CN116569808B

CN116569808B - Planting robot

Info

Publication number: CN116569808B
Application number: CN202310358898.9A
Authority: CN
Inventors: 韩宝玲; 闫羽童; 李雅轩; 张云斐; 朱立青; 康力
Original assignee: Beijing Institute of Technology BIT
Current assignee: Beijing Institute of Technology BIT
Priority date: 2023-04-06
Filing date: 2023-04-06
Publication date: 2024-04-09
Anticipated expiration: 2043-04-06
Also published as: CN116569808A

Abstract

The invention provides a planting robot, which comprises: the planting robot comprises a carrying device, a planting device and a mechanical arm, wherein the carrying device comprises a frame body, a first walking component and a second walking component, the planting robot is provided with a first walking state and a second walking state, the first walking component is used for driving the frame body to move in the first walking state, the second walking component is used for driving the frame body to move in the second walking state, the planting device is connected with the frame body, the planting device comprises a drilling unit, a storage bin and a covering unit, the storage bin is provided with a cavity, the cavity is used for storing materials, the drilling unit comprises a drill bit, the drill bit is used for drilling planting holes on the ground, the covering unit comprises a covering wheel, the covering wheel is used for covering soil around the planting holes on the planting holes, the mechanical arm comprises a base, the base is rotatably connected with the frame body, and the planting robot provided with the advantages of convenience in movement and high planting efficiency.

Description

Planting robot

Technical Field

The invention relates to the technical field of agricultural robots, in particular to a planting robot.

Background

With technical progress and labor reduction, fewer workers are engaged in forestry; meanwhile, the working environment of the forest land is severe, the labor intensity is high, the safety of forest workers cannot be effectively ensured, and the existing forestry machinery cannot well adapt to the production and operation requirements of modern forestry. The robot can effectively solve the problems in the forestry production and management, replaces manual labor with the robot, reduces labor cost and potential safety hazards of forestry work, improves mechanization, automation and intellectualization levels, and has important significance in promoting forestry modernization.

In the related art, the forestry working environment is complex, the working environment is complex and severe, the forestry robot faces challenges such as different slopes, complex ravines, multiple obstacles and the like when working, and in addition, the planting process also has a plurality of necessary processes such as carrying, conveying, planting, soil covering and compacting, so that the existing planting difficulty is high.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, the embodiment of the invention provides the planting robot which can adapt to the working environment of complex road conditions, can realize a plurality of necessary planting processes and reduces the planting difficulty.

The planting robot of the embodiment of the invention comprises:

the carrying device comprises a frame body, a first walking assembly and a second walking assembly, wherein the first walking assembly and the second walking assembly are connected with the frame body, the first walking assembly is positioned above the second walking assembly in the height direction of the frame body, the planting robot has a first walking state and a second walking state, the first walking assembly is used for driving the frame body to move in the first walking state, and the second walking assembly is used for driving the frame body to move in the second walking state;

The planting device is connected with the frame body and comprises a drilling unit, a storage bin and a covering unit which are sequentially arranged at intervals along the length direction of the frame body, wherein the storage bin is provided with a cavity, the cavity is used for storing materials, the drilling unit comprises a drill bit, the drill bit is used for drilling planting holes in the ground, the covering unit comprises a covering wheel, and the covering wheel is used for covering soil around the planting holes;

the mechanical arm comprises a base which is rotatably connected with the frame body, a first arm section, a second arm section, a third arm section and a working assembly which are sequentially connected, wherein the first arm section is connected with the base, the first arm section is rotatable relative to the base around a first axis, the second arm section is rotatable relative to the first arm section around a second axis, the third arm section is rotatable relative to the second arm section around a third axis, the working assembly comprises a working piece, the working piece comprises a mechanical claw so as to realize a grabbing function,

wherein, in the plane of the length direction of the frame body and the height direction of the frame body, the sum of the included angle between the extending direction of the first axis and the length direction of the frame body and the included angle between the extending direction of the second axis and the length direction of the frame body is equal to 90 degrees;

In the plane of the length direction of the frame body and the height direction of the frame body, the sum of the included angle between the extending direction of the second axis and the length direction of the frame body and the included angle between the extending direction of the third axis and the length direction of the frame body is equal to 90 degrees.

The planting robot provided by the embodiment of the invention can switch the first walking assembly and the second walking assembly under different road conditions, so that the movement and transportation are convenient, and a plurality of planting processes such as carrying, conveying, planting, soil covering and the like can be realized by utilizing the planting device.

In addition, can also utilize the arm to realize movements such as diversified snatch, reduce the planting degree of difficulty.

Therefore, the planting robot provided by the embodiment of the invention has the advantages of convenience in movement and high planting efficiency.

In some embodiments, the first walking component comprises a plurality of walking members, the plurality of walking members comprises a first walking member, a second walking member and a third walking member, the first ends of the first walking member, the second walking member and the third walking member are all connected with the frame body, the first walking member, the second walking member and the third walking member are movable relative to the frame body, the first walking member and the third walking member are relatively arranged in the length direction of the frame body, the second walking member is positioned between the first walking member and the third walking member in the length direction of the frame body, and the plurality of walking components are relatively arranged in the width direction of the frame body. In some embodiments, the first traveling assembly further includes a traveling driving member provided on the frame, the traveling driving member including a driving part connected with at least one of the first traveling member, the second traveling member, and the third traveling member so as to drive the first traveling assembly to move in the first traveling state;

The second walking assembly comprises a plurality of walking wheels which are arranged at intervals along the length direction of the frame body.

In some embodiments, the second walking assembly further comprises a crawler belt and a plurality of crawler wheel assemblies matched with the crawler belt, wherein the second walking assembly is a plurality of second walking assemblies, and the second walking assemblies are arranged at intervals along the width direction of the frame body.

In some embodiments, the track wheel assembly includes a first deformed state and a second deformed state,

in the first deformation state, the crawler wheel assembly is used for driving the frame body to move;

in the second deformed state, the track wheel assembly has a smaller dimension in the height direction of the frame than the track wheel assembly in the first deformed state.

In some embodiments, the storage bin has a cavity and a discharge port, the discharge port is in communication with the cavity, and the discharge port is located at the bottom of the storage bin, the cavity is used for storing materials;

the device also comprises a storage unit and a conveying unit, wherein the storage unit is connected with the storage bin and positioned in the cavity, the storage unit is used for placing the materials, the storage unit is movable relative to the storage bin so as to enable the materials placed by the storage unit to be discharged from the discharge hole,

The conveying unit is connected with the storage bin and is located below the discharge port, the conveying unit comprises a conveying piece, at least part of the conveying piece is oppositely arranged with the discharge port in the height direction of the frame body, and the conveying piece is used for conveying materials discharged from the discharge port along the length direction of the frame body.

In some embodiments, a gripping unit is also included, the gripping unit being coupled to the storage bin, the gripping unit including a gripping member, the gripping member being movable between a first position and a second position,

in the first position, the clamping piece is used for clamping the materials on the conveying piece;

in the second position, the gripping member is configured to place at least a portion of the material within the planting hole.

In some embodiments, the gripping unit further comprises a rotating member and a telescoping member, the rotating member being coupled to the storage bin and movable along a first axis, a first end of the telescoping member being coupled to the rotating member, and a second end of the telescoping member being coupled to the gripping member.

In some embodiments, the gripping member includes a first gripping portion and a second gripping portion, one of the first gripping portion and the second gripping portion being movable relative to the other of the first gripping portion and the second gripping portion.

