CN116508606B - End effector of intelligent tree planting robot - Google Patents
End effector of intelligent tree planting robot Download PDFInfo
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- CN116508606B CN116508606B CN202310786502.0A CN202310786502A CN116508606B CN 116508606 B CN116508606 B CN 116508606B CN 202310786502 A CN202310786502 A CN 202310786502A CN 116508606 B CN116508606 B CN 116508606B
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- earthing
- clamping jaw
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- support
- drilling
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- 239000012636 effector Substances 0.000 title claims abstract description 31
- 239000002689 soil Substances 0.000 claims abstract description 43
- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 238000005553 drilling Methods 0.000 claims abstract description 40
- 230000005540 biological transmission Effects 0.000 claims description 21
- 230000002787 reinforcement Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 7
- 230000002349 favourable effect Effects 0.000 abstract description 2
- 238000004080 punching Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- DEXFNLNNUZKHNO-UHFFFAOYSA-N 6-[3-[4-[2-(2,3-dihydro-1H-inden-2-ylamino)pyrimidin-5-yl]piperidin-1-yl]-3-oxopropyl]-3H-1,3-benzoxazol-2-one Chemical compound C1C(CC2=CC=CC=C12)NC1=NC=C(C=N1)C1CCN(CC1)C(CCC1=CC2=C(NC(O2)=O)C=C1)=O DEXFNLNNUZKHNO-UHFFFAOYSA-N 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 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
-
- 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
- A01G23/043—Transplanting devices for grasping, undercutting or transporting the root ball
-
- 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
- A01G23/099—Auxiliary devices, e.g. felling wedges
-
- 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Soil Sciences (AREA)
- Transplanting Machines (AREA)
Abstract
The invention discloses an end effector of an intelligent tree planting robot, which relates to the technical field of manipulators and comprises an end bracket, and a drilling mechanism and a soil covering mechanism which are respectively arranged at two sides of the end bracket, wherein the drilling mechanism comprises a first linear module arranged at one side of the end bracket and a drill bit arranged on the first linear module; the earthing mechanism is in including setting up second clamping jaw subassembly and the earthing dish of terminal support opposite side, the earthing dish rear side is rotatably installed on the terminal support, two earthing dishes that cooperate set up in the downside of second clamping jaw subassembly, the medial surface of two earthing dishes is provided with matched with recess respectively. The drilling mechanism is used for drilling holes, the second clamping jaw assembly is used for clamping sapling, the earthing disc is used for earthing, drilling, planting and earthing operations are realized, and automatic tree planting is realized; the sapling is kept in the through hole in the soil covering process, and the sapling cannot be damaged. Combines clamping and earthing, thus realizing favorable planting operation.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to an end effector of an intelligent tree planting robot.
Background
A tree planting robot is an apparatus for automatically planting trees, and has gradually become a main way of planting seedlings. Especially in severe environments, the tree planting robot becomes an important tool for replacing manual planting. At present, the automation degree of the tree planting robot is low, and the tree planting robot is mainly used for drilling holes in soil through an end effector; in the actual operation process, a great deal of manual assistance is still needed, such as the operations of planting saplings in holes, covering soil and the like, and the tree planting efficiency is still not ideal. It is therefore desirable to design an end effector for an intelligent tree planting robot.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides the end effector of the intelligent tree planting robot, which can punch holes, plant and cover soil to realize automatic tree planting.
The invention discloses an end effector of an intelligent tree planting robot, which comprises an end bracket, and a drilling mechanism and a soil covering mechanism which are respectively arranged at two sides of the end bracket, wherein the drilling mechanism comprises a first linear module arranged at one side of the end bracket and a drill bit arranged on the first linear module; the earthing mechanism is in including setting up second clamping jaw subassembly and the earthing dish of terminal support opposite side, the earthing dish rear side is rotatably installed on the terminal support, two earthing dishes that cooperate are in the downside of second clamping jaw subassembly, the side of two earthing dishes is provided with matched with recess respectively. The drilling mechanism is used for drilling holes, the second clamping jaw assembly is used for clamping sapling, the earthing disc is used for earthing, drilling, planting and earthing operations are realized, and automatic tree planting is realized; the sapling is kept in the through hole in the soil covering process, and the sapling cannot be damaged. Combines clamping and earthing, thus realizing favorable planting operation.
