on the sand.
(6) The intelligent control system integrates the ideas of the Internet of things and the intellectualization, can remotely monitor the running condition of the equipment in real time and send related working instructions, and controls the running of the equipment.
(7) According to the invention, all planting works can be completed by only 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 that are 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 other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a lateral structure of an intelligent salix psammophila planting robot;
FIG. 2 is a schematic top view of the intelligent salix psammophila planting robot;
FIG. 3 is a schematic diagram of a three-dimensional structure of the intelligent salix psammophila planting robot;
fig. 4 is a schematic diagram of a front view structure of the intelligent salix psammophila planting robot;
FIG. 5 is a schematic structural view of a drilling mechanism and an angle adjusting mechanism in the intelligent salix psammophila planting robot;
FIG. 6 is a main structural schematic diagram of a drilling mechanism and an angle adjusting mechanism in the intelligent salix psammophila planting robot;
FIG. 7 is a schematic diagram of an exploded structure of a drilling mechanism and an angle adjusting mechanism in the intelligent salix psammophila planting robot;
FIG. 8 is a schematic structural view of a drill bit in the intelligent salix psammophila planting robot;
FIG. 9 is a schematic structural view of a traveling mechanism in the intelligent salix psammophila planting robot;
FIG. 10 is a schematic structural view of a hilling mechanism in the intelligent salix psammophila planting robot;
FIG. 11 is a schematic structural view of a seedling feeding mechanism in the intelligent salix psammophila planting robot;
fig. 12 is a schematic structural view of a seedling storage mechanism in the intelligent salix psammophila planting robot.
Reference numerals illustrate:
101. an angle adjusting mechanism; 102. drilling a seedling mechanism; 103. a store Miao Jigou; 104. a seedling feeding mechanism; 105. a travel mechanism; 106. a hilling mechanism; 107. a speed reducing 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 damping 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 DC motor; 306. an electric push rod; 307. the electric push rod is used for fixing 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 cap; 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 screw rod; 320. a lower fixing plate of the linear module; 321. a guide rail fixing plate; 322. a turbine fixing plate; 323. a guide rail; 324. a slide block; 325. a fixing plate is arranged on the linear module; 326. a sliding shaft bracket; 327. a sliding support shaft fixing plate; 328. a connecting piece; 329. a turbine; 330. an angle adjusting upper reduction box body; 331. a turbine connecting shaft; 332. a key; 333. a worm shaft; 334. a rolling bearing; 335. an angle adjusting reduction box body; 336. a stepping motor; 337. a reduction gearbox fixing plate; 338. a sliding support shaft; 339. an angle adjusting reduction gearbox body end; 340. a drill bit head; 341. a bit head end cap; 342. a pin; 343. a bit body; 344. a push rod; 345. a sliding shaft compression ring; 346. a reduction gearbox body;
401. a longitudinal stepper motor; 402. a connecting plate; 403. a lateral stepper motor; 404. truss arms; 405. a longitudinal slide block; 406. a connecting arm; 407. a mechanical arm; 408. steering engine bracket; 409. the second steering engine; 411. a front claw; 412. the 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 storage Miao Jigou 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 following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 12, the present embodiment provides an intelligent salix psammophila planting robot, which includes a drilling seedling mechanism 1, a seedling storage mechanism 2, a seedling feeding mechanism, a traveling mechanism 105, a hilling mechanism 106, a speed reducing mechanism 107, wheels 108, a distribution box 109, and a battery 110; the travelling mechanism 105 is provided with a drilling seedling mechanism 1, a seedling storage mechanism 2, a seedling conveying mechanism, a travelling mechanism 105, a hilling 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 into the drilling seedling mechanism 1, and the soil compacting mechanism 106 is used for compacting soil; the speed reducing mechanism 107 is in transmission connection with wheels 108; the battery 110 is electrically connected with the distribution box 109, the distribution box 109 is connected with a driving mechanism, and the driving mechanism is in transmission connection with the speed reducing mechanism 107.