In some embodiments, the device further comprises a first movable member and a second movable member, the first movable member is connected with the first clamping portion, the first movable member is positioned at one side of the first clamping portion adjacent to the second clamping portion, the first movable member is rotatable around a first axis,

the second movable piece is connected with the second clamping part, the second movable piece is positioned on one side of the second clamping part adjacent to the first clamping part, and the second movable piece can rotate around a second axis, wherein the extending direction of the first axis is parallel to the extending direction of the second axis, and in the first position, the first movable piece and the second movable piece are abutted with the material;

the first movable pieces are arranged at intervals along the extending direction of the first clamping part, the second movable pieces are arranged at intervals along the extending direction of the second clamping part.

In some embodiments, the storage unit comprises a first roller and a second roller, the first roller is rotatable around a third axis, the second roller is rotatable around a fourth axis, a plurality of first placing grooves are formed on the peripheral side wall of the first roller, the plurality of first placing grooves are arranged at intervals along the peripheral direction of the first roller, a first interval surface is formed between the peripheral surface of the first roller and two adjacent first placing grooves,

A plurality of second standing grooves are formed in the peripheral side wall of the second roller, the second standing grooves are arranged at intervals along the circumferential direction of the second roller, a second spacing surface is formed between the outer peripheral surface of the second roller and two adjacent second standing grooves, and the second spacing surfaces correspond to the first standing grooves one by one.

In some embodiments, the soil compacting unit further comprises a soil compacting wheel connected to the soil compacting wheel and located on a side of the soil compacting wheel away from the storage bin, the soil compacting wheel being configured to compact soil around the planting hole.

In some embodiments, the base includes a first telescoping assembly including a first telescoping portion connected to the first arm segment, and the first telescoping portion is movable relative to the base;

the first arm segment comprises a second telescoping assembly comprising a second telescoping portion connected to at least one of the base and the second arm segment, and the second telescoping portion is movable relative to the first arm segment;

the second arm segment includes a third telescoping assembly including a third telescoping portion connected with at least one of the third arm segment and the second arm segment, and the third telescoping portion is movable relative to the second arm segment.

In some embodiments, the second telescopic part comprises a first telescopic part and a second telescopic part, the first telescopic part and the second telescopic part are oppositely arranged in the length direction of the first arm section, the first telescopic part is connected with the base, and the second telescopic part is connected with the second arm section;

the third telescopic part comprises a third telescopic part and a fourth telescopic part, the third telescopic part and the fourth telescopic part are oppositely arranged in the length direction of the second arm section, the third telescopic part is connected with the first arm section, and the fourth telescopic part is connected with the third arm section.

In some embodiments, in a plane in which the length direction of the frame and the height direction of the frame are located, an included angle between the extending direction of the first axis and the length direction of the frame is 45 degrees, an included angle between the extending direction of the second axis and the length direction of the frame is 45 degrees, and an included angle between the extending direction of the third axis and the length direction of the frame is 45 degrees.

Drawings

Fig. 1 is a schematic structural view of a carrying device according to an embodiment of the present invention.

Fig. 2 is a schematic structural view of a carrying device hiding a second traveling assembly according to an embodiment of the present invention.

Fig. 3 is a schematic structural view of a carrier hiding a first traveling member according to an embodiment of the present invention.

Fig. 4 is a schematic structural view of a carrier track wheel assembly according to an embodiment of the present invention.

Fig. 5 is a schematic structural view of a planting device according to an embodiment of the present invention.

FIG. 6 is a schematic view of a planting device according to an embodiment of the present disclosure.

Fig. 7 is a schematic structural view of a gripping unit of the planting device according to the embodiment of the present disclosure.

Fig. 8 is a schematic view of the structure of a storage bin and a conveying unit of the planting device according to the embodiment of the present invention.

Fig. 9 is a schematic structural view of a blanket unit of the planting device according to the embodiment of the present invention.

Fig. 10 is a schematic structural view of a rotary mechanical arm according to an embodiment of the present invention.

Fig. 11 is a schematic structural view of a rotary mechanical arm according to an embodiment of the present invention.

FIG. 12 is a schematic cross-sectional view of A-A shown in FIG. 11.

Fig. 13 is a schematic structural view of a planting robot according to an embodiment of the present invention.

Reference numerals:

a carrying device 100; planting device 200; a robot arm 300;

a base 10; a first telescopic assembly 101; a first expansion and contraction section 1011; a first drive 1012; a first installation cavity 1013;

a first arm segment 11; a second telescopic assembly 111; a second telescopic portion 1111; a first telescopic member 1112; second telescoping member 1113; a second driver 1114; a second mounting cavity 1115;

A second arm segment 12; a third telescoping assembly 121; a third expansion and contraction portion 1211; a third telescoping member 1212; fourth telescoping member 1213; a third drive 1214; a third mounting cavity 1215;

a third arm segment 13;

a working assembly 14; a work table 141; a first mounting portion 1411; a work 1412; a second mounting portion 1413;

a frame 20;

a first travel assembly 21; a first walking member 211; a second walking member 212; a third runner 213; a first connector 214; a second connector 215; a third connector 216; a fourth connector 217; a travel drive 218; a driving unit 2181; a drive gear 2182; a first driven gear 2183; a second driven gear 2184;

a second walking assembly 22; a crawler belt 221; track wheel assembly 222; a mounting bracket 2221; an arc 2222; track wheel 2223; a first connection shaft 2224; a second connection shaft 2225; guide grooves 2226; driven wheel 2227; an active drive 2228; a tensioning assembly 2229; a tension section 2220; a deformation drive assembly 223; a reciprocating drive motor 2231; a first shuttle 2232; a second shuttle 2233; a limiter 2234;

an anti-slip member 30;

a storage bin 30; a cavity 301; a discharge port 302; a feed inlet 303; a mounting portion 304;

a stock storage unit 31; a first roller 311; a first placing groove 3111; a first spacing surface 3112; a second roller 312; a second placement groove 3121; a second spacer surface 3122;

A drilling unit 32; a drill 321;

a laminating unit 33; a soil covering wheel 331; a soil compacting wheel 332; a first connecting rod 333; a second connecting rod 334;

a conveying unit 34; a conveying member 341;

a gripping unit 35;

a gripping member 351;

a first clamping portion 3511; a first movable member 3512; a first rotating portion 3513; a first contact portion 3514; a first protrusion 3515;

a second clamping portion 3516; a second movable member 3517; a second rotating portion 3518; a second contact portion 3519; a second protrusion 3510;

a rotating member 352;

a telescoping member 353; a first rotating member 3531; a second rotating member 3532; a third rotating member 3533; a fixed shaft 3534;

a first connection section 3541; a second connecting section 3542; a third connecting section 3543; a fourth connecting section 3544; a fifth connecting section 3545; sixth connecting segment 3546.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

As shown in fig. 1 to 13, the planting robot according to the embodiment of the present invention includes: a frame 20, a first walking assembly 21 and a second walking assembly 22.

The first walking assembly 21 and the second walking assembly 22 are both connected with the frame 20, and the first walking assembly 21 is located above the second walking assembly 22 in the height direction (up-down direction in fig. 1) of the frame 20, the planting robot has a first walking state in which the first walking assembly 21 is used for driving the frame 20 to move and a second walking state in which the second walking assembly 22 is used for driving the frame 20 to move.

Specifically, as shown in fig. 1, in the first traveling state, the first traveling assembly 21 is configured to contact the ground, and the second traveling assembly 22 is not in contact with the ground (i.e., is in a suspended state), at this time, the first traveling assembly 21 is started to drive the frame 20 to move, so as to implement a carrying function. In the second walking state, the second walking assembly 22 contacts the ground, and the first walking assembly 21 does not contact the ground (is in a suspended state), at this time, the second walking assembly 22 is driven to start to drive the frame 20 to move.

