CN115669495B

CN115669495B - New energy full-automatic tree planter

Info

Publication number: CN115669495B
Application number: CN202211268006.8A
Authority: CN
Inventors: 陈振; 祝振; 梅顺齐; 周德祥; 李明凡; 唐乙彬; 张艺杨
Original assignee: Wuhan Textile University
Current assignee: Wuhan Textile University
Priority date: 2022-10-17
Filing date: 2022-10-17
Publication date: 2023-11-24
Anticipated expiration: 2042-10-17
Also published as: CN115669495A

Abstract

A new energy full-automatic tree planter structurally comprises: chassis, drive arrangement, drilling mechanism, sapling transmission mechanism, arm, irrigation equipment, hilling device and power supply mechanism; the bottom of chassis is fixed and is provided with drive arrangement, and drilling machine's bottom is provided with the rig, and the bottom downwardly extending of drill bit on the rig is provided with many saplings in the sapling transport mechanism, and the arm is the arm that has fixture, and fixture carries out the centre gripping cooperation with the side wall of sapling, and irrigation equipment's delivery port is higher than ground setting, and earthing up device's scope of action contacts or is higher than ground with the ground. The design not only can carry out punching operation and seedling transplanting and hilling operation in full-process automation synchronization, effectively improves the automation degree and tree planting efficiency, but also can adapt to environments such as deserts, wetlands and marshes, and effectively improves the application range of the design.

Description

New energy full-automatic tree planter

Technical Field

The invention relates to a tree planter, belongs to the field of full-automatic instruments, and particularly relates to a new energy full-automatic tree planter.

Background

In recent years, china proposes a green development concept, and tree planting and forestation are one of the important work points. To realize the overall goal of forest resource construction in China, mechanical afforestation is a necessary way. The successful establishment of the three north protective forests effectively shows that the forestation is one of the effective methods for solving the desertification of the land, and the best method for solving the desertification at the present stage is sand prevention and fixation, namely forestation and desert greening.

At present, the desert tree planting is generally performed by manual steps of sand fixation, tree planting, hilling, watering and the like, meanwhile, the application number is 202111209411.8, and the application date is 2021.10.18, and the invention patent application discloses a tree planting robot, which structurally comprises a movable frame, a watering mechanism, a pit drilling mechanism, a gripping mechanism and a hilling mechanism; the movable rack comprises a base, a sapling placement box and a water tank; the watering mechanism comprises a water pump, an electromagnetic valve, a flowmeter and a waterway pipeline; the pit drilling mechanism is used for drilling pits for accommodating root parts of seedlings into soil right below; the gripping mechanism is used for gripping the sapling from the sapling placement box and adjusting the gesture and lowering the sapling in the operation interval; the two groups of ridging mechanisms are symmetrically arranged in the frame A and the frame B respectively and are symmetrically arranged relative to the operation section, and the ridging mechanisms are used for pushing the soil at two sides of the lower end of the operation section towards the central area of the lower end of the operation section. The invention realizes the full-flow automatic tree planting operation, and compared with the existing agriculture and forestry planting machinery, the invention greatly reduces the workload of operators and improves the tree planting efficiency.

Although this device allows to automate the tree planting operation, it still has the following drawbacks:

1. Adopt the manpower to fix sand and plant the tree and waste time and energy, the tree planting efficiency is lower.

2. The existing tree planting device needs to be charged regularly or fuel oil is replenished, the charging time of the existing charging device is long, tree planting efficiency is limited, and combustion waste gas can be discharged when the fuel oil is adopted, so that ecological environment is polluted.

3. The existing tree planting device driving structure often adopts wheel type driving, and when soil is soft or tree planting is needed in environments such as deserts, the driving wheel cannot be prevented from sinking into the ground, and the driving wheel cannot be suitable for sandy environments.

Disclosure of Invention

The invention aims to overcome the defects that the tree planting efficiency is low and the tree planting machine cannot be suitable for a sandy environment in the prior art, and provides a new energy full-automatic tree planting machine which is high in tree planting efficiency and capable of performing tree planting work in all weather in a desert environment.

In order to achieve the above object, the technical solution of the present invention is:

a new energy full-automatic tree planter, the new energy full-automatic tree planter comprising: the seedling cultivation device comprises a chassis, a driving device, a drilling mechanism, a seedling transmission mechanism, a mechanical arm, an irrigation device, a ridging device and a power supply mechanism, wherein the driving device is fixedly arranged at the bottom of the chassis, and the drilling mechanism, the seedling transmission mechanism, the mechanical arm, the irrigation device and the ridging device are sequentially and fixedly arranged on the central axis of the top of the chassis from the direction of a head to the direction of a tail; the bottom of drilling machine is provided with the rig, and the stroke of this rig is for reciprocate along vertical direction, the bottom of rig is connected with the top of drill bit, the bottom downwardly extending of drill bit, be provided with many saplings in the sapling transport mechanism, the arm is the arm that has fixture, fixture carries out the centre gripping cooperation with the side wall of sapling, irrigation equipment's delivery port is higher than the ground setting, hiller's application range contacts with the ground or is higher than the ground, the drill bit is located the route of marcing to the ground to the position of action of drill bit, the coverage of delivery port is greater than the position of action to the ground of drill bit, hiller's application range is greater than the position of action to the ground of drill bit, and delivery port's coverage, hiller's application range all are located the route of marcing of chassis.

The sapling transmission mechanism comprises a sapling transmission motor, a driving wheel, a driven wheel, a fixed slide way and a sapling fixing frame, wherein the shell of the sapling transmission motor is fixedly arranged at the top of a chassis, a power output shaft of the sapling transmission motor is upwards arranged along the vertical direction, the driving wheel is fixedly arranged on the power output shaft of the sapling transmission motor, the driving wheel is an incomplete gear, the fixed slide way is fixedly arranged on the shell of the sapling transmission motor along the horizontal direction, the fixed slide way is an annular slide way with an upward opening, sapling is arranged in the opening of the fixed slide way, the fixed slide way is in sliding fit with the bottom of the sapling, the sapling fixing frame is of a circular structure, a connecting shaft is fixedly arranged at the bottom of the rotation center of the sapling fixing frame, the bottom of the connecting shaft is meshed with the driving wheel through the driven wheel, a plurality of limiting plates which extend downwards are uniformly distributed at the bottom of the outer circumference of the sapling fixing frame, the bottom end of the limiting plates is connected with the top of an inner extension ring formed by the bottom of the fixed slide way, the diameter of the sapling fixing frame is the same as the inner diameter of the fixed slide way, and the sapling fixing frame is fixedly arranged on the outer circumference of the sapling fixing frame in a plurality of tree forks which are fixedly matched with the fixed sapling in the positive direction.