Specifically, the inside wall of earthing dish sets up to the rectangle face, the recess sets up on the rectangle face, when two earthing dishes are closed, the recess of two earthing dish sides forms the through-hole, the through-hole sets up the downside of second clamping jaw subassembly.
The second jaw assembly may be cylinder driven: the clamping jaw support is arranged on the other side of the tail end support, a sliding rail is arranged on the outer side of the clamping jaw support, and a pair of clamping jaws are slidably arranged on the sliding rail; the clamping jaw support is provided with an air cylinder, the output end of the air cylinder is connected with the clamping jaw, and the upper side of the clamping jaw is provided with a guide piece. A rotating shaft is arranged on the tail end bracket, and the inner side of the earthing plate is arranged on the rotating shaft; the earthing plate is characterized in that a reinforcement is arranged on one side of the earthing plate, one end of the reinforcement is arranged on the rotating shaft, an earthing driver is arranged in the tail end support, and the output end of the earthing driver is connected with the rotating shaft. More specifically, a bearing seat is arranged on the tail end support, and the rotating shaft is arranged on the bearing seat.
The lower end of the earthing plate can be provided with a soil pressing piece extending downwards, the cross section of the soil pressing piece is smaller than that of the earthing plate, and fixed-point soil pressing can be achieved.
The other side of the tail end support is further provided with a soil covering support, a second linear module is arranged on the outer side of the soil covering support, and a first clamping jaw assembly is arranged on the second linear module. By the cooperation of the first clamping jaw assembly and the second clamping jaw assembly, higher or heavier saplings can be clamped.
The drilling device comprises a drilling support, a drilling driver, a drill bit and a drill bit, wherein the drilling support is arranged on one side of the tail end support, the first linear module is arranged on the outer side of the drilling support, a first sliding frame is arranged on a screw rod of the first linear module, the drill bit and the drilling driver are arranged on the first sliding frame, an output end of the drilling driver is connected with the drill bit, and a spiral blade is arranged on the outer side of the drill bit. The drilling support outside is provided with the sliding tray, the lead screw of first straight line module is installed in the sliding tray, the first driver output of drilling support upside with screw connection, be provided with on the first carriage with lead screw complex screw.
It should be noted that the end effector of the present invention requires the cooperation of a robotic arm to effect planting of the seedlings. A conventional robot arm may be used.
In one embodiment, the robotic arm is configured as follows, but is not limited thereto. The mechanical arm comprises a rotating seat, a rotating table, a first arm, a second arm and a telescopic arm, wherein the rotating seat is arranged on a machine body, the rotating table is rotatably arranged on the rotating seat, the inner end of the first arm is hinged on the rotating seat, one end of the second arm is hinged at the outer end of the first arm, the outer end of the second arm is provided with the telescopic arm, the outer end of the telescopic arm is hinged with a hanging bracket, and the tail end bracket is arranged at the lower end of the hanging bracket; the invention further comprises a pneumatic assembly, wherein the pneumatic assembly comprises a first hydraulic cylinder arranged on the turntable, and the output end of the first hydraulic cylinder is connected with the first arm. The robotic arm is used to control the movement and positioning of the end effector for advantageous positioning and manipulation.
Compared with the prior art, the invention has the beneficial effects that: the drilling mechanism is used for drilling holes, the second clamping jaw assembly is used for clamping sapling, the earthing disc is used for earthing, drilling, planting and earthing operations are realized, and automatic tree planting is realized; the sapling is kept in the through hole in the soil covering process, and the sapling cannot be damaged.
Drawings
FIG. 1 is a schematic structural view of an intelligent tree planting robot;
FIG. 2 is a schematic structural view of a seedling taking mechanism;
FIG. 3 is a schematic view of a mechanical arm;
FIG. 4 is a schematic view of the structure of an end effector;
FIG. 5 is a schematic view of the construction of the earth-covering mechanism;
fig. 6 is a schematic view of the construction of the earth-covering tray.