It should be noted that, the first walking assembly 21 may have a leg structure of a "scorpion-type robot", and the second walking assembly 22 may have a track 221 structure or a wheel structure. That is, the first traveling assembly 21 and the second traveling assembly 22 of the planting robot according to the embodiment of the present disclosure may be selected accordingly according to the road conditions of actual use.

Therefore, the planting robot provided by the embodiment of the invention can use the first walking state and the second walking state according to different working conditions, so that the obstacle crossing function is realized, and the action of the carrying device is further facilitated by utilizing two different walking components.

In some embodiments, the first walking assembly 21 includes a plurality of walking members including a first walking member 211, a second walking member 212, and a third walking member 213, the first end of the first walking member 211, the first end of the second walking member 212, and the first end of the third walking member 213 are each connected to the frame 20, and the first walking member 211, the second walking member 212, and the third walking member 213 are each movable relative to the frame 20, the first walking member 211 and the third walking member 213 being disposed opposite each other in a length direction (e.g., a front-to-rear direction in fig. 1) of the frame 20, and the second walking member 212 being located between the first walking member 211 and the third walking member 213 in the length direction of the frame 20.

Specifically, as shown in fig. 1 and 2, the first traveling member 211, the second traveling member 212, and the third traveling member 213 are sequentially disposed on the frame body 20 in the front-to-rear direction, the upper end (i.e., the first section) of the first traveling member 211 is connected to the frame body 20 through the first connecting member 214 and the second connecting member 215, and the upper end (i.e., the first section) of the third traveling member 213 is connected to the frame body 20 through the third connecting member 216 and the fourth connecting member 217.

In some embodiments, the first traveling assembly 21 further includes a traveling driving member 218, the traveling driving member 218 is disposed on the frame 20, the traveling driving member 218 includes a driving portion 2181, and the driving portion 2181 is connected to at least one of the first traveling member 211, the second traveling member 212, and the third traveling member 213 so as to drive the first traveling assembly 21 to move in the first traveling state.

It is to be understood that, as shown in fig. 1 and 2, the walking driving member 218 may be a motor, the driving portion 2181 includes a driving gear 2182 and a first driven gear 2183 and a second driven gear 2184 meshed with the driving gear 2182, and the first driven gear 2183 and the second driven gear 2184 are arranged at intervals along the front-rear direction, that is, the first driven gear 2183 is located in front of the second driven gear 2184, and the axial direction of the driving gear 2182 coincides with the left-right direction.

As shown in fig. 1 and 2, a first end of the first link 214 is rotatably coupled to the frame body 20, and a second end of the first link 214 is rotatably coupled to the first runner 211. The first end of the second link 215 is connected to the first driven gear 2183 and rotatable around the axial direction of the first driven gear 2183, the second end of the second link 215 is rotatably connected to the first runner 211, and the first link 214 is located above the second link 215.

The second traveling member 212 has a first connecting portion and a second connecting portion arranged in the up-down direction, the first connecting portion is located above the second connecting portion, the first connecting portion is connected with the frame 20, and the first connecting portion is rotatable and movable in the up-down direction with respect to the frame 20, and the second connecting portion is connected with the driving gear 2182 and rotatable around the axial direction of the driving gear 2182.

The first end of the third link 216 is rotatably coupled to the frame 20, and the second end of the third link 216 is rotatably coupled to the third walking member 213. The first end of the fourth link 217 is connected to the second driven gear 2184 and is rotatable about the axial direction of the second driven gear 2184, the second end of the fourth link 217 is rotatably connected to the third link 213, and the third link 216 is located above the fourth link 217.

It should be noted that the rotatable connection may be connected by a pin shaft and a hole, and the connection between the first connecting member 214 and the frame body 20 is taken as an example: holes are formed in the frame 20 and the first travelling member 211, and pins corresponding to the holes are formed in the first end of the first connecting member 214 and the second end of the first connecting member 214, so that the first end of the first connecting member 214 and the second end of the first connecting member 214 are respectively matched with the holes in the frame 20 and the first travelling member 211.

Preferably, the plurality of traveling assemblies are arranged in opposition in the width direction (left-right direction in fig. 1) of the frame body 20.

In some embodiments, the planting robot according to the present disclosure further includes a plurality of anti-slip members 30, the plurality of anti-slip members 30 are in one-to-one correspondence with the plurality of walking members, and the second end of the first walking member 211, the second end of the second walking member 212, and the second end of the third walking member 213 are provided with the anti-slip members 30.

It will be appreciated that, as shown in fig. 1 and 2, the second end of the first walking member 211, the second end of the second walking member 212, and the second end of the third walking member 213 are all free ends, that is, in the first walking state, the second end of the first walking member 211, the second end of the second walking member 212, and the second end of the third walking member 213 are used for contacting with the ground, and the anti-slip member 30 is disposed at the second end of the first walking member 211, the second end of the second walking member 212, and the second end of the third walking member 213, so that the anti-slip effect in the first walking state can be effectively improved.

It should be noted that, the anti-slip member 30 may be made of a rubber material. Of course, other non-slip materials, such as plastic with non-slip texturing, etc. may also be used.

In some embodiments, the second travel assembly 22 includes a plurality of travel wheels spaced apart along the length of the frame 20. It will be appreciated that the road wheels may be driven by a motor to drive the carriage 20 in a forward and rearward direction in the second walking state. In addition, the second traveling assembly 22 may be connected to the frame 20 through a hydraulic expansion device (e.g., a hydraulic cylinder) so that the second traveling assembly 22 can be moved closer to or farther from the frame 20 in the up-down direction, that is, in the first traveling state, the second traveling assembly 22 is moved toward the frame 20 (i.e., moved upward) by the hydraulic expansion device so that the traveling wheels of the second traveling assembly 22 do not contact the ground and the first traveling assembly 21 contacts the ground; in the second traveling state, the second traveling assembly 22 is moved away from the frame 20 (i.e., moved downward) by the hydraulic telescopic device so that the traveling wheels of the second traveling assembly 22 are in contact with the ground and the first traveling assembly 21 is not in contact with the ground.

In other embodiments, the second walking assembly 22 further includes a track 221 and a plurality of track wheel assemblies 222 matched with the track 221, and the second walking assembly 22 is a plurality of second walking assemblies 22 arranged at intervals along the width direction of the frame 20.

Specifically, as shown in fig. 1 and 3, there are two second traveling assemblies 22, and the two second traveling assemblies 22 are arranged at intervals in the left-right direction.

In some embodiments, second running assembly 22 further comprises a tensioning assembly 2229, tensioning assembly 2229 being connected to frame 20, tensioning assembly 2229 comprising a tensioning portion 2220, tensioning portion 2220 being in abutment with the outer peripheral side of track 221.

Specifically, as shown in fig. 1 and 3, the tension assembly 2229 includes a fixed shaft extending in a left-right direction, and a tension pulley (i.e., a tension portion 2220) having a right end connected to the frame 20 and a left end rotatably connected to the fixed shaft, i.e., the tension pulley is rotatable about an axial direction of the fixed shaft.

It can be appreciated that the tensioning portion 2220 abuts against the outer peripheral side of the track 221, so that when the second traveling assembly 22 is started, the track 221 is ensured to be always in a tight state, the possibility of slipping of the track 221 is reduced, and the stability of the transmission of the track 221 is improved.