The drilling mechanism comprises a driving piston, a drilling machine support and a drilling machine, wherein a piston seat of the driving piston is fixedly arranged at the top of the headstock side of the chassis along the vertical direction, the end part of a piston rod of the driving piston is fixedly connected with one end of the drilling machine support, and the other end of the drilling machine support is fixedly connected with a shell of the drilling machine.

The driving device comprises a supporting frame, a first driving motor, a second driving motor and two groups of crawler wheel sets, wherein the supporting frame is a frame type support, the first driving motor is fixedly arranged on the inner wall of one side of the supporting frame, the second driving motor is fixedly arranged on the inner wall of the other side of the supporting frame, a group of crawler wheel sets are fixedly arranged on the outer walls of two sides of the supporting frame respectively, and the first driving motor and the second driving motor are respectively in transmission fit with the crawler wheel sets of the corresponding sides of the first driving motor and the second driving motor.

The mechanical arm comprises a mechanical arm rotating base, a first steering engine, a first connecting rod, a second steering engine, a second connecting rod, a third steering engine, a fourth steering engine and a clamping mechanism, wherein the top of a chassis is fixedly arranged at the bottom of the mechanical arm rotating base, the mechanical arm rotating base is a rotating motor with a power output shaft which is vertically upwards arranged, the power output shaft of the rotating motor is vertically upwards arranged, a turntable is fixedly arranged on the power output shaft of the rotating motor, the top of the turntable is fixedly provided with the first steering engine, the power output shaft of the first steering engine is parallel to the chassis, the power output shaft of the first steering engine is hinged to one end of the first connecting rod, the other end of the first connecting rod is hinged to one power output shaft of the second steering engine, the other end of the second connecting rod is fixedly connected with a shell of the third steering engine, the other end of the second connecting rod is hinged to the fourth steering engine, a clamping mechanism is fixedly arranged on the shell of the fourth steering engine, and the clamping mechanism is provided with two clamping jaws which are relatively concave and matched with clamping jaws which are arranged in a clamping jaw.

The irrigation device comprises a water tank, a water pump and an irrigation pipe, wherein the bottom of the water tank is fixedly arranged at the top of the chassis, the water pump is fixedly arranged in the water tank, the irrigation pipe penetrates through the side wall of the tail side of the water tank and then is in sealing fit with the side wall of the water tank, one end of the irrigation pipe is communicated with the water pump, and the water outlet of the irrigation pipe is higher than the ground.

The device that earth includes steering wheel, initiative pole, passive pole and the pole of filling earth, the steering wheel that earth is fixed through rather than the steering wheel fixed bolster of integral structure sets up in the car tail end on chassis, the power output shaft of steering wheel and the one end fixed connection of initiative pole of earth, the other end of initiative pole is articulated with the middle part of pole that fills earth, the one end in the nearly chassis outside of pole that fills earth is articulated with the tip of passive pole, the one end in the nearly chassis center of pole that fills earth is fixed to be provided with the arc board of earth, the opening direction of arc board of earth just set up in chassis center direction, the other end and the steering wheel fixed bolster of passive pole are articulated, the steering wheel fixed bolster, initiative pole, passive pole is articulated each other with the pole of filling earth and is formed parallelogram connecting rod structure, the steering wheel of two earthing up in the device that set up on the chassis sets up relatively, the steering wheel of chassis one side is the steering wheel that fills earth of No. two the steering wheels that fill up on the chassis opposite side.

The number of the power supply mechanisms is two, the two power supply mechanisms are symmetrically arranged on two sides of the chassis, and the power supply mechanisms are solar panels with storage batteries.

The fixed slideway comprises an inner annular side wall, an outer annular side wall and an annular bottom plate, the rotation centers of the inner annular side wall and the outer annular side wall are overlapped, the bottoms of the inner annular side wall and the outer annular side wall are connected through the annular bottom plate, the joint of the annular bottom plate and the inner annular side wall inwards extends to form an inner extension ring in the circle center direction, the annular bottom plate is in limit fit with the bottom end of a tree seedling, the tree seedling is inserted into an annular groove formed by the inner annular side wall, the outer annular side wall and the annular bottom plate and then is in sliding fit with the annular groove, the tree seedling fixing frame is of an annular structure, a cross-shaped support is fixedly arranged in the middle of the tree seedling fixing frame, four ends of the cross-shaped support are fixedly connected with the inner wall of the annular structure, a plurality of tree seedling fixing forks are uniformly distributed on the outer side wall of the tree seedling fixing frame, and each tree seedling fixing fork comprises two fork teeth, and the tree seedling is inserted between the two fork teeth and then is in limit fit with the fork teeth.

The first connecting rod comprises two door-shaped frames, the left side wall and the right side wall of each door-shaped frame are connected through transverse plates, the transverse plates on the two door-shaped frames are connected into an integral structure, a first steering engine is arranged between the left side wall and the right side wall of one door-shaped frame, a second steering engine is arranged between the left side wall and the right side wall of the other door-shaped frame, and the left side wall and the right side wall of the door-shaped frame are fixedly connected with the power output shafts of the steering engines corresponding to the left side wall and the right side wall of the door-shaped frame.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the novel energy full-automatic tree planting machine, the drilling mechanism, the tree seedling conveying mechanism, the mechanical arm, the irrigation device and the hilling device are sequentially and fixedly arranged on the tree planting machine from the head direction to the tail direction. Therefore, the design can realize full-process automatic punching, seedling inserting and hilling operation, effectively improve the automation degree, synchronously carry out the punching operation, the seedling inserting and hilling operation, and effectively improve the tree planting efficiency.