In this embodiment, the driving mechanism is a motor, the motor is powered by the battery 110, the distribution box 109 controls the operation and stop of the motor, the battery 110 simultaneously powers the drilling seedling mechanism 1, the seedling storage mechanism 2, the seedling feeding mechanism and the hilling mechanism 106, and the distribution box 109 distributes and controls the power.
The traveling mechanism 105 includes a tire 201, a support frame 202, a spring damper system 203, a worm gear reducer 204, a frame 205, and a brushless dc motor 111; the frame 205 comprises an upper frame plate and a lower frame plate which are arranged in parallel, and a supporting frame 202 is arranged between the upper frame plate and the lower frame plate; the speed reducer is arranged around the lower frame plate, an output shaft of the direct current brushless motor 111 is in transmission connection with an input end of the speed reducer, an output end of the speed reducer is connected with a tire 201, and steering is achieved through differential speed of the four direct current brushless motors 111. The damping system is arranged between the wheels 108 and the support frame 202, ensures stable running on sand and adapts to complex terrains. More specifically, the supporting frame 202 has an i-shaped structure, and a supporting frame 202 is 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 bracket 408, a vertical guide rail 413 and a transverse guide rail 414; the bottom of the truss arm 404 is connected with the travelling mechanism 105, a transverse guide rail 414 is arranged at the top of the truss arm 404, a transverse sliding block 324 is arranged on the transverse guide rail 414 in a sliding manner, a transverse stepping motor 403 is arranged at one end of the top of the truss arm 404, 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 a 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, a longitudinal stepping motor 401 is arranged at the top of the longitudinal guide rail 323, a longitudinal sliding block 405 is arranged on the longitudinal guide rail 323 in a sliding manner, an 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 slide 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 the mechanical arm 407, and the mechanical arm 407 is used for clamping Sha Liumiao. 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 shelf plate.
The drilling seedling mechanism 1 comprises a drilling mechanism 301 and an angle adjusting mechanism 303; the angle adjusting mechanism 303 is provided 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 holes in 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 an 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 auger, and the drill bit 304 assembly is arranged at the bottom of the auger.
The lifting assembly comprises a linear module 302, and the movable end of the linear module 302 is connected with the driving speed reducing assembly; the driving speed reduction assembly comprises a direct current motor 305 and a speed reduction box, the direct current motor 305 is connected with the input end of the speed reduction box, and the output end of the speed reduction box is connected with the auger; the middle part of the auger is provided with a seedling falling hole, and the top of the seedling falling hole is communicated with a seedling falling end of the seedling conveying mechanism;
the bit 304 assembly includes a bit body 343, a bit end cap 341, and a push rod 344; the upper portion of the drill bit main body 343 is communicated with the bottom of the seedling falling hole, a drill bit end cover 341 is arranged at the bottom of the drill bit main body 343, one end of the drill bit end cover 341 is movably hinged with one side of the drill bit main 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. Further, 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 the pin 342.