In some embodiments, the track wheel assembly 222 includes a first deformed state in which the track wheel assembly 222 is configured to drive movement of the frame 20, and a second deformed state; in the second deformed state, the track wheel assembly 222 has a smaller dimension in the height direction of the frame 20 than the track wheel assembly 222 in the first deformed state.

Specifically, as shown in fig. 3 and 4, the track wheel assembly 222 includes a mounting bracket 2221, a plurality of arc members 2222 connected end to end in sequence, and a plurality of track 221 wheels that mate with the tracks 221. It is to be understood that, as shown in fig. 4, the number of the arc-shaped members 2222 is 4, two adjacent arc-shaped members 2222 may be connected by a connecting shaft, the extending direction of the connecting shaft is consistent with the left-right direction, and the two adjacent arc-shaped members 2222 are rotatable about the connecting shaft. The connection shafts include a first connection shaft 2224 and a second connection shaft 2225, the first connection shaft 2224 being two and arranged at intervals in the front-rear direction, the second connection shaft 2225 being two and arranged at intervals in the up-down direction. The mounting bracket 2221 is provided with a guide groove 2226, the extending direction of the guide groove 2226 is consistent with the up-down direction, and at least one of the second connecting shafts 2225 is matched in the guide groove 2226.

It can be appreciated that the plurality of crawler belt 221 wheels are in one-to-one correspondence with the plurality of connecting shafts, and each connecting shaft is provided with one crawler belt 221 wheel, the crawler wheel assembly 222 further comprises a plurality of driven wheels 2227, the plurality of driven wheels 2227 are in one-to-one correspondence with the plurality of arc-shaped members 2222, and one driven wheel 2227 is arranged between two adjacent crawler belt 221 wheels. It should be noted that, the track wheel assembly 222 further includes a driving member 2228, the driving member 2228 is connected to the mounting frame 2221, and the driving member 2228 is connected to the track 221 wheel on the first connecting shaft 2224 through a gear, so as to drive the track 221 wheel to rotate and drive the track 221 to rotate by using the driving member 2228.

The track wheel assembly 222 further includes a deformation driving assembly 223, the deformation driving assembly 223 includes a reciprocating driving motor 2231 and a first reciprocating member 2232 and a second reciprocating member 2233, the reciprocating driving motor 2231 may be connected to the first reciprocating member 2232 and the second reciprocating member 2233 through a rack-and-pinion structure, that is, as shown in fig. 4, the first reciprocating member 2232 and the second reciprocating member 2233 each include racks matched with gears on the reciprocating driving motor 2231, a front end of the first reciprocating member 2232 is connected to a first connection shaft 2224 located at a front side, a rear end of the first reciprocating member 2232 is engaged with the gears on the reciprocating driving motor 2231, and a rear end of the second reciprocating member 2233 is connected to a second connection member 215 located at a rear side, and a front end of the second reciprocating member 2233 is engaged with the gears on the reciprocating driving motor 2231.

Preferably, the mounting bracket 2221 is further provided with two limiting members 2234, the two limiting members 2234 are arranged at intervals along the up-down direction, the upper surface of the rear end of the first reciprocating member 2232 contacts with the upper limiting member 2234, and the lower surface of the front end of the second reciprocating member 2233 contacts with the lower limiting member 2234, so as to ensure that the first resetting member and the second resetting member can move along the front-back direction, and prevent the first resetting member and the second resetting member from shifting in the moving process.

It should be noted that, when the planting robot in the embodiment of the present invention is in the first walking state, the first walking component 21 is in contact with the ground, at this time, the second walking component 22 is in the second deformed state, and the walking driving member 218 is started and drives the first walking member 211, the second walking member 212 and the third walking member 213 to move through the driving portion 2181, so as to drive the frame 20 to move.

When the planting robot in the embodiment of the invention is in the first walking state, the second walking assembly 22 is in the first deformation state, the first walking assembly 21 is not contacted with the ground, and the driving piece 2228 is started to drive the crawler 221 to rotate, so that the frame 20 is driven to move.

That is, the planting robot in the embodiment of the invention can correspondingly switch the operation modes (namely wheel type movement, track type movement and leg type movement) according to different operation road conditions, so that the carrying device can have good operation states under different road conditions.

As shown in fig. 5 to 9, the planting device according to the embodiment of the present invention includes: a storage bin 30, a storage unit 31, a drilling unit 32 and a laminating unit 33.

The storage bin 30 is provided with a cavity 301 and a discharge hole 302, the discharge hole 302 is communicated with the cavity 301, the discharge hole 302 is positioned at the bottom of the storage bin 30, and the cavity 301 is used for storing materials. The storage unit 31 is connected with the storage bin 30 and is located in the cavity 301, the storage unit 31 is used for placing materials, and the storage unit 31 is movable relative to the storage bin 30, so that the materials placed by the storage unit 31 are discharged from the discharge hole 302.

Specifically, the storage bin 30 further has a feed inlet 303, and the feed inlet 303 is opened at the top of the storage bin 30. The storage unit 31 may be a vertically movable platform, for example, a platform driven by a hydraulic member, on which the material can be placed so as to be movable in the vertical direction and discharged through the discharge port 302.

The materials may be nursery stock, soil culture seedling, etc., and the materials of the following examples are exemplified by nursery stock.

Optionally, the storage unit 31 includes a first roller 311 and a second roller 312, the first roller 311 is rotatable about a third axis, the second roller 312 is rotatable about a fourth axis, a plurality of first placing grooves 3111 are formed on a circumferential side wall of the first roller 311, the plurality of first placing grooves 3111 are arranged at intervals along a circumferential direction of the first roller 311, a first spacing surface 3112 is formed between an outer circumferential surface of the first roller 311 and two adjacent first placing grooves 3111, a plurality of second placing grooves 3121 are formed on a circumferential side wall of the second roller 312, the plurality of second placing grooves 3121 are arranged at intervals along a circumferential direction of the second roller 312, a second spacing surface 3122 is formed between an outer circumferential surface of the second roller 312 and the two adjacent second placing grooves 3121, and the plurality of second spacing surfaces 3122 are in one-to-one correspondence with the plurality of first placing grooves 3111.

Specifically, as shown in fig. 5, 6 and 8, the first roller 311 is connected to the storage bin 30 through a first rotation shaft, the axis of which is a third axis and the extending direction of which is consistent with the front-rear direction, and the second roller 312 is connected to the storage bin 30 through a second rotation shaft, the axis of which is a fourth axis and the extending direction of which is consistent with the front-rear direction. The first placing groove 3111 extends in a length direction of the first drum 311, and the second placing groove 3121 extends in a direction of the second drum 312.

It can be appreciated that the first placing grooves 3111 of the first drum 311 and the second drum 312 correspond to the second spacing surface 3122, that is, when the first drum 311 and the second drum 312 are adjacent to the discharge hole 302 during rotation, the material in one first placing groove 3111 or the second placing groove 3121 can be discharged through the discharge hole 302, and the openings of the remaining first placing grooves 3111 and the openings of the second placing grooves 3121 can be blocked by the inner peripheral wall of the storage bin or the second spacing surface 3122 and the first spacing surface 3112, respectively, so that it can be ensured that the material in the first placing grooves 3111 and the second placing grooves 3121 can be discharged only one at a time.

It should be noted that, the first roller 311 and the second roller 312 may be driven by a motor, so as to implement a rotation function of the first roller 311 and the second roller 312, thereby ensuring the conveying of the materials.