2. According to the full-automatic tree planting machine with the new energy, the tree seedling transmission motor of the tree seedling transmission mechanism drives the tree seedling fixing frame to rotate to transmit the tree seedlings to the mechanical arm material taking position, the tree seedling transmission motor is in transmission fit with the driven wheels on the tree seedling fixing frame through the incomplete gear, the length of the toothed part on the incomplete gear is equal to the circumference of the driven wheels divided by the number of the tree seedling fixing forks arranged on the tree seedling fixing frame, each time the incomplete gear rotates, the tree seedling fixing frame just rotates the tree seedling fixing fork to the position of the tree seedling fixing fork, the tree seedling fixing fork comprises two fork teeth, the two fork teeth are located right above the fixing slide way, the fixing slide way is in limit fit with the tree seedling bottom, the tree seedlings can be stably supported, the inner circumference of the fixing slide way is provided with an inner extension ring, and the tree seedling fixing frame is limited with the inner extension ring through the limiting plate arranged at the bottom of the tree seedling fixing frame, so that the rotation stability of the tree seedling fixing frame is ensured. Therefore, the seedling conveying motor can ensure that the seedlings are accurately positioned at the mechanical arm material taking position through the incomplete gear on the seedling conveying motor, and meanwhile, the seedling fixing frame is matched with the fixed slide way, so that the seedlings can be stably supported, the mechanical arm material taking failure is avoided, and the system reliability is effectively improved.

3. In the novel energy full-automatic tree planting machine, the driving device is of a crawler structure, and the left driving motor and the right driving motor respectively drive one set of crawler wheel sets, so that the novel energy full-automatic tree planting machine is not easy to sink into the ground, tree planting operation is performed in environments such as deserts, wetlands and marshes, and the application range is effectively improved. Therefore, the driving device of the design is not easy to sink into the ground, can adapt to environments such as deserts, wetlands, marshes and the like, and effectively improves the application range of the design.

4. In the novel full-automatic tree planter, two power supply mechanisms are respectively arranged on two sides of a chassis, the power supply mechanisms are solar panels with storage batteries, the design supplies power through the solar panels when sunlight irradiates, electric energy generated by the solar panels is stored in the storage batteries when the novel full-automatic tree planter does not work, and the system works through the power supply of the storage batteries when the novel full-automatic tree planter does not irradiate sunlight. Therefore, this design can provide the electric energy through solar cell panel, avoids using fuel pollution environment, effectively improves system's feature of environmental protection, supplies power through the battery when lacking sunshine simultaneously, guarantees tree planting machine work around the clock.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic view of another view of the present invention.

Fig. 3 is a side view of the present invention.

Fig. 4 is a front view of the present invention.

Fig. 5 is a top view of the present invention.

Fig. 6 is a bottom view of the present invention.

Fig. 7 is a side view of the robotic arm of fig. 1.

Fig. 8 is a top view of the robotic arm of fig. 1.

Fig. 9 is a schematic structural view of the seedling conveying mechanism in fig. 1.

Fig. 10 is a schematic view of the drilling mechanism of fig. 1.

Fig. 11 is a schematic view of the driving apparatus of fig. 1.

Fig. 12 is a schematic view of the irrigation apparatus of fig. 1.

Fig. 13 is a schematic view of the construction of the hilling device in fig. 1.

In the figure: chassis 1, drive device 2, support frame 21, first drive motor 22, second drive motor 221, crawler wheel group 23, drilling mechanism 3, drive piston 31, drill frame 32, drill 33, drill 34, seedling transmission mechanism 4, seedling transmission motor 41, drive wheel 42, driven wheel 43, fixed slide 44, inner annular side wall 441, outer annular side wall 442, annular bottom plate 443, inner extension ring 444, seedling fixing frame 45, cross support 451, connecting shaft 46, limiting plate 47, seedling fixing fork 48, mechanical arm 5, mechanical arm rotating base 51, first steering gear 52, first connecting rod 53, second steering gear 54, second connecting rod 55, third steering gear 56, fourth steering gear 57, clamping mechanism 58, clamping jaw 59, irrigation device 6, water tank 61, water pump 62, irrigation pipe 63, water outlet 64, hilling device 7, hilling steering gear 71, first hilling steering gear 711, second hilling steering gear 711, driving lever 72, driven lever 73, hilling lever 74, steering gear fixing bracket 75, arc-shaped hilling plate 76, power supply mechanism 8, control system 9, seedling monitoring device 11.

Description of the embodiments

The invention is described in further detail below with reference to the accompanying drawings and detailed description.

Referring to fig. 1 to 6, a new energy full-automatic tree planter, the new energy full-automatic tree planter comprises: the seedling cultivation device comprises a chassis 1, a driving device 2, a drilling mechanism 3, a seedling transmission mechanism 4, a mechanical arm 5, an irrigation device 6, a ridging device 7 and a power supply mechanism 8, wherein the driving device 2 is fixedly arranged at the bottom of the chassis 1, and the drilling mechanism 3, the seedling transmission mechanism 4, the mechanical arm 5, the irrigation device 6 and the ridging device 7 are sequentially and fixedly arranged on a central axis of the top of the chassis 1 from the direction of a vehicle head to the direction of a vehicle tail; the bottom of drilling mechanism 3 is provided with rig 33, and the stroke of this rig 33 is for reciprocate along vertical direction, the bottom of rig 33 is connected with the top of drill bit 34, and the bottom downwardly extending of drill bit 34 is provided with many saplings 10 in the sapling transport mechanism 4, arm 5 is the arm that has fixture 58, fixture 58 carries out the centre gripping cooperation with the side wall of sapling 10, the delivery port 64 of irrigation equipment 6 is higher than ground setting, the application range of hiller 7 contacts with the ground or is higher than ground, the position of drill bit 34 on the travel path of chassis 1 is located, the coverage of delivery port 64 is greater than the position of drill bit 34 on the ground, hiller 7's application range is greater than the position of drill bit 34 on the ground, and the coverage of delivery port 64, the application range of hiller 7 are all located chassis 1's travel path.