The marks in the figure: 1 a machine body, 12 a control box, 13 a radar component and 14 caterpillar tracks;
2 seedling taking and conveying mechanism, 21 seedling cup, 22 first base, 23 seedling rack, 24 transmission mechanism, 241 driving motor, 242 wheel belt, 243 transmission shaft, 244 transmission disc, 245 transmission belt, 246 first mounting seat, 247 bearing seat, 248 driven disc, 25 bracket, 26 sensor bracket, 27 guide frame;
3 mechanical arms, 31 rotating seats, 32 rotating tables, 33 first arms, 34 second arms and 35 telescopic arms;
4 pneumatic assembly, 41 first hydraulic cylinder, 42 accumulator;
the end effector, 51 end support, 511 hanger, 52 drilling mechanism, 521 drilling support, 522 first straight line module, 523 first carriage, 524 drilling driver, 525 drill bit, 526 helical blade, 527 organ shield, 53 earthing mechanism, 531 earthing support, 532 second straight line module, 533 second carriage, 534 second jaw assembly, 535 first jaw assembly, 536 guide, 537 jaw support, 538 jaw, 541 earthing disc, 542 reinforcement, 543 through hole, 544 earth pressing member, 545 bearing housing, 546 spindle.
Description of the embodiments
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. 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.
The invention is described in further detail below with reference to the attached drawing figures:
fig. 1-6 show an intelligent tree planting robot with an end effector mounted thereon, comprising a body 1, a robotic arm 3, a tree seedling retrieval mechanism 2, and an end effector 5. The sapling taking mechanism 2 and the mechanical arm 3 are arranged on the machine body 1, a crawler 14 is arranged under the machine body 1, a radar component 13 is arranged on one side of the machine body 1, the tail end of the mechanical arm 3 is provided with an end effector 5, and the end effector 5 is used for punching, planting and earthing.
Specifically, the end effector 5 includes an end bracket 51, and a drilling mechanism 52 and a soil covering mechanism 53 respectively mounted on both sides of the end bracket 51, the drilling mechanism 52 including a first linear module 522 disposed on one side of the end bracket 51, and a drill 525 disposed on the first linear module 522; the earthing mechanism 53 comprises a second clamping jaw assembly 534 and an earthing plate 541 which are arranged on the other side of the terminal bracket 51, the rear side of the earthing plate 541 is rotatably arranged on the terminal bracket 51, two earthing plates 541 which are matched are arranged on the lower side of the second clamping jaw assembly 534, and the inner side surfaces of the two earthing plates 541 are respectively provided with a matched groove; when the two earthing plates 541 are closed, the two grooves are spliced into a through hole 543, and the through hole 543 is arranged at the lower side of the second clamping jaw assembly 534.
The drilling mechanism is used for drilling holes, the second clamping jaw assembly is used for clamping sapling, the earthing disc is used for earthing, drilling, planting and earthing operations are realized, and automatic tree planting is realized; the sapling is kept in the through hole in the soil covering process, and the sapling cannot be damaged.
One specific mode of operation is as follows:
step 101: the first linear module 522 drives the drill 525 to move downwards, and holes are punched through the drill 525. During the punching process, part of soil is distributed around the holes; after the punching is finished, the drill bit 525 is controlled to move upwards through the first linear module 522 and reset. Wherein the outside of the drill bit 525 may be provided with helical blades.
Step 102: the two soil covering trays 541 are opened, the seedlings are held by the second jaw assembly 534, and the seedlings are placed into the perforated holes.
Step 103: the two soil covering plates 541 are closed to cover the soil around the holes in the holes, thereby realizing soil covering. The operation of opening and closing the earthing disk is repeated until the holes are covered with earth, for example 2-5 times. During the soil covering process, the sapling is kept in the through holes 543 and is not damaged.
Step 104: after the soil is over, the second jaw assembly 534 is opened to release the sapling.
Step 105: the covering soil can be compacted: closing the two soil covering plates 541 and opening the second clamping jaw assemblies 534, and controlling the soil covering plates 541 to press on the soil covering through the mechanical arm 3 to compact the soil covering; the mechanical arm 3 controls the soil covering disc 541 to move up and down, so as to further compact the soil covering, and realize planting one sapling. Wherein the lower end of the soil covering plate 541 is provided with a soil pressing member 544 extending downward.