The drilling unit 32 is connected to the magazine 30, and the drilling unit 32 includes a drill bit 321, the drill bit 321 extending in a direction corresponding to a height direction (up-down direction in fig. 5) of the magazine 30, and the drill bit 321 for drilling planting holes in the ground. The covering unit 33 is connected with the storage bin 30, the covering unit 33 is arranged adjacent to the bottom of the storage bin 30, the covering unit 33 and the drilling unit 32 are oppositely arranged along the length direction of the storage bin 30, the discharge hole 302 is located between the drilling unit 32 and the covering unit 33 along the length direction of the storage bin 30, the covering unit 33 comprises a covering wheel 331, and the covering wheel 331 is used for covering soil around planting holes on the planting holes.

It will be appreciated that, as shown in fig. 5 and 6, the drill 321 may be driven by a motor, and the drill 321 may be controlled to move up and down by a hydraulic mechanism so as to drill a planting hole into the ground, and after the drill 321 is used to drill the planting hole, excessive soil may be deposited on the ground along the circumference of the planting hole, and the soil covering wheel 331 is disposed adjacent to the bottom of the storage bin 30 so as to facilitate the contact of the soil covering wheel 331 with the ground.

Preferably, as shown in fig. 5 and 6, the two soil covering wheels 331 are arranged oppositely in the left-right direction, and the two soil covering wheels 331 are respectively located at both sides of the planting hole in the left-right direction, and the distance between the two soil covering wheels 331 is gradually reduced in the front-to-rear direction in a plane orthogonal to the up-down direction.

Note that, the earth covering wheel 331 is disposed at the rear side of the drill 321, and the discharge port 302 is located between the earth covering wheel 331 and the drill 321 in the front-rear direction. When the planting device is used, after the drill bit 321 is used for drilling the planting hole, the planting device can continuously move forwards, so that materials fall into the planting hole through the blanking hole, the planting device continuously moves forwards, and the soil covering wheel 331 can be used for rolling through the circumference of the planting hole so as to gather the soil around the planting hole towards the center of the planting hole, and therefore the soil around the planting hole is covered in the planting hole.

That is, the planting device according to the embodiment of the invention can store the materials such as the sapling and the like by using the storage bin 30, discharge the materials from the discharge hole 302 after the drilling unit 32 drills the planting hole, and finally cover the planting hole with the soil in the circumferential direction by using the covering unit 33, thereby realizing the necessary planting process of storage, planting and soil covering, being convenient to use and reducing the planting difficulty.

Therefore, the planting device provided by the embodiment of the invention can realize various planting processes and has the advantage of convenience in use

In some embodiments, the planting device according to the embodiments of the present disclosure further includes a conveying unit 34, where the conveying unit 34 is connected to the storage bin 30 and is located below the discharge port 302, and the conveying unit 34 includes a conveying member 341, where at least a portion of the conveying member 341 is disposed opposite to the discharge port 302 in the height direction of the storage bin 30, and the conveying member 341 is configured to convey the material discharged from the discharge port 302 along the length direction of the storage bin 30.

It will be appreciated that as shown in fig. 5 and 6, the conveying unit 34 may be a conveyor belt assembly, and the conveying member 341 is a conveyor belt, and the conveying unit 34 may be driven by a motor. The conveying member 341 may be disposed entirely below the discharge opening 302, or the first end of the conveying member 341 may be disposed below the discharge opening 302, and the second end of the conveying member 341 may extend rearward of the discharge opening 302.

Preferably, as shown in fig. 5 and 6, the front end of the transporting member 341 (i.e., the first end of the transporting member 341) is disposed below the discharge port 302, and the rear end of the transporting member 341 (i.e., the second end of the transporting member 341) is positioned in front of the soil covering wheel 331.

That is, the material can fall on the front end of the conveying member 341 through the discharge port 302, and the material can be conveyed from front to back by activating the conveying member 341.

In some embodiments, the planting device of the present disclosure further includes a gripping unit 35, the gripping unit 35 being connected to the storage bin 30, the gripping unit 35 including a gripping member 351, the gripping member 351 being movable between a first position in which the gripping member 351 is configured to grip the material on the conveying member 341, and a second position; in the second position, the gripping member 351 is used to place at least a portion of the material within the planting hole.

Specifically, as shown in fig. 5 and 6, the gripping member 351 may be a robot, and in the first position, the gripping member 351 is movable to the vicinity above the rear end of the conveying member 341 and is capable of gripping the material on the rear end of the conveying member 341; in the second position, the gripping member 351 is moved to about above the planting hole and is capable of placing material within the planting hole.

Preferably, the gripping unit 35 further comprises a rotating member 352 and a telescoping member 353, the rotating member 352 being connected to the storage bin 30 and being movable along a first axis, a first end of the telescoping member 353 being connected to the rotating member 352 and a second end of the telescoping member 353 being connected to the gripping member 351.

Specifically, as shown in fig. 5 to 7, the storage bin 30 further includes a mounting portion 304, the mounting portion 304 is disposed above the conveying member 341 and located at the rear end of the storage bin 30, two gripping units 35 are disposed at both sides of the mounting portion 304 in the left-right direction, the rotating member 352 is connected to the mounting portion 304 through a first rotating shaft, the axial direction of the first rotating shaft coincides with the left-right direction, and the rotating member 352 can be driven by a motor so as to be able to control the axial rotation of the rotating member 352 about the first rotating shaft.

As shown in fig. 7, the telescopic member 353 includes a first rotating member 3531, a second rotating member 3532 and a third rotating member 3533, the mounting portion 304 is further provided with a fixed shaft 3534, the axial direction of the fixed shaft 3534 is orthogonal to the axial direction of the first rotating shaft, the first rotating member 3531, the second rotating member 3532 and the third rotating member 3533 are sequentially sleeved on the fixed shaft 3534, the outer circumferential surfaces of the first end of the first rotating member 3531, the first end of the second rotating member 3532 and the first end of the third rotating member 3533 are respectively provided with a half gear, the first rotating member 3531, the second rotating member 3532 and the third rotating member 3533 can be driven by motors respectively, and each motor is provided with a gear matched with the corresponding half gear, so that the first rotating member 3531, the second rotating member 3532 and the third rotating member 3533 can be driven to rotate by the motors respectively.

As shown in fig. 7, the telescoping member 353 further includes a first connecting section 3541, a second connecting section 3542, a third connecting section 3543, a fourth connecting section 3544 (L-shaped connecting section), a fifth connecting section 3545, and a sixth connecting section 3546, wherein a first end of the first connecting section 3541 is rotatably connected to a second end of the first rotating member 3531, and a second end of the first connecting section 3541 is rotatably connected to a first end of the second connecting section 3542; the middle section of the second connecting section 3542 is rotatably connected with the second end of the second rotating member 3532, and the second end of the second connecting section 3542 is connected with the sixth connecting member; the first end of the third connecting section 3543 is rotatably connected to the second end of the third rotating member 3533, and the second end of the third connecting section 3543 is rotatably connected to the first end of the fourth connecting section 3544; the middle section (i.e., corner) of the fourth connecting section 3544 is rotatably coupled to the second end of the third connecting section 3543, and the second end of the fourth connecting section 3544 is rotatably coupled to the first end of the fifth connecting section 3545; the second end of the fifth connecting segment 3545 is rotatably connected to the sixth connecting segment 3546, and a gap is formed between the second end of the fifth connecting segment 3545 and the second segment of the second connecting segment 3542, and the gripping member 351 is connected to the sixth connecting segment 3546.