The seedling conveying mechanism 4 comprises a seedling conveying motor 41, a driving wheel 42, a driven wheel 43, a fixed slideway 44 and a seedling fixing frame 45, wherein a shell of the seedling conveying motor 41 is fixedly arranged at the top of the chassis 1, a power output shaft of the seedling conveying motor 41 is upwards arranged in the vertical direction, the driving wheel 42 is fixedly arranged on the power output shaft of the seedling conveying motor 41, the driving wheel 42 is an incomplete gear, the shell of the seedling conveying motor 41 is fixedly provided with the fixed slideway 44 in the horizontal direction, the fixed slideway 44 is an annular slideway with an upward opening, the opening of the fixed slideway 44 is internally provided with a seedling 10, the fixed slideway 44 is in sliding fit with the bottom of the seedling 10, the sapling mount 45 is circular structure, the fixed connecting axle 46 that is provided with in sapling mount 45 rotation center's bottom, the bottom of connecting axle 46 is through driving wheel 43 and action wheel 42 meshing, the bottom equipartition of sapling mount 45 outer circumference has a plurality of downwardly extending limiting plates 47, and the bottom of limiting plate 47 is connected with the top of the interior extension ring 444 that forms of fixed slide 44 bottom internal extension, the diameter of sapling mount 45 is the same with the internal diameter of fixed slide 44, the equipartition has a plurality of sapling fixed forks 48 on the outer circumference of sapling mount 45, and all sapling fixed forks 48 all set up directly over fixed slide 44, sapling fixed fork 48 and sapling 10 spacing cooperation.

The drilling mechanism 3 comprises a driving piston 31, a drilling machine support 32 and a drilling machine 33, wherein a piston seat of the driving piston 31 is fixedly arranged at the top of the headstock side of the chassis 1 along the vertical direction, the end part of a piston rod of the driving piston 31 is fixedly connected with one end of the drilling machine support 32, and the other end of the drilling machine support 32 is fixedly connected with a shell of the drilling machine 33.

The driving device 2 comprises a supporting frame 21, a first driving motor 22, a second driving motor 221 and two groups of crawler wheel sets 23, the supporting frame 21 is a frame type support, the first driving motor 22 is fixedly arranged on the inner wall of one side of the supporting frame 21, the second driving motor 221 is fixedly arranged on the inner wall of the other side of the supporting frame 21, a group of crawler wheel sets 23 is fixedly arranged on the outer walls of two sides of the supporting frame 21 respectively, and the first driving motor 22 and the second driving motor 221 are respectively in transmission fit with the crawler wheel sets 23 of the corresponding side.

The mechanical arm 5 comprises a mechanical arm rotating base 51, a first steering engine 52, a first connecting rod 53, a second steering engine 54, a second connecting rod 55, a third steering engine 56, a fourth steering engine 57 and a clamping mechanism 58, wherein the bottom of the mechanical arm rotating base 51 is fixedly arranged at the top of the chassis 1, the mechanical arm rotating base 51 is a rotating motor with a power output shaft vertically upwards arranged, the power output shaft of the rotating motor is vertically upwards arranged, a turntable is fixedly arranged on the power output shaft of the rotating motor, a first steering engine 52 is fixedly arranged at the top of the turntable, the power output shaft of the first steering engine 52 is parallel to the chassis 1, the power output shaft of the first steering engine 52 is hinged with one end of the first connecting rod 53, the other end of the first connecting rod 53 is hinged with one power output shaft of the second steering engine 54, the other power output shaft of the second steering engine 54 is hinged with one end of the second connecting rod 55, the other end of the second connecting rod 55 is fixedly connected with a shell of the third steering engine 56, the power output shaft of the third steering engine 56 is fixedly connected with one end of the second connecting rod 55, the other end of the power output shaft of the third steering engine is fixedly arranged with the other end of the second connecting rod 55, the other end of the power output shaft of the third steering engine is parallel with the other end of the second connecting rod 55 is provided with a clamping jaw 59, and the clamping jaw 59 is fixedly arranged on the clamping jaw 59 is provided with a clamping jaw 59, and is provided with a clamping jaw 59, which is opposite to the clamping jaw 58.

The irrigation device 6 comprises a water tank 61, a water pump 62 and an irrigation pipe 63, wherein the bottom of the water tank 61 is fixedly arranged at the top of the chassis 1, the water pump 62 is fixedly arranged in the water tank 61, the irrigation pipe 63 penetrates through the side wall of the tail side of the water tank 61 and then is in sealing fit with the side wall of the water tank 61, one end of the irrigation pipe 63 is communicated with the water pump 62, and a water outlet 64 of the irrigation pipe 63 is higher than the ground.

The device 7 that earth includes steering wheel 71, initiative pole 72, passive pole 73 and the pole 74 that fills, steering wheel 71 is fixed to be set up in chassis 1's car tail end through the steering wheel fixed bolster 75 rather than integrated structure that earth, the power output shaft and the one end fixed connection of initiative pole 72 of steering wheel 71, the other end of initiative pole 72 is articulated with the middle part of the pole 74 that fills, the one end in the nearly chassis 1 outside of pole 74 that fills is articulated with the tip of passive pole 73, the one end at the nearly chassis 1 center of pole 74 that fills is fixed and is provided with arc hilling plate 76, the opening direction of arc hilling plate 76 just sets up chassis 1 central direction, the other end and the steering wheel fixed bolster 75 of passive pole 73 are articulated, steering wheel fixed bolster 72, passive pole 73 and the pole 74 that fills are articulated each other and form parallelogram connecting rod structure, the steering wheel 71 that fills among two devices 7 that set up on chassis 1 is the opposite setting, steering wheel 71 that fills in chassis 1 one side is the steering wheel that is the hilling of a steering wheel 71 that is the opposite side, steering wheel 71 that is the steering wheel that is the hilling of 1 is No. 71.