And repeatedly executing the steps 101-104 to realize automatic sapling planting. It should be noted that the end effector may perform the above steps in conjunction with a robotic arm, which may use a conventional robotic arm.
Fig. 3-6 illustrate specific configurations of the end effector. The second jaw assembly 534 includes a jaw support 537 and a jaw 538, the jaw support 537 being provided at the other side of the end support 51, a slide rail being provided at the outer side of the jaw support 537, and a pair of jaws 538 being slidably provided on the slide rail. The jaw supporter 537 is provided with a plurality of air cylinders (not shown in the drawing), the output ends of which are connected with the jaws 538, and the upper side of the jaws 538 is provided with a guide 536 for increasing the clamping area. It should be noted that the second jaw assembly 534 of the present invention is not limited to cylinder drive, but may be driven by a motor.
The inside wall of earthing disk 541 sets up to the rectangle face, the recess sets up on the rectangle face, and when two earthing disks 541 were closed, two rectangle faces were laminated mutually, and the recess of two sides forms through-hole 543, and through-hole 543 sets up the downside at second clamping jaw subassembly 534.
As shown in fig. 6, a rotary shaft 546 is provided on the end bracket 51, and the inner side of the soil covering plate 541 is mounted on the rotary shaft 546; the soil covering plate 541 may be further provided with a reinforcement 542 on one side, one end of the reinforcement 542 is mounted on the rotating shaft 546, and a soil covering driver (not shown) is provided in the end bracket 51, and an output end of the soil covering driver is connected to the rotating shaft 546. Wherein, the earthing driver can adopt gear motor, can be provided with bearing frame 545 on the terminal support, and the pivot is installed in bearing frame 545.
As a modified embodiment, the other side of the end bracket 51 is further provided with a soil covering bracket 531, a second linear module 532 is arranged on the outer side of the soil covering bracket 531, and a first clamping jaw assembly 535 is arranged on the second linear module 532. The first jaw assembly 535 cooperates with the second jaw assembly 534 for gripping a seedling to accommodate a larger, heavier seedling; the second linear module 532 is used to adjust the distance between the first jaw assembly 535 and the second jaw assembly 534. More specifically, the second carriage 533 is mounted on the lead screw of the second linear module 532, and the first jaw assembly 534 is mounted on the second carriage 533.
Fig. 5 shows a section of a part of the telescopic arm 35. Fig. 4 shows an organ cover 527 arranged outside the first linear module 522. A drilling support 521 is arranged on one side of the end support 51, a first sliding frame 523 is arranged on a screw rod of the first linear module 522, a drill 525 and a drilling driver 524 are mounted on the first sliding frame 523, and a screw blade 526 is arranged on the outer side of the drill.
As shown in fig. 3, the mechanical arm 3 includes a rotating base 31, a turntable 32, a first arm 33, a second arm 34 and a telescopic arm 35, the rotating base 31 is disposed on the body 1, the turntable 32 is rotatably mounted on the rotating base 31, the inner end of the first arm 33 is hinged on the rotating base 31, one end of the second arm 34 is hinged on the outer end of the first arm 33, the telescopic arm 35 is disposed on the outer end of the second arm 34, the outer end of the telescopic arm 35 is hinged with a hanging bracket 511, and the tail end bracket 51 is disposed on the lower end of the hanging bracket 511. The pneumatic assembly 4 is adopted to drive part of the mechanical arm, and takes the first arm 33 as an example, the pneumatic assembly 4 comprises a first hydraulic cylinder 41 arranged on the turntable 32, the output end of the first hydraulic cylinder 41 is connected with the first arm 33, and an energy accumulator 42 can be further arranged on the first hydraulic cylinder. The driving and angle adjustment of the turntable 32, the second arm 34, the telescopic arm 35, and the hanger 511 are conventional, and are not described in detail herein.