It will be appreciated that as shown in fig. 7, the first rotatable member 3531, the second rotatable member 3532, and the first connecting segment 3541 and a portion of the second connecting segment 3542 form a parallelogram mechanism; a portion of the second rotating member 3532, the third rotating member 3533, the third connecting segment 3543, and the fourth connecting segment 3544 form a parallelogram mechanism; the other portion of the second connecting section 3542, the other portion of the fourth connecting section 3544, the fifth connecting end and the sixth connecting section 3546 form a parallelogram mechanism. The motors corresponding to the first, second and third rotating members 3531, 3532, 3533 can control the gripping member 351 to be movable between the first and second positions according to the principle of the parallelogram mechanism.

It should be noted that the rotatable connection may be connected in various manners, and the connection between the first rotating member 3531 and the first connecting segment 3541 is taken as an example: the second end of the first rotating member 3531 and the first end of the first connecting section 3541 may be connected through a pin shaft and a shaft hole, that is, the first rotating member 3531 is provided with a shaft hole, and the first connecting section 3541 is provided with a pin shaft matched with the shaft hole, so that the first rotating member 3531 and the first connecting section 3541 may be rotatably connected. Alternatively, the first rotating member 3531 and the first connecting section 3541 may be coupled by bolts, that is, the second end of the first transmitting member and the first end of the first connecting section 3541 are each provided with bolt holes, and the second end of the first transmitting member and the first end of the first connecting section 3541 are rotatably coupled between the first rotating member 3531 and the first connecting section 3541 by bolts and nuts. Of course, other means of connection may be employed for the rotatable connection.

In some embodiments, the gripping member 351 includes a first gripping portion 3511 and a second gripping portion 3516, one of the first gripping portion 3511 and the second gripping portion 3516 being movable relative to the other of the first gripping portion 3511 and the second gripping portion 3516.

Specifically, as shown in fig. 5, a gap is formed between the first clamping portion 3511 and the second clamping portion 3516, after the driving gripping member 351 is disposed above the adjacent conveying member 341, the gripping member 351 is driven to approach the material, so that a portion of the material is disposed in the gap between the first clamping portion 3511 and the second clamping portion 3516, and the first clamping portion 3511 and the second clamping portion 3516 are controlled to move towards each other, so that the function of gripping the material can be achieved.

It is appreciated that first clamp portion 3511 and second clamp portion 3516 can be driven by, i.e., with, a motor and gear pair.

In some embodiments, the planting device of the present disclosure further includes a first movable member 3512 and a second movable member 3517, the first movable member 3512 is connected to the first clamping portion 3511, the first movable member 3512 is located on a side of the first clamping portion 3511 adjacent to the second clamping portion 3516, the first movable member 3512 is rotatable about a first axis, the second movable member 3517 is connected to the second clamping portion 3516, the second movable member 3517 is located on a side of the second clamping portion 3516 adjacent to the first clamping portion 3511, and the second movable member 3517 is rotatable about a second axis, wherein an extending direction of the first axis is parallel to an extending direction of the second axis, and in the first position, the first movable member 3512 and the second movable member 3517 are in abutment with the material.

Specifically, as shown in fig. 5 and 7, the first movable member 3512 includes a first rotating portion 3513 and a first contact portion 3514, the first rotating portion 3513 is rotatably connected to the first clamping portion 3511, the first contact portion 3514 is rotatably connected to the first rotating portion 3513, the first contact portion 3514 has a plurality of first protrusions 3515, and the plurality of first protrusions 3515 are arranged at intervals along an extending direction of the first clamping portion 3511. The second movable member 3517 includes a second rotating portion 3518 and a second contact portion 3519, the second rotating portion 3518 is rotatably connected to the second clamping portion 3516, the second contact portion 3519 is rotatably connected to the first rotating portion, the second contact portion 3519 has a plurality of second protrusions 3510, and the plurality of second protrusions 3510 are arranged at intervals along an extending direction of the second clamping portion 3516.

It can be appreciated that, as shown in fig. 5, taking the first movable member 3512 as an example, the first movable member 3512 is connected to the first clamping portion 3511 through a rotation shaft, for example: the first movable member 3512 is provided with a rotating shaft, the first clamping portion 3511 is provided with a shaft hole matched with the rotating shaft, and the first movable member 3512 is connected with the first clamping portion 3511 through the rotating shaft, so that the first movable member 3512 can rotate around the axial direction of the rotating shaft relative to the first clamping portion 3511. Similarly, the first protrusions 3515 are rotatable relative to a movable member 3512, the second rotating portion 3518 is rotatable relative to the second clamping portion 3516, and the second protrusions 3510 are rotatable relative to the second rotating portion 3518. That is, when the gripping member 351 is used to grip the material, the plurality of first protrusions 3515 and the plurality of second protrusions 3510 can be adapted to abut against the outer circumferential wall of the material, thereby facilitating gripping of the material.

Preferably, the first movable member 3512 is a plurality of the first movable members 3512 arranged at intervals along the extending direction of the first clamping portion 3511, the second movable member 3517 is a plurality of the second movable members 3517 arranged at intervals along the extending direction of the second clamping portion 3516.

In some embodiments, the covering unit 33 further includes a soil pressing wheel 332, where the soil pressing wheel 332 is connected to the soil covering wheel 331 and located on a side of the soil covering wheel 331 away from the storage bin 30, and the soil pressing wheel 332 is used to compact soil around the planting hole.

Specifically, as shown in fig. 5 and 9, the number of the soil pressing wheels 332 is two, the two soil pressing wheels 332 are oppositely arranged in the left-right direction, the rotation shaft of one soil pressing wheel 332 is connected with the rotation shaft of one soil covering wheel 331 through a first connecting rod 333, and the distance between the two soil pressing wheels 332 is gradually reduced in the front-to-rear direction in a plane orthogonal to the up-down direction.

It will be appreciated that the soil surrounding the planting holes can be covered by the soil covering wheel 331, and the planting device can be moved forward continuously to compact the soil covered by the planting holes by the soil compacting wheel 332, so that the stability of the material in the planting holes can be increased.

Preferably, the first connecting rod 333 may be connected to the storage bin 30 by a second connecting rod 334, and the second connecting rod 334 is movable relative to the storage bin 30.

As shown in fig. 9, the second connecting rod 334 may be driven by a motor, that is, a gear is provided on an output shaft of the motor, and a rack matching with the gear is provided on the second connecting rod 334, whereby the second connecting rod 334 may be driven to move in the front-rear direction by starting the motor, so that the distance between the soil covering wheel 331 and the conveying member 341 may be adjusted.

As shown in fig. 10 to 12, the rotary mechanical arm of the embodiment of the present invention includes a base 10, and a first arm segment 11, a second arm segment 12, and a third arm segment 13, and a working assembly 14, which are sequentially connected.

The first arm segment 11 is connected to the base 10, the first arm segment 11 is rotatable about a first axis with respect to the base 10, the second arm segment 12 is rotatable about a second axis with respect to the first arm segment 11, and the third arm segment 13 is rotatable about a third axis with respect to the second arm segment 12, wherein a sum of an angle between an extending direction of the first axis and a length direction of the base 10 and an angle between an extending direction of the second axis and a length direction of the base 10 is equal to 90 degrees in a plane where a length direction of the base 10 (a left-right direction in fig. 10) and a height direction of the base 10 (an up-down direction in fig. 10) are located. In the plane of the longitudinal direction of the base 10 and the height direction of the base 10, the sum of the angle between the extending direction of the second axis and the longitudinal direction of the base 10 and the angle between the extending direction of the third axis and the longitudinal direction of the base 10 is equal to 90 degrees.

Specifically, as shown in fig. 1 and 3, the lower end of the first arm section 11 is connected to the base 10, the right end of the second arm section 12 is connected to the upper end of the first arm section 11, and the left end of the second arm section 12 is connected to the third arm section 13. In the plane of the left-right direction and the up-down direction, the extending direction of the first axis is perpendicular to the extending direction of the second axis, and the extending direction of the second axis is perpendicular to the extending direction of the third axis.