The angle adjustment mechanism 303 includes a housing, a worm shaft 333, a worm 329, and a worm fixing plate 322; the worm shaft 333 is disposed in the housing, and one end of the worm shaft 333 is connected to a stepper motor 336; the turbine 329 is of a semicircular structure, the circumferential surface of the turbine 329 is provided with transmission teeth, 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, a power push rod 510, a power push rod fixing platen 307, a power push rod fixing plate 308, a power push rod placing frame 309, a push rod connector 310, a decelerator end cap 311, an output shaft gear 312, a stopper 313, a thrust bearing 314, an input shaft gear 315, a linear bearing 316, an angle adjustment support shaft 317, an angle adjustment support shaft support 318, a screw 319, a linear module lower fixing plate 320, a rail fixing plate 321, a rail 323, a slider 324, a linear module upper fixing plate 325, a reduction gearbox fixing plate 337, and a reduction gearbox 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 reduction gearbox 346 through bolts, the input shaft gear 315 is arranged on the output shaft of the direct current motor 305 and positioned in the reduction gearbox 346, the input shaft gear 315 is meshed with the output shaft gear 312, the limiting ring 313 and the thrust bearing 314 which are coaxially arranged with the output shaft gear 312 are both sleeved on the auger, and the top of the auger penetrates through the reducer end cover 311. The electric putter 510 is fixed on the top of the decelerator end cap 311 through the electric putter fixing pressure plate 307, the electric putter fixing plate 308 and the electric putter placing frame 309, and the top of the push rod 344 extends out of the top of the auger and is connected with the electric putter 510 through the push rod connector 310, and the push rod 344 is pushed by the electric putter 510 to open and close the drill head end cap 341. One side of the guide rail fixing plate 321 is connected with the angle adjusting mechanism 303, the other side is connected with the guide rail 323, the top of the guide rail 323 is provided with the linear module upper fixing plate 325, the bottom of the guide rail 323 is provided with the 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 slide block 324 is arranged on the lead screw 319, and the reduction gearbox fixing plate 337 is arranged between the slide block 324 and the reduction gearbox 346. The linear bearing 316 passes the angle adjustment back shaft 317, and simultaneously the linear bearing 316 is fixed in the side of reducing gear box 346, and angle adjustment back shaft 317's lower extreme and angle adjustment back shaft support 318 fixed connection, and drilling mechanism 301 whole slope in the slope planting process, linear bearing 316 reciprocate along angle adjustment back shaft 317, drive angle adjustment back shaft support 318 and rotate, restriction box side-to-side movement and reduce the pressure that angle adjustment in-process linear module 302 bore.
In a more specific embodiment, the angle adjustment mechanism 303 includes a turbine fixed plate 322, a sliding shaft bracket 326, a sliding support shaft fixed plate 327, a connecting member 328, a turbine 329, an angle adjustment reduction upper case 330, a turbine connecting shaft 331, a key 332, a worm shaft 333, a rolling bearing 334, an angle adjustment reduction lower case 335, a stepping motor 336, a sliding support shaft 338, a sliding shaft pressing ring 345, and an angle adjustment reduction 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, an arc-shaped guide groove is formed in the sliding shaft bracket 326, two sides of a turbine 329 are respectively connected with the turbine fixing plate 322 through a connecting piece 328, the middle part of a turbine connecting shaft 331 is connected with the turbine 329 through a key 332, two ends of the turbine connecting shaft 331 are respectively connected with two sides of an angle adjusting reduction gearbox 330 in a rotating mode, bearings are arranged on the inner side of the angle adjusting reduction gearbox end 339, and two ends of the turbine connecting shaft 331 are respectively connected with the corresponding bearings. The angle adjusting and decelerating lower box 335 is arranged on an upper frame plate of the travelling mechanism, the top of the angle adjusting and decelerating lower box 335 is connected with the angle adjusting and decelerating upper box 330 through bolts, the stepping motor 336 is arranged in the angle adjusting and decelerating lower box 335, the worm shaft 333 is arranged in the angle adjusting and decelerating upper box 330, the stepping motor 336 is connected with the bottom end of the worm shaft 333, and a rolling bearing 334 is respectively arranged between the worm shaft 333 and the angle adjusting and decelerating upper box 330 and between the worm shaft 333 and the angle adjusting and decelerating lower box 335. The middle part of the sliding support shaft 338 is connected with the sliding support shaft fixing plate 327 through a sliding shaft pressing ring 345, and two ends of the sliding support shaft 338 extend into arc-shaped guide grooves arranged on the sliding shaft bracket 326.