Fig. 1 and 2 show the structure of the sapling taking mechanism 2. The sapling taking and delivering mechanism 2 comprises a bracket 25, a transmission mechanism 24 and a plurality of sapling cups 21, wherein the bracket 25 is arranged on the upper side of the machine body 1, the transmission mechanism 24 is arranged on the bracket 25, the transmission mechanism 24 comprises a transmission belt 245 which is annularly arranged in the bracket 25, and the sapling cups 21 are arranged on the transmission belt 245. The seedling cup 21 is used for placing seedlings, and the seedling cup 21 is driven to move through the transmission belt 245, so that the positions of the seedling cup and the seedlings are adjusted, and the second clamping jaw assembly 534 of the end effector 5 can clamp the seedlings.
A sensor holder 26 may be provided at one end of the bracket 25, the sensor holder 26 being used for mounting a proximity switch or a photoelectric sensor (not shown in the drawings) for detecting seedlings. For example, seedlings are detected by an infrared sensor. The tree seedling transportation flow is as follows:
step 201: after the sapling is removed, the signal of the infrared sensor changes, and the driving belt is controlled to move by one cup position until the infrared sensor detects the sapling signal, and the driving belt is stopped. The seedling cup 21 with the seedling signal is brought into the seedling taking position corresponding to the sensor holder 26. Wherein the distance between the infrared sensor and the bottom of the seedling cup 21 should be higher than the height of the seedling.
Step 202: the end effector 5 clamps the sapling from the seedling picking position, and step 201 is executed until all saplings are planted or the planting task is completed.
In a more specific design, a plurality of first mounting seats 246 are arranged on the transmission belt 245 at intervals, a seedling rack 23 is mounted on the first mounting seats 246, and the seedling cup 21 is mounted at the front end of the seedling rack 23. Wherein, the upper part of the seedling rack 23 is provided with a guiding part protruding towards the front side for holding seedlings, and the lower side is provided with a lifting part for supporting the seedling cup 21; the middle part is provided with an operation part, so that the terminal clamping of the sapling is convenient to execute. In fig. 2, part of the seedling rack 23 and the seedling cup 21 are removed. The transmission mechanism 24 further comprises a driving motor 241 arranged in the bracket 25, a bearing seat 247 is arranged on one side of the bracket 25, a driven disc 248 is arranged on the other side of the bracket, a transmission shaft 243 is arranged on the bearing seat 247, a tape disc and at least one transmission disc 244 are arranged on the transmission shaft 243 at intervals, an output shaft of the driving motor 241 is connected with the tape disc through a wheel belt 242, and the transmission belt 245 is sleeved on the driven disc 248 and the transmission disc 244. In fig. 2, a driving belt is respectively arranged at the upper and lower sides in the bracket 25, and the upper and lower sides of the seedling rack 23 are respectively arranged on the corresponding driving belts 245; a guide frame 27 can be arranged outside the bracket; the front side and the rear side of the machine body 1 are respectively provided with a sapling taking mechanism 2.
As shown in fig. 1, a first base 22 is arranged on a machine body 1, and a sapling taking mechanism 2 is arranged on the first base 22; the mechanical arm 3 is installed on one side of the machine body 1, a control box 12 is arranged on the machine body far away from the mechanical arm 3, the sapling taking mechanism 2 is installed between the mechanical arm 3 and the control box 12, and weight balance of two sides of the machine body is achieved, wherein the control box 12 is used for installing a battery, a control circuit, a communication module and the like. The sensor bracket 26 is close to the mechanical arm 3, so that the movement of the mechanical arm is facilitated, and the radar component 13 on the machine body 1 is used for detecting the running environment of the tree planting robot and facilitating the automatic driving of the tree planting robot; the caterpillar tracks on the lower side of the machine body 1 are beneficial to running in severe environments.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An end effector of an intelligent tree planting robot is characterized by comprising an end bracket, drilling mechanisms and earthing mechanisms which are respectively arranged at two sides of the end bracket,