Preferably, in the plane of the longitudinal direction of the base 10 and the height direction of the base 10, the angle between the extending direction of the first axis and the longitudinal direction of the base 10 is 45 degrees, the angle between the extending direction of the second axis and the longitudinal direction of the base 10 is 45 degrees, and the angle between the extending direction of the third axis and the longitudinal direction of the base 10 is 45 degrees.

It can be understood that the extending direction of the first axis, the extending direction of the second axis and the extending direction of the third axis all have included angles with the left-right direction, that is, the right end face of the base 10 and the lower end face of the first arm segment 11 are inclined planes which are obliquely arranged, the base 10 is connected with the first arm segment 11, and the right end face of the base 10 is in contact with the lower end face of the first arm segment 11. Similarly, the upper end face of the first arm section 11 and the right end face of the second arm section 12 are inclined planes, and the left end face of the second arm section 12 and the right end face of the third arm section 13 are inclined planes.

It should be noted that, the first arm segment 11 is rotatable relative to the base 10, and the motor and the transmission gear set may be used to drive the first arm segment 11 to rotate around the first axis, or the motor and the speed reducing mechanism may be used to implement rotation of the first arm segment 11, or the servo motor may be used to directly drive the first arm segment 11 to rotate. Similarly, the second arm section 12 is rotatable relative to the first arm section 11, and the third arm section 13 is rotatable relative to the second arm section 12.

Work assembly 14 includes a work table 141 and a work piece 1412, work table 141 being connected to third arm section 13, work piece 1412 being adapted to work table 141, work piece 1412 including a gripper for performing a gripping function.

Alternatively, table 141 includes a first mounting portion 1411, first mounting portion 1411 being located on a side of table 141 remote from third arm segment 13 (i.e., first mounting portion 1411 being located at a lower end of table 141), work piece 1412 including a second mounting portion 1413, second mounting portion 1413 being located on a side of work piece 1412 adjacent table 141 (i.e., second mounting portion 1413 being located at an upper end of work piece 1412), first mounting portion 1411 being adapted to be coupled to second mounting portion 1413. It will be appreciated that the work piece 1412 may be connected to the table 141 by plugging or clamping, etc., to facilitate the disassembly of the work piece 1412 from the table 141. That is, the first mounting portion 1411 and the second mounting portion 1413 may be connected by a snap-fit or a plug-fit.

Preferably, the work piece 1412 also includes at least one of a drill bit and a detection piece. That is, the work 1412 may be at least one of a mechanical gripper, a drill, and a detecting member, or may be a combination of two or three thereof, so as to perform the functions of gripping, punching, and measuring, wherein the detecting member may be a measuring device (i.e., a displacement sensor, etc.). In addition, the work piece 1412 may also be replaced according to actual usage conditions, thereby enhancing the utility of the rotary robotic arm of the present invention.

That is, the rotation of the first arm segment 11, the second arm segment 12, and the third arm segment 13 can implement the multi-angle operation of the rotary mechanical arm according to the embodiment of the present invention, so that the work pieces 1412 with different functions can be used to implement the functions of grabbing, punching, measuring, and the like.

In other words, the rotary mechanical arm according to the embodiment of the present invention can implement a multi-angle working mode by rotating the first arm segment 11, the second arm segment 12, and the third arm segment 13, respectively, so that the gripping function can be conveniently implemented by using the work 1412.

Therefore, the rotary mechanical arm provided by the embodiment of the invention has the advantages of simple structure and convenience in operation.

In some embodiments, base 10 includes a first telescoping assembly 101, first telescoping assembly 101 includes a first telescoping portion 1011, first telescoping portion 1011 is connected to first arm segment 11, and first telescoping portion 1011 is movable relative to base 10; the first arm segment 11 includes a second telescopic assembly 111, the second telescopic assembly 111 includes a second telescopic portion 1111, the second telescopic portion 1111 is connected with at least one of the base 10 and the second arm segment 12, and the second telescopic portion 1111 is movable relative to the first arm segment 11; the second arm segment 12 comprises a third telescoping assembly 121, the third telescoping assembly 121 comprises a third telescoping portion 1211, the third telescoping portion 1211 is connected to at least one of the third arm segment 13 and the second arm segment 12, and the third telescoping portion 1211 is movable relative to the second arm segment 12.

Specifically, as shown in fig. 10 to 12, the first telescopic portion 1011 is provided at the right end of the base 10, and the first telescopic portion 1011 is movable in the left-right direction with respect to the base 10. The second telescopic part 1111 is disposed at the lower end of the first arm segment 11 and connected with the base 10, or the second telescopic part 1111 is disposed at the upper end of the first arm segment 11 and connected with the right end of the second arm segment 12, or the upper end of the first arm segment 11 and the lower end of the first arm segment 11 are both provided with the second telescopic part 1111 and connected with the base 10 and the second arm segment 12 respectively. The third telescopic portion 1211 is disposed at the right end of the second arm section 12 and connected to the first arm section 11, or the third telescopic portion 1211 is disposed at the left end of the second arm section 12 and connected to the right end of the third arm section 13, or the left end of the second arm section 12 and the right end of the second arm section 12 are both provided with the third telescopic portion 1211 and connected to the first arm section 11 and the third arm section 13, respectively.

It is to be understood that the first telescopic portion 1011 may be driven to move in the left-right direction by a telescopic motor, a linear module, or the like, and the second telescopic portion 1111 and the third telescopic portion 1211 may be driven by a telescopic motor, a linear module, or the like.

Optionally, the second telescopic portion 1111 includes a first telescopic member 1112 and a second telescopic member 1113, where the first telescopic member 1112 and the second telescopic member 1113 are disposed opposite to each other in the length direction of the first arm segment 11, the first telescopic member 1112 is connected to the base 10, and the second telescopic member 1113 is connected to the second arm segment 12. The third telescopic portion 1211 includes a third telescopic member 1212 and a fourth telescopic member 1213, the third telescopic member 1212 and the fourth telescopic member 1213 are arranged opposite to each other in the length direction of the second arm segment 12, the third telescopic member 1212 is connected to the first arm segment 11, and the fourth telescopic member 1213 is connected to the third arm segment 13.

As shown in fig. 10-12, specifically, taking the first telescopic member 1112 and the first arm segment 11 as examples: the first telescopic member 1112 is connected to the first arm segment 11 by means of a screw and screw nut, i.e. by rotating the screw nut, the first telescopic member 1112 can be moved closer to or further away from the first arm segment 11.

In some embodiments, the first telescopic assembly 101 further includes a first driving member 1012, where the first driving member 1012 is disposed on the base 10, and the first driving member 1012 is used to drive the first arm segment 11 and/or the first telescopic portion 1011 to move. The second telescopic assembly 111 further comprises a second driver 1114, the second driver 1114 being arranged on the first arm segment 11, the second driver 1114 being arranged to drive the second arm segment 12 and/or the second telescopic part 1111 in a movement. The third telescopic assembly 121 further comprises a third driving member 1214, wherein the third driving member 1214 is provided on the second arm segment 12, and the third driving member 1214 is configured to drive the third arm segment 13 and/or the third telescopic portion 1211 to move.

It will be appreciated that, taking the first driving member 1012 as an example, there are a plurality of first driving members 1012, wherein one first driving member 1012 is a motor and is connected with the first arm segment 11 through a transmission gear, so that the first arm segment 11 is driven to rotate by the first driving member 1012; the other first driving member 1012 is a linear module and is connected to the first telescopic portion 1011 so as to drive the first telescopic portion 1011 to move in the left-right direction. Similarly, the second driver 1114 and the third driver 1214 are each functionally identical to the first driver 1012.