The hilling mechanism 106 comprises a worm 501, a turbine 502, an electric push rod fixing frame 503, a push rod fixing plate 504, a bearing pedestal 505, a hilling plate 506, a connecting rod 507, a hilling rod 508, a push rod connecting rod 509 and an electric push rod 510; the 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-axles, worm 501 and turbine 502 transmission are connected, turbine 502 and a semi-axle 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 rod 508, the other end of hilling rod 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 storage Miao Jigou fixing seat 604, a roller frame 605, a motor fixing support 606 and a stepping motor 607; the storage Miao Jigou fixing seat 604 is arranged on the travelling mechanism 105, the seedling storage box 603 is arranged on the Chu Miao mechanism fixing seat 604, a to-be-clamped area 608 is arranged at one end of the seedling storage box 603, a roller frame 605 is arranged on the seedling storage box 603 close to the to-be-clamped area 608, the roller frame 605 is rotatably provided with a friction roller 601 through a bearing frame 602, the friction roller 601 is in transmission connection with a stepping motor 607, and the stepping motor 607 is arranged on a motor fixing support 606. In a more specific embodiment, a spring is arranged inside the seedling storage box 603, salix psammophila seedlings in the seedling storage box 603 are extruded and placed, the salix psammophila seedlings are guaranteed to be in a vertical position Sha Liumiao, a slope is arranged inside the seedling storage box 603, and the seedlings are placed in the seedling storage box 603 and 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 rotate out of the Sha Liumiao in the seedling storage box 603, so that Sha Liumiao reaches the region 608 to be clamped.
When the seedling storage mechanism 2 sends the salix psammophila seedling to the front claw 411, the front claw 411 is closed. When the drilling mechanism 301 is moved by the transverse guide rail 414 and the longitudinal guide rail 323, the front claw 411 is controlled by the first steering engine 412 and the second steering engine 409 to integrally rotate 180 degrees, the front claw 411 is controlled by the first steering engine 412 and the second steering engine 409 to be opened, and the Sha Liumiao falls into a seedling falling hole of the drilling mechanism 301.
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 specified height is reached, the electric push rod 510 is extended to press the hilling plate 506 downwards, so that the soil is compacted by pressing the hilling plate downwards. The electric push rod 510 is contracted to lift the hilling plate 506, and the worm 501 and the worm wheel 502 are reversed to return the push rod fixing plate 504 and the hilling plate 506 to the specified positions.
The intelligent salix psammophila planting robot starts to work, the traveling mechanism 105 drives the drill bit main body 343 to start rotating, meanwhile, the lead screw 319 starts to rotate to drive the reduction gearbox 346 and the drill bit main body 343 to descend, namely drilling is started, after the intelligent salix psammophila planting robot reaches a certain position, the stepping motor 336 drives the friction roller 601 to unscrew from the Sha Liumiao in the seedling storage box 603, the Sha Liumiao reaches the region 608 to be clamped, the seedling feeding mechanism starts to operate, and the front claw 411 closes to clamp salix psammophila seedling. After the transverse guide rail 414 and the longitudinal guide rail 323 move to the guiding positions, the front claw 411 is controlled by the first steering engine 412 and the second steering engine 409 to integrally rotate 180 degrees, the front claw 411 is controlled by the first steering engine 412 and the second steering engine 409 to be opened, and the Sha Liumiao falls into a seedling falling hole of the drilling mechanism 301. The electric push rod 510 is driven to move the push rod 344 downwards, the drill bit end cover 341 is pushed to rotate around the drill bit 340, the opening action of the drill bit 340 is completed, sha Liumiao falls, then the direct current motor 305 is driven to drive the drill bit main body 343 to start rotating, and meanwhile, the screw 319 starts rotating to drive the reduction gearbox 346 and the drill bit main body 343 to rise, so that sand is backfilled, and the drill bit main body 343 is lifted. 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 specified height is reached, the electric push rod 510 is extended to push down the hilling plate 506, so that the soil is compacted by pushing down. The electric push rod 510 is contracted to lift the hilling plate 506, and the worm 501 and the turbine 502 are reversed to return the push rod fixing plate 504 and the hilling plate 506 to the original positions. The planting is completed at this time.
It should be noted that it will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics 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.