the drilling mechanism comprises a first linear module arranged on one side of the tail end bracket and a drill bit arranged on the first linear module;
the earthing mechanism comprises a second clamping jaw assembly and earthing discs, wherein the second clamping jaw assembly and the earthing discs are arranged on the other side of the tail end support, the rear sides of the earthing discs are rotatably arranged on the tail end support, two earthing discs which are matched are arranged on the lower side of the second clamping jaw assembly, and the inner side surfaces of the two earthing discs are respectively provided with a matched groove;
the lower end of the earthing plate is provided with a soil pressing piece extending downwards, and the cross section of the soil pressing piece is smaller than that of the earthing plate;
wherein the second clamping jaw assembly comprises a clamping jaw bracket and clamping jaws,
the clamping jaw support is arranged on the other side of the tail end support, a sliding rail is arranged on the outer side of the clamping jaw support, and a pair of clamping jaws are slidably arranged on the sliding rail; the clamping jaw support is provided with an air cylinder, the output end of the air cylinder is connected with the clamping jaw, and the upper side of the clamping jaw is provided with a guide piece;
the end effector comprises the following operation steps:
step 101: the first linear module drives the drill bit to move downwards, and holes are drilled through the drill bit;
step 102: opening the two soil covering plates, clamping the sapling by the second clamping jaw assembly, and placing the sapling into the drilled hole;
step 103: closing the two soil covering plates, and covering soil around the holes in the holes to realize soil covering;
step 104: after the earthing is finished, opening the second clamping jaw assembly, and loosening the sapling;
step 105: closing the two earthing plates, opening the second clamping jaw assembly, controlling the earthing plates to press the earthing plates to the earthing through the mechanical arm, and compacting the earthing.
2. The end effector as claimed in claim 1, wherein the inner side wall of the earth-engaging tray is provided with a rectangular surface, the recess being provided on the rectangular surface,
when the two earthing plates are closed, the grooves on the side surfaces of the two earthing plates form through holes, and the through holes are arranged on the lower side of the second clamping jaw assembly.
3. The end effector as claimed in claim 1, wherein a rotating shaft is provided on the end bracket, and an inner side of the earth covering tray is mounted on the rotating shaft;
the earthing plate is characterized in that a reinforcement is arranged on one side of the earthing plate, one end of the reinforcement is arranged on the rotating shaft, an earthing driver is arranged in the tail end support, and the output end of the earthing driver is connected with the rotating shaft.
4. The end effector as set forth in claim 3 wherein said end support is provided with a bearing mount on which said shaft is mounted.
5. The end effector as claimed in claim 1, further comprising a seedling-taking mechanism cooperating with the end effector,
the seedling taking and conveying mechanism comprises a bracket, a transmission mechanism and a plurality of seedling cups, wherein the bracket is arranged on the upper side of the machine body, the transmission mechanism is arranged on the bracket and comprises a transmission belt which is annularly arranged in the bracket, and the seedling cups are arranged on the transmission belt;
one end of the bracket is provided with a sensor bracket, and one side of the sensor bracket is provided with a corresponding seedling taking position.
6. The end effector as set forth in claim 1 wherein a covered stent is further provided on the other side of said end stent, a second linear module being provided on the outside of said covered stent, said second linear module having a first jaw assembly disposed thereon.
7. The end effector as claimed in claim 1, wherein a drilling support is provided at one side of the end support, the first linear module is provided at an outer side of the drilling support, a first carriage is provided on a screw of the first linear module,
the drill bit and the drilling driver are mounted on the first sliding frame, the output end of the drilling driver is connected with the drill bit, and a spiral blade is arranged on the outer side of the drill bit.