The number of the power supply mechanisms 8 is two, the two power supply mechanisms 8 are symmetrically arranged on two sides of the chassis 1, and the power supply mechanisms 8 are solar panels with storage batteries.

The fixed slideway 44 comprises an inner annular side wall 441, an outer annular side wall 442 and an annular bottom plate 443, the rotation centers of the inner annular side wall 441 and the outer annular side wall 442 are coincided, the bottoms of the inner annular side wall 441 and the outer annular side wall 442 are connected through the annular bottom plate 443, the connection part of the annular bottom plate 443 and the inner annular side wall 441 inwards extends in the circle center direction to form an inner extension ring 444, the annular bottom plate 443 is in limit fit with the bottom end of the sapling 10, the sapling 10 is inserted into an annular groove formed by the inner annular side wall 441, the outer annular side wall 442 and the annular bottom plate 443 and then is in sliding fit with the annular groove, the sapling fixing frame 45 is of an annular structure, a cross-shaped support 451 is fixedly arranged in the middle of the sapling fixing frame 45, four ends of the cross-shaped support 451 are fixedly connected with the inner wall of the annular structure, the bottom of the center position of the cross-shaped support 451 is fixedly provided with a connecting shaft 46, a plurality of sapling fixing forks 48 are uniformly distributed on the outer side wall of the sapling fixing frame 45, the sapling fixing forks 48 comprise two fork teeth, and the sapling 10 are in limit fit with fork teeth after being inserted between the two fork teeth.

The first connecting rod 53 comprises two gate-shaped frames, the left side wall and the right side wall of each gate-shaped frame are connected through transverse plates, the transverse plates on the two gate-shaped frames are connected into an integral structure, a first steering engine 52 is arranged between the left side wall and the right side wall of one gate-shaped frame, a second steering engine 54 is arranged between the left side wall and the right side wall of the other gate-shaped frame, and the left side wall and the right side wall of the gate-shaped frame are fixedly connected with the power output shafts of the steering engines corresponding to the left side wall and the right side wall of the gate-shaped frame.

The principle of the invention is explained as follows:

when the sapling is transported, the incomplete gear intermittent transmission is adopted, when the sapling transmission motor 41 rotates, the driving wheel 42 is driven to rotate, the driving wheel 42 is an incomplete gear, only partial gear teeth are arranged on the outer circumference of the driving wheel, the ratio of the length of the gear teeth to the length of the whole circumference corresponds to the number of sapling fixing forks 48 on the sapling fixing frame 45, when the driving wheel 42 rotates until the gear teeth on the driving wheel 42 are meshed with the gear teeth on the driven wheel 43, the driving wheel 42 drives the driven wheel 43 to start rotating, at the moment, the sapling fixing frame 45 rotates, and when the gear teeth on the driving wheel 42 are separated from the driven wheel 43, the sapling fixing frame 45 stops rotating, and the rotation angle of the sapling fixing frame 45 in the process is exactly equal to the included angle of the two sapling fixing forks 48;

In the design, a pressure sensor on a clamping jaw 59 is contacted with the side wall of the sapling 10, and when the clamping jaw 59 starts to work, the pressure sensor continuously monitors the received pressure to determine whether the clamping jaw 59 clamps the sapling 10;

the video monitoring device can be added to the design, the camera of the video monitoring device is just opposite to the two arc-shaped hilling plates 76, and video shot by the video monitoring device is sent to an operator through the controller, so that the operator can observe tree planting operation conditions in real time.

Example 1:

a new energy full-automatic tree planter, the new energy full-automatic tree planter comprising: the seedling cultivation device comprises a chassis 1, a driving device 2, a drilling mechanism 3, a seedling transmission mechanism 4, a mechanical arm 5, an irrigation device 6, a ridging device 7 and a power supply mechanism 8, wherein the driving device 2 is fixedly arranged at the bottom of the chassis 1, and the drilling mechanism 3, the seedling transmission mechanism 4, the mechanical arm 5, the irrigation device 6 and the ridging device 7 are sequentially and fixedly arranged on a central axis of the top of the chassis 1 from the direction of a vehicle head to the direction of a vehicle tail; the bottom of the drilling mechanism 3 is provided with a drilling machine 33, the travel of the drilling machine 33 moves up and down along the vertical direction, the bottom end of the drilling machine 33 is connected with the top end of a drill bit 34, the bottom end of the drill bit 34 extends downwards, a plurality of seedlings 10 are arranged in the seedling conveying mechanism 4, the mechanical arm 5 is a mechanical arm with a clamping mechanism 58, the clamping mechanism 58 is in clamping fit with the side walls of the seedlings 10, a water outlet 64 of the irrigation device 6 is higher than the ground, the action range of the hilling device 7 is in contact with the ground or higher than the ground, the action position of the drill bit 34 on the ground is located on the travelling path of the chassis 1, the coverage range of the water outlet 64 is larger than the action position of the drill bit 34 on the ground, the action range of the hilling device 7 is larger than the action position of the drill bit 34 on the ground, and the coverage range of the water outlet 64 and the action range of the hilling device 7 are located on the travelling path of the chassis 1; the sapling conveying mechanism 4 comprises a sapling conveying motor 41, a driving wheel 42, a driven wheel 43, a fixed slideway 44 and a sapling fixing frame 45, wherein a shell of the sapling conveying motor 41 is fixedly arranged at the top of the chassis 1, a power output shaft of the sapling conveying motor 41 is upwards arranged in the vertical direction, the driving wheel 42 is fixedly arranged on the power output shaft of the sapling conveying motor 41, the driving wheel 42 is an incomplete gear, the shell of the sapling conveying motor 41 is fixedly provided with the fixed slideway 44 in the horizontal direction, the fixed slideway 44 is an annular slideway with an upward opening, the opening of the fixed slideway 44 is internally provided with sapling 10, the fixed slideway 44 is in sliding fit with the bottom of the sapling 10, the sapling fixing frame 45 is of a circular structure, a connecting shaft 46 is fixedly arranged at the bottom of the rotation center of the sapling fixing frame 45, the bottom of the connecting shaft 46 is meshed with the driving wheel 42 through the driven wheel 43, a plurality of limiting plates 47 extending downwards are fixedly arranged at the bottom of the outer circumference of the sapling fixing frame 45, the bottom ends of the limiting plates 47 are fixedly arranged with an inner ring 444 extending at the bottom of the fixed slideway 44, the inner diameter of the inner ring 444 is uniformly distributed on the inner circumference of the sapling fixing frame 48, the inner diameter of the inner ring 45 is equal to the inner diameter of the inner ring 44 of the sapling extending ring 44, and the inner diameter of the inner ring 45 is uniformly distributed with the sapling 10 is fixedly matched with the sapling 48, and the sapling is fixedly arranged on the inner diameter of the fixed slideway 48, and is fixedly matched with the sapling frame 48 is fixedly arranged on the inner diameter is in the inner diameter ring 48; the drilling mechanism 3 comprises a driving piston 31, a drilling machine support 32 and a drilling machine 33, wherein a piston seat of the driving piston 31 is fixedly arranged at the top of the headstock side of the chassis 1 along the vertical direction, the end part of a piston rod of the driving piston 31 is fixedly connected with one end of the drilling machine support 32, and the other end of the drilling machine support 32 is fixedly connected with a shell of the drilling machine 33; the driving device 2 comprises a supporting frame 21, a first driving motor 22, a second driving motor 221 and two groups of crawler wheel groups 23, the supporting frame 21 is a frame type bracket, the first driving motor 22 is fixedly arranged on the inner wall of one side of the supporting frame 21, the second driving motor 221 is fixedly arranged on the inner wall of the other side of the supporting frame 21, a group of crawler wheel groups 23 is fixedly arranged on the outer walls of two sides of the supporting frame 21 respectively, and the first driving motor 22 and the second driving motor 221 are respectively in transmission fit with the crawler wheel groups 23 on the corresponding sides; the mechanical arm 5 comprises a mechanical arm rotating base 51, a first steering engine 52, a first connecting rod 53, a second steering engine 54, a second connecting rod 55, a third steering engine 56, a fourth steering engine 57 and a clamping mechanism 58, wherein the bottom of the mechanical arm rotating base 51 is fixedly arranged at the top of the chassis 1, the mechanical arm rotating base 51 is a rotating motor with a power output shaft arranged vertically upwards, the power output shaft of the rotating motor is vertically upwards arranged, a turntable is fixedly arranged on the power output shaft of the rotating motor, a first steering engine 52 is fixedly arranged at the top of the turntable, the power output shaft of the first steering engine 52 is parallel to the chassis 1, the power output shaft of the first steering engine 52 is hinged with one end of the first connecting rod 53, the other end of the first connecting rod 53 is hinged with one power output shaft of the second steering engine 54, the other power output shaft of the second steering engine 54 is hinged with one end of the second connecting rod 55, the other end of the second connecting rod 55 is fixedly connected with a shell of the third steering engine 56, the power output shaft of the third steering engine 56 is fixedly connected with one end of the second connecting rod 55, the other end of the power output shaft of the third steering engine is fixedly arranged with one end of the second connecting rod 55, the other end of the power output shaft of the third steering engine is fixedly connected with the fourth steering engine 55 is provided with a clamping jaw 59, and the clamping jaw 59 is fixedly arranged in a clamping jaw 59 is provided with a clamping jaw 59 on a concave jaw 58, and is fixedly arranged on the clamping jaw 59; the irrigation device 6 comprises a water tank 61, a water pump 62 and an irrigation pipe 63, wherein the bottom of the water tank 61 is fixedly arranged at the top of the chassis 1, the water pump 62 is fixedly arranged in the water tank 61, the irrigation pipe 63 penetrates through the side wall of the vehicle tail side of the water tank 61 and is in sealing fit with the side wall of the water tank 61, one end of the irrigation pipe 63 is communicated with the water pump 62, and a water outlet 64 of the irrigation pipe 63 is higher than the ground; the chassis 1 is characterized in that two mutually symmetrical hilling devices 7 are fixedly arranged at the tail end of the chassis 1, each hilling device 7 comprises a hilling steering wheel 71, a driving rod 72, a driven rod 73 and a filling rod 74, the hilling steering wheel 71 is fixedly arranged at the tail end of the chassis 1 through a steering wheel fixing support 75 of an integrated structure of the hilling steering wheel 71, a power output shaft of the hilling steering wheel 71 is fixedly connected with one end of the driving rod 72, the other end of the driving rod 72 is hinged with the middle part of the filling rod 74, one end of the filling rod 74, which is close to the outer side of the chassis 1, is hinged with the end of the driven rod 73, one end of the filling rod 74, which is close to the center of the chassis 1, is fixedly provided with an arc hilling plate 76, the opening direction of the arc hilling plate 76 is opposite to the center direction of the chassis 1, the other end of the driven rod 73 is hinged with a steering wheel fixing support 75, the driving rod 72, the driven rod 73 and the filling rod 74 are mutually hinged to form a parallelogram connecting rod structure, the arc hilling plate 76 in the two hilling devices 7 arranged on the chassis 1 is oppositely arranged, one side of the steering wheel 71 is the chassis 71, and the chassis 71 is hilling; the number of the power supply mechanisms 8 is two, the two power supply mechanisms 8 are symmetrically arranged on two sides of the chassis 1, and the power supply mechanisms 8 are solar panels with storage batteries; the fixed slideway 44 comprises an inner annular side wall 441, an outer annular side wall 442 and an annular bottom plate 443, the rotation centers of the inner annular side wall 441 and the outer annular side wall 442 are coincided, the bottoms of the inner annular side wall 441 and the outer annular side wall 442 are connected through the annular bottom plate 443, the connection part of the annular bottom plate 443 and the inner annular side wall 441 inwards extends in the circle center direction to form an inner extension ring 444, the annular bottom plate 443 is in limit fit with the bottom end of the sapling 10, the sapling 10 is inserted into an annular groove formed by the inner annular side wall 441, the outer annular side wall 442 and the annular bottom plate 443 and then is in sliding fit with the annular groove, the sapling fixing frame 45 is of an annular structure, a cross-shaped support 451 is fixedly arranged in the middle of the sapling fixing frame 45, four ends of the cross-shaped support 451 are fixedly connected with the inner wall of the annular structure, the bottom of the center position of the cross-shaped support 451 is fixedly provided with a connecting shaft 46, a plurality of sapling fixing forks 48 are uniformly distributed on the outer side wall of the sapling fixing frame 45, the sapling fixing forks 48 comprise two fork teeth, and the sapling 10 are in limit fit with fork teeth after being inserted between the two fork teeth; the first connecting rod 53 comprises two gate-shaped frames, the left side wall and the right side wall of each gate-shaped frame are connected through transverse plates, the transverse plates on the two gate-shaped frames are connected into an integral structure, a first steering engine 52 is arranged between the left side wall and the right side wall of one gate-shaped frame, a second steering engine 54 is arranged between the left side wall and the right side wall of the other gate-shaped frame, and the left side wall and the right side wall of the gate-shaped frame are fixedly connected with the power output shafts of the steering engines corresponding to the left side wall and the right side wall of the gate-shaped frame.