The principles and embodiments of the present invention have been described in this specification with reference to specific examples, the description of which is only for the purpose of aiding in understanding the method of the present invention and its core ideas; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (4)
1. The intelligent salix psammophila planting robot is characterized by comprising a drilling seedling mechanism, a seedling storage mechanism, a seedling conveying mechanism, a travelling mechanism, a hilling mechanism, a speed reducing mechanism, wheels, a distribution box and a battery; the travelling mechanism is provided with the drilling seedling mechanism, the seedling storage mechanism, the seedling conveying mechanism, the travelling 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 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 to the drilling seedling mechanism, and the soil compacting mechanism is used for compacting soil; the speed reducing mechanism is in transmission connection with the wheels; the battery is electrically connected with the distribution box, the distribution box is connected with the driving mechanism, and the driving mechanism is in transmission connection with the speed reducing mechanism;
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 a transverse guide rail, a transverse sliding block is arranged on the transverse guide rail in a sliding manner, one end of the top of the truss arm is provided with a transverse stepping motor, an output shaft of the transverse stepping motor is connected with a transverse screw rod, the transverse screw rod 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 engine is arranged on the connecting arm, the mechanical arm is arranged at the output end of the steering engine, and the mechanical arm is used for clamping Sha Liumiao;
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 holes in the ground;
the drilling mechanism comprises a lifting assembly, a driving speed reducing 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 lifting the driving speed reduction assembly, the driving speed reduction assembly is used for driving the auger, and a drill bit assembly is arranged at the bottom of the auger;
the lifting assembly comprises a linear module, and the movable end of the linear module is connected with the driving speed reducing assembly; the driving speed reduction assembly comprises a direct current motor and a speed reduction box, wherein the direct current motor is connected with the input end of the speed reduction box, and the output end of the speed reduction box is connected with the auger; the middle part of the auger is provided with a seedling falling hole, and the top of the seedling falling hole is communicated with a seedling falling 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; the upper part of the drill bit main body is communicated with the bottom of the seedling falling hole, the bottom of the drill bit main body is provided with the drill bit end cover, one end of the drill bit end cover is movably hinged with one side of the drill bit main body, the bottom of the push rod is movably hinged with the drill bit end cover, and the top of the push rod extends to the top of the seedling falling hole along the seedling falling hole;
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 turbine is of a semicircular structure, a transmission tooth is arranged on the circumferential surface of the turbine, and the worm shaft is in transmission fit with the transmission tooth; 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.
2. The intelligent salix psammophila planting robot of claim 1, wherein the travel mechanism includes a tire, a support frame, a shock absorbing system, a decelerator, a carriage, and a motor; the frame comprises an upper frame plate and a lower frame plate which are arranged in parallel, and the supporting frame is arranged between the upper frame plate and the lower frame plate; the speed reducer is arranged around 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 wheel and the support frame.
3. The intelligent salix psammophila planting robot of claim 1, wherein the hilling mechanism comprises a worm, a turbine, an electric push rod fixing frame, a push rod fixing plate, a bearing seat, a hilling plate, a connecting rod, a hilling rod, a push rod connecting rod and an electric push rod; the bearing frame set up in on the mechanism of marcing, push rod fixed plate one end pass through two semi-axles with bearing in the bearing frame is connected, the worm with turbine transmission is connected, the turbine with 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 the pole is connected, the other end of hilling the pole with the one end of hilling the board is connected.
4. The intelligent salix psammophila planting robot of claim 1, wherein the seedling storage mechanism comprises a friction roller, a seedling storage box, a Miao Jigou fixing seat, a roller frame and a stepping motor; the seedling storage Miao Jigou fixing seat is arranged on the travelling mechanism, the seedling storage box is arranged on the seedling storage mechanism fixing seat, a region to be clamped is arranged at one end of the seedling storage box, a roller frame is arranged on the seedling storage box and is close to the region to be clamped, a 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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| CN115250867B (en) * | 2022-08-23 | 2023-09-05 | 浙江工业大学 | Slope nandina planting machine |
| CN115362904B (en) * | 2022-09-13 | 2024-02-09 | 中国民航大学 | Continuous advancing salix psammophila integrated tree planting vehicle |
| CN115903572B (en) * | 2022-10-17 | 2023-10-24 | 武汉纺织大学 | Desert tree planter control system based on 51 singlechip |
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