8. The end effector as claimed in claim 7, wherein the drill support is provided with a sliding groove on the outside,
the screw rod of the first linear module is arranged in the sliding groove, the output end of the first driver on the upper side of the drilling support is connected with the screw rod, and a screw hole matched with the screw rod is formed in the first sliding frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310786502.0A CN116508606B (en) | 2023-06-30 | 2023-06-30 | End effector of intelligent tree planting robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310786502.0A CN116508606B (en) | 2023-06-30 | 2023-06-30 | End effector of intelligent tree planting robot |
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| Publication Number | Publication Date |
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| CN116508606A CN116508606A (en) | 2023-08-01 |
| CN116508606B true CN116508606B (en) | 2023-09-19 |
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| CN202310786502.0A Active CN116508606B (en) | 2023-06-30 | 2023-06-30 | End effector of intelligent tree planting robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117044467B (en) * | 2023-09-14 | 2024-03-26 | 易森未来(北京)机器人技术有限公司 | Seedling supply device and tree planting robot |
| CN116941498B (en) * | 2023-09-19 | 2024-01-16 | 易森未来(北京)机器人技术有限公司 | Tree planting vehicle |
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| JP2005080620A (en) * | 2003-09-11 | 2005-03-31 | Iseki & Co Ltd | Seedling transplanting machine |
| CN107529718A (en) * | 2015-04-20 | 2018-01-02 | 三原诚 | Transplanted seedling tree device and transplanted seedling tree vehicle |
| CN109197492A (en) * | 2018-09-27 | 2019-01-15 | 杨双军 | A kind of automatic Machine for planting tree people |
| CN211457985U (en) * | 2019-10-09 | 2020-09-11 | 恩平市绿满园绿化工程有限公司 | Forestry is forest-planting with filling out soil compactor |
| CN112840989A (en) * | 2021-01-13 | 2021-05-28 | 魏红梅 | Full-automatic garden mechanical type equipment of afforestation of planting seedlings |
| CN114431104A (en) * | 2022-01-27 | 2022-05-06 | 江苏科技大学 | Tree planting robot |
| CN114885789A (en) * | 2022-04-28 | 2022-08-12 | 哈尔滨工业大学 | Full-automatic all-in-one is planted to shuttle tree |
| CN115136864A (en) * | 2022-07-06 | 2022-10-04 | 庐山市环绿时代农业科技开发有限公司 | Small-size trees transplanting device with align function |
| CN217564399U (en) * | 2022-07-23 | 2022-10-14 | 曾誉 | Intelligent remote desert planting vehicle |
| CN115250862A (en) * | 2022-07-27 | 2022-11-01 | 上海新园林实业有限公司 | Heavy metal polluted land reclamation restoration device and method |
| CN218417735U (en) * | 2022-09-09 | 2023-02-03 | 湖北大学知行学院 | Intelligent tree planter |
| CN115735702A (en) * | 2022-11-17 | 2023-03-07 | 武汉理工大学 | Automatic tree planting device |
-
2023
- 2023-06-30 CN CN202310786502.0A patent/CN116508606B/en active Active
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| JP2005080620A (en) * | 2003-09-11 | 2005-03-31 | Iseki & Co Ltd | Seedling transplanting machine |
| CN107529718A (en) * | 2015-04-20 | 2018-01-02 | 三原诚 | Transplanted seedling tree device and transplanted seedling tree vehicle |
| CN109197492A (en) * | 2018-09-27 | 2019-01-15 | 杨双军 | A kind of automatic Machine for planting tree people |
| CN211457985U (en) * | 2019-10-09 | 2020-09-11 | 恩平市绿满园绿化工程有限公司 | Forestry is forest-planting with filling out soil compactor |
| CN112840989A (en) * | 2021-01-13 | 2021-05-28 | 魏红梅 | Full-automatic garden mechanical type equipment of afforestation of planting seedlings |
| CN114431104A (en) * | 2022-01-27 | 2022-05-06 | 江苏科技大学 | Tree planting robot |
| CN114885789A (en) * | 2022-04-28 | 2022-08-12 | 哈尔滨工业大学 | Full-automatic all-in-one is planted to shuttle tree |
| CN115136864A (en) * | 2022-07-06 | 2022-10-04 | 庐山市环绿时代农业科技开发有限公司 | Small-size trees transplanting device with align function |
| CN217564399U (en) * | 2022-07-23 | 2022-10-14 | 曾誉 | Intelligent remote desert planting vehicle |
| CN115250862A (en) * | 2022-07-27 | 2022-11-01 | 上海新园林实业有限公司 | Heavy metal polluted land reclamation restoration device and method |
| CN218417735U (en) * | 2022-09-09 | 2023-02-03 | 湖北大学知行学院 | Intelligent tree planter |
| CN115735702A (en) * | 2022-11-17 | 2023-03-07 | 武汉理工大学 | Automatic tree planting device |
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| CN116508606A (en) | 2023-08-01 |
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