Example 2:

substantially the same as in example 1, except that:

the contact point of the pressure sensor is contacted with the side wall of the sapling 10, and the length of the toothed part on the driving wheel 42 is the circumference of the driven wheel 43 divided by the number of sapling fixing forks 48 arranged on the sapling fixing frame 45.

Example 3:

substantially the same as in example 2, except that:

the tree planter also comprises a video monitoring device 11, a camera in the video monitoring device 11 is just opposite to the two arc-shaped hilling plates 76, and the video monitoring device 11 is arranged on the mechanical arm 5.

Example 4:

substantially the same as in example 2, except that:

the tree planting machine further comprises a control system 9, the control system 9 is a controller with a wireless receiver, and the control system 9 is connected with a first driving motor 22, a second driving motor 221, a driving piston 31, a drilling machine 33, a tree seedling transmission motor 41, a mechanical arm base 51, a first steering engine 52, a second steering engine 54, a third steering engine 55, a fourth steering engine 57, a clamping mechanism 58, a water pump 62, a first ridging steering engine 711 and a second ridging steering engine 712.

Claims

1. A new forms of energy full-automatic tree planter, its characterized in that:

the full-automatic tree planter of new forms of energy includes: the seedling cultivation device comprises a chassis (1), a driving device (2), a drilling mechanism (3), a seedling transmission mechanism (4), a mechanical arm (5), an irrigation device (6), a ridging device (7) and a power supply mechanism (8), wherein the driving device (2) is fixedly arranged at the bottom of the chassis (1), and the drilling mechanism (3), the seedling transmission mechanism (4), the mechanical arm (5), the irrigation device (6) and the ridging device (7) are sequentially and fixedly arranged on a central axis at the top of the chassis (1) from the direction of a vehicle head to the direction of the vehicle tail; the bottom of the drilling mechanism (3) is provided with a drilling machine (33), the travel of the drilling machine (33) moves up and down along the vertical direction, the bottom end of the drilling machine (33) is connected with the top end of a drill bit (34), the bottom end of the drill bit (34) extends downwards, a plurality of seedlings (10) are arranged in the seedling conveying mechanism (4), the mechanical arm (5) is provided with a clamping mechanism (58), the clamping mechanism (58) is in clamping fit with the side wall of the seedlings (10), a water outlet (64) of the irrigation device (6) is higher than the ground, the action range of the hilling device (7) is in contact with the ground or higher than the ground, the action position of the drill bit (34) on the ground is located on the travelling path of the chassis (1), the coverage range of the water outlet (64) is larger than the action position of the drill bit (34) on the ground, the action range of the hilling device (7) is larger than the action position of the drill bit (34) on the ground, and the action range of the hilling device (7) of the water outlet (64) and the hilling device (7) are located on the travelling path of the chassis (1);

The sapling transmission mechanism (4) comprises a sapling transmission motor (41), a driving wheel (42), a driven wheel (43), a fixed slide way (44) and a sapling fixing frame (45), wherein a shell of the sapling transmission motor (41) is fixedly arranged at the top of a chassis (1), a power output shaft of the sapling transmission motor (41) is upwards arranged along a vertical direction, the driving wheel (42) is fixedly arranged on the power output shaft of the sapling transmission motor (41), the driving wheel (42) is an incomplete gear, the shell of the sapling transmission motor (41) is fixedly provided with the fixed slide way (44) along a horizontal direction, the fixed slide way (44) is an annular slide way with an upward opening, sapling (10) is arranged in the opening of the fixed slide way (44), the fixed slide way (44) is in sliding fit with the bottom of the sapling (10), the sapling fixing frame (45) is of a circular structure, a connecting shaft (46) is fixedly arranged at the bottom of the rotation center of the sapling fixing frame (45), the bottom of the connecting shaft (46) is fixedly provided with a connecting shaft (43) through the driven wheel (42) with the bottom of the driven wheel (45), the bottom of the sapling fixing frame (45) is meshed with the bottom of the annular slide way (44) which is meshed with the bottom of the inner slide way (44) and the bottom part (47) is fixedly arranged, the diameter of the sapling fixing frame (45) is the same as the inner diameter of the fixing slide way (44), a plurality of sapling fixing forks (48) are uniformly distributed on the outer circumference of the sapling fixing frame (45), all the sapling fixing forks (48) are arranged right above the fixing slide way (44), and the sapling fixing forks (48) are in limit fit with the sapling (10);

The chassis (1) is characterized in that two mutually symmetrical hilling devices (7) are fixedly arranged at the tail end of the chassis (1), each hilling device (7) comprises a hilling steering wheel (71), a driving rod (72) and a driven rod (73) and a hilling rod (74), the hilling steering wheel (71) is fixedly arranged at the tail end of the chassis (1) through a steering wheel fixing support (75) which is integrated with the hilling steering wheel, a power output shaft of the hilling steering wheel (71) is fixedly connected with one end of the driving rod (72), the other end of the driving rod (72) is hinged with the middle part of the hilling rod (74), one end of the hilling rod (74) close to the outer side of the chassis (1) is hinged with the end of the driven rod (73), one end of the hilling rod (74) close to the center of the chassis (1) is fixedly provided with an arc-shaped hilling plate (76), the other end of the driven rod (73) is hinged with the steering wheel fixing support (75) in a direction opposite to the center of the chassis (1), the driving rod (72), the other end of the driven rod (73) is hinged with the steering wheel fixing support (75), the steering wheel fixing support (72), the driving rod (72) and the two ends of the driven rod (73) are hinged with the two ends of the chassis (7) close to the chassis (73) to the center, the ridging steering engine (71) on one side of the chassis (1) is a first ridging steering engine (711), and the ridging steering engine (71) on the other side of the chassis (1) is a second ridging steering engine (712).