It should be noted that, when the first driving member 1012, the second driving member 1114 and the third driving member 1214 are used to drive the first arm segment 11, the second arm segment 12 and the third arm segment 13 to rotate, the first driving member 1012, the second driving member 1114 and the third driving member 1214 may be a combination of a motor and a transmission gear. When the first driving member 1012, the second driving member 1114 and the third driving member 1214 are used for driving the first telescopic portion 1011, the second telescopic portion 1111 and the third telescopic portion 1211 to move, the first driving member 1012, the second driving member 1114 and the third driving member 1214 may be linear motors or linear modules, and of course, may be other devices having a reciprocating linear displacement function.

In some embodiments, the base 10 has a first mounting cavity 1013, the first arm segment 11 has a second mounting cavity 1115, the second arm segment 12 has a third mounting cavity 1215, the first mounting cavity 1013, the second mounting cavity 1115, and the third mounting cavity 1215 are in communication, the first driver 1012 is disposed within the first mounting cavity 1013, the second driver 1114 is disposed within the second mounting cavity 1115, and the third driver 1214 is disposed within the third mounting cavity 1215.

That is, the installation space (i.e., the first installation cavity 1013, the second installation cavity 1115 and the third installation cavity 1215 which are sequentially communicated) is reserved in the rotary mechanical arm of the embodiment of the invention, so that control elements such as a driving element can be installed in the reserved installation space of the mechanical arm, the control elements can be prevented from being exposed outside the mechanical arm, and the damage to part of elements caused by external environment (such as dust, collision, friction and the like) during working is reduced.

In some embodiments, the rotary robotic arm of embodiments of the invention further comprises a weight disposed within at least one of the first mounting cavity 1013, the second mounting cavity 1115, and the third mounting cavity 1215. It can be understood that when the rotary mechanical arm of the embodiment of the invention is adopted to realize the grabbing function, for example, the whole weight of the mechanical arm is required to be in a lighter state (i.e. a weight piece is not required to be added), so that the mechanical arm can act rapidly, and the energy consumption is low. On the contrary, if the rotary mechanical arm of the embodiment of the invention is used for realizing the punching function, the whole quality of the mechanical arm needs to be increased by using the counterweight piece so as to improve the whole stability of the mechanical arm.

That is, the following is true. According to the actual use working condition, the quantity of the weight pieces can be increased and reduced to control the quality of the whole structure of the mechanical arm, so that the whole stability of the mechanical arm is correspondingly changed, the convenient operation under various working conditions is realized, and the working stability is improved. In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

For purposes of this disclosure, the terms "one embodiment," "some embodiments," "example," "a particular example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While the above embodiments have been shown and described, it should be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations of the above embodiments may be made by those of ordinary skill in the art without departing from the scope of the invention.

Claims

1. A planting robot, comprising:

The first walking component comprises a plurality of walking pieces and a walking driving piece, the walking pieces comprise a first walking piece, a second walking piece and a third walking piece, the first ends of the first walking piece, the second walking piece and the third walking piece are connected with the frame body, the first walking piece, the second walking piece and the third walking piece are movable relative to the frame body, the first walking piece and the third walking piece are oppositely arranged in the length direction of the frame body, the second walking piece is positioned between the first walking piece and the third walking piece in the length direction of the frame body, the walking components are multiple, and the walking components are oppositely arranged in the width direction of the frame body; the walking driving piece is arranged on the frame body and comprises a driving part, and the driving part is connected with at least one of the first walking piece, the second walking piece and the third walking piece so as to drive the first walking assembly to move in the first walking state;

the second walking components comprise a plurality of walking wheels, a crawler belt and a plurality of crawler wheel components matched with the crawler belt, the plurality of walking wheels are arranged at intervals along the length direction of the frame body, the plurality of second walking components are arranged at intervals along the width direction of the frame body; the crawler wheel assembly comprises a first deformation state and a second deformation state, and the crawler wheel assembly is used for driving the frame body to move in the first deformation state; in the second deformed state, the track wheel assembly has a smaller dimension in the height direction of the frame than in the first deformed state

When the first walking state is adopted, the second walking assembly is moved to a direction approaching to the frame body by utilizing a hydraulic telescopic device, so that the walking wheel of the second walking assembly is not contacted with the ground, and the first walking assembly is contacted with the ground; when the second walking state is adopted, the second walking assembly is moved to a direction away from the frame body by utilizing a hydraulic telescopic device, so that the walking wheels of the second walking assembly are in contact with the ground, and the first walking assembly is not in contact with the ground;

the planting device is connected with the frame body and comprises a drilling unit, a storage bin and a covering unit which are sequentially arranged at intervals along the length direction of the frame body, wherein the storage bin is provided with a cavity, the cavity is used for storing materials, the drilling unit comprises a drill bit, the drill bit is used for drilling planting holes in the ground, the covering unit comprises a soil covering wheel, and the soil covering wheel is used for covering soil around the planting holes;

2. The planting robot of claim 1, wherein the storage bin has a cavity and a discharge port, the discharge port is in communication with the cavity, and the discharge port is located at the bottom of the storage bin, and the cavity is used for storing materials;

3. The planting robot of claim 2, further comprising a gripping unit coupled to the storage bin, the gripping unit including a gripping member movable between a first position and a second position,

4. A planting robot according to claim 3, wherein the gripping unit further comprises a rotating member and a telescoping member, the rotating member being connected to the storage bin and movable along a first axis, a first end of the telescoping member being connected to the rotating member, and a second end of the telescoping member being connected to the gripping member.

5. The planting robot of claim 4 wherein the gripping member comprises a first gripping portion and a second gripping portion, one of the first gripping portion and the second gripping portion being movable relative to the other of the first gripping portion and the second gripping portion.

6. The planting robot of claim 5, further comprising a first movable member and a second movable member, the first movable member coupled to the first clamp portion, the first movable member positioned on a side of the first clamp portion adjacent the second clamp portion, the first movable member rotatable about a first axis,

7. The planting robot according to claim 2, wherein the stock unit comprises a first roller and a second roller, the first roller is rotatable about a third axis, the second roller is rotatable about a fourth axis, a plurality of first placement grooves are formed in a circumferential side wall of the first roller, the plurality of first placement grooves are arranged at intervals along a circumferential direction of the first roller, a first spacing surface is formed between an outer circumferential surface of the first roller and two adjacent first placement grooves,

8. The planting robot of claim 1, wherein the soil compacting unit further comprises a soil compacting wheel connected to the soil compacting wheel and located on a side of the soil compacting wheel away from the storage bin, the soil compacting wheel being configured to compact soil around the planting hole.

9. The planting robot of claim 1 wherein the base comprises a first telescoping assembly including a first telescoping portion connected to the first arm segment and movable relative to the base;

10. The planting robot of claim 9, wherein the second telescoping section comprises a first telescoping member and a second telescoping member, the first telescoping member and the second telescoping member being disposed opposite one another in a length direction of the first arm segment, the first telescoping member being coupled to the base, the second telescoping member being coupled to the second arm segment;

11. The planting robot of claim 1, wherein an angle between an extending direction of the first axis and a length direction of the frame is 45 degrees, an angle between an extending direction of the second axis and a length direction of the frame is 45 degrees, and an angle between an extending direction of the third axis and a length direction of the frame is 45 degrees in a plane in which the length direction of the frame and the height direction of the frame are located.