2. The full-automatic new energy tree planter according to claim 1, wherein:

the drilling mechanism (3) comprises a driving piston (31), a drilling machine support (32) and a drilling machine (33), wherein a piston seat of the driving piston (31) is fixedly arranged at the top of the head side of the chassis (1) along the vertical direction, the end part of a piston rod of the driving piston (31) is fixedly connected with one end of the drilling machine support (32), and the other end of the drilling machine support (32) is fixedly connected with a shell of the drilling machine (33).

3. The full-automatic new energy tree planter according to claim 2, wherein:

the driving device (2) comprises a supporting frame (21), a first driving motor (22), a second driving motor (221) and two groups of crawler wheel sets (23), wherein the supporting frame (21) is a frame type support, the first driving motor (22) is fixedly arranged on the inner wall of one side of the supporting frame (21), the second driving motor (221) is fixedly arranged on the inner wall of the other side of the supporting frame (21), a group of crawler wheel sets (23) is fixedly arranged on the outer walls of two sides of the supporting frame (21), and the first driving motor (22) and the second driving motor (221) are respectively in transmission fit with the crawler wheel sets (23) of the corresponding side.

4. A new energy full-automatic tree planter according to any one of claims 1 to 3, characterized in that:

the mechanical arm (5) comprises a mechanical arm rotating base (51), a first steering engine (52), a first connecting rod (53), a second steering engine (54), a second connecting rod (55), a third steering engine (56) and a clamping mechanism (58), wherein the bottom of the mechanical arm rotating base (51) is fixedly arranged at the top of a chassis (1), the mechanical arm rotating base (51) is a rotating motor with a power output shaft vertically arranged upwards, the power output shaft of the rotating motor is vertically arranged upwards, a turntable is fixedly arranged on the power output shaft of the rotating motor, the top of the turntable is fixedly provided with a first steering engine (52), the power output shaft of the first steering engine (52) is parallel to the chassis (1), the power output shaft of the first steering engine (52) is fixedly connected with one end of the first connecting rod (53), the other end of the first connecting rod (53) is hinged with one power output shaft of the second steering engine (54), the other power output shaft of the second steering engine (54) is fixedly connected with the power output shaft of the second connecting rod (55) of the third connecting rod (55), the other end of the second connecting rod (55) is hinged with a fourth steering engine (57), a clamping mechanism (58) is fixedly arranged on a shell of the fourth steering engine (57), two clamping jaws (59) which are oppositely arranged are arranged on the clamping mechanism (58), a recess matched with a sapling (10) is formed in the clamping jaws (59), and a pressure sensor is fixedly arranged in the recess in the clamping jaws (59).

5. The full-automatic new energy tree planter according to claim 4, wherein:

irrigation equipment (6) are including water tank (61), water pump (62) and irrigation pipe (63), the top in chassis (1) is fixed to the bottom of water tank (61), water tank (61) internal fixation is provided with water pump (62), irrigation pipe (63) pass behind the lateral wall of water tank (61) rear of a vehicle side with the lateral wall sealing fit of water tank (61), the one end and the water pump (62) of irrigation pipe (63) are linked together, delivery port (64) of irrigation pipe (63) are higher than ground setting.

6. The full-automatic new energy tree planter according to claim 5, wherein:

the number of the power supply mechanisms (8) is two, the two power supply mechanisms (8) are symmetrically arranged on two sides of the chassis (1), and the power supply mechanisms (8) are solar panels with storage batteries.

7. The full-automatic new energy tree planter according to claim 6, wherein:

the fixed slideway (44) comprises an inner annular side wall (441), an outer annular side wall (442) and an annular bottom plate (443), the rotation centers of the inner annular side wall (441) and the outer annular side wall (442) are overlapped, the bottoms of the inner annular side wall (441) and the outer annular side wall (442) are connected through the annular bottom plate (443), an inner extension ring (444) is formed at the joint of the annular bottom plate (443) and the inner annular side wall (441) in the circle center direction, the annular bottom plate (443) is in limit fit with the bottom end of a tree seedling (10), the tree seedling (10) is inserted into an annular groove formed by the inner annular side wall (441), the outer annular side wall (442) and the annular bottom plate (443) and then is in sliding fit with the annular groove, the tree seedling fixing frame (45) is of an annular structure, cross-shaped support (451) is fixedly arranged in the middle of the tree seedling fixing frame, four ends of the cross-shaped support (451) are fixedly connected with the inner wall of the annular structure, a connecting shaft (46) is fixedly arranged at the bottom of the center position of the cross-shaped support (451), a plurality of fork teeth (48) are fixedly arranged on the tree seedling fixing frame, and the fork teeth (48) are fixedly arranged between two fork teeth and are fixedly arranged on the fork teeth (48) and are fixedly matched with the tree seedling fixing frame.

8. The full-automatic new energy tree planter according to claim 7 wherein:

the first connecting rod (53) comprises two door-shaped frames, the left side wall and the right side wall of each door-shaped frame are connected through transverse plates, the transverse plates on the two door-shaped frames are connected into an integral structure, a first steering engine (52) is arranged between the left side wall and the right side wall of one door-shaped frame, a second steering engine (54) is arranged between the left side wall and the right side wall of the other door-shaped frame, and the left side wall and the right side wall of the door-shaped frame are fixedly connected with the power output shafts of the corresponding steering engines.