CN207869642U - Full-automatic Machine for planting tree people suitable for uniline plantation - Google Patents

Full-automatic Machine for planting tree people suitable for uniline plantation Download PDF

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Publication number
CN207869642U
CN207869642U CN201820048170.0U CN201820048170U CN207869642U CN 207869642 U CN207869642 U CN 207869642U CN 201820048170 U CN201820048170 U CN 201820048170U CN 207869642 U CN207869642 U CN 207869642U
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China
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sapling
drill bit
vehicle frame
shaft
full
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CN201820048170.0U
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Chinese (zh)
Inventor
张圆圆
梁金耀
覃英强
赵明
李作栋
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Qinzhou University
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Qinzhou University
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Abstract

The utility model discloses a kind of full-automatic Machine for planting tree people suitable for uniline plantation, traveling wheel including vehicle frame and below vehicle frame, it further include the water storage cabinet being mounted on vehicle frame, sapling mechanism for being put into sapling in tree well, digging mechanism for digging tree well, the casing mechanism being arranged below vehicle frame and the controller for controlling robot tree planting, the utility model digs tree well by the digging mechanism of setting, the sapling in sapling container is placed on a moving belt using manipulator, then the sapling on conveyer belt is pushed into tree well by sapling telescopic rod, earthing is carried out to the tree well for putting sapling well by the casing mechanism of setting, it waters to sapling finally by control solenoid valve, and the work of controller is combined to realize the full-automatic operation planted trees.Compared with prior art, have the characteristics that intelligence degree it is high, it is simple in structure, plant trees efficient, system run all right.

Description

Full-automatic Machine for planting tree people suitable for uniline plantation
Technical field
The utility model is related to a kind of tree planting equipment, and in particular to a kind of full-automatic Machine for planting tree suitable for uniline plantation People belongs to Chinese garden planting equipment technical field.
Background technology
With the sharp increase of world population quantity and the various unreasonable activities of reclaiming wasteland of the mankind since 20 century, cause The global desertification of getting worse.Desertification causes serious society and environmental problem, including arable land is reduced, sandstorm frequency The whole Water Conservation Capacity of Five decline in numerous, soil causes annual precipitation to reduce year by year, the severe exacerbation living environment of the mankind.Cause This, faces increasingly serious environmental problem, and a large amount of afforestations will be effective effective ways for containing desertification.
Traditional pure operation of planting trees by hand generally carries out digging tree well by people using spade, spades, is then artificially put into sapling, One people helps one people's earthing of tree, is watered after last appropriate compacting.Tree well and the unusual time and effort consuming of earthing process are dug, is planted Tree efficiency is low, labor intensity is big.To overcome the defect, occur various Tree-planting devices currently on the market, such as Machine for planting tree people, Planting machine, tree planting excavator etc..The specific Chinese utility model patent if Authorization Notice No. is 202652842U discloses one kind With the matching used hydraulic drilling planting machine of excavator (ditcher), including drill bit and gear-box, there is link on gear-box, Hydraulic motor and speed reducer are installed on gear-box, hydraulic motor drives the gear in gear-box through speed reducer, hydraulic motor Pipeline road connecting excavator hydraulic system.Although the planting machine of the structure is come due to the hydraulic motor of use to as excavator The drill bit of structure provides power, and power foot can carry out excacation to complex random systems such as hard soil layer, frozen soil stratum.But it makes On the one hand used time needs to coordinate to be used with ditcher, on the other hand it only has automatic excavating function, for tree planting process The operation for putting sapling, earthing and watering can not complete on the same device, full-automatic degree is low.
Utility model content
In view of the above-mentioned deficiencies, the technical problem to be solved by the utility model is to provide a kind of simple in structure, collection to dig tree It cheats, put the full-automatic Machine for planting tree people for being suitable for uniline plantation that sapling, earthing and watering are integrated.
In order to achieve the above objectives, the utility model is achieved through the following technical solutions:
Suitable for the full-automatic Machine for planting tree people of uniline plantation, including vehicle frame and the traveling wheel below vehicle frame, also wrap It includes the water storage cabinet on vehicle frame, the sapling mechanism for sapling to be put into tree well, the digging mechanism for digging tree well, set The casing mechanism below vehicle frame and the controller for controlling robot tree planting are set, the bottom of the water storage cabinet is equipped with water outlet Mouthful, the water outlet is connected with outlet pipe, and the end of the outlet pipe is equipped in the side of digging mechanism and on outlet pipe One solenoid valve;
The sapling mechanism includes sapling container, manipulator and sapling transmission device, and the sapling container is mounted on and storage On the vehicle frame of water tank opposite side, the manipulator passes through U mounted between the water storage cabinet and sapling container and lower end of manipulator Shape mounting base is connected with turntable, and a shaft is fixed with below the turntable, and the shaft is connected with driving device;It is described Digging mechanism is mounted between water storage cabinet and sapling transmission device.
In said program, the sapling transmission device may include sapling push plate, sapling telescopic rod and conveyer mechanism, described Sapling telescopic rod is located at side by side on vehicle frame with turntable and one end of sapling telescopic rod is connected with described in motor, the installation of its other end Sapling push plate, the sapling push plate is corresponding with digging mechanism, and a sensor is equipped at the top of sapling push plate, the sensor Whether the front for incuding sapling push plate has sapling process;
The conveyer mechanism includes conveyer belt and two driving motors, the conveyer belt with sapling telescopic rod is perpendicular sets It sets and is mounted on the vehicle frame between digging mechanism and sapling push plate, transmission shaft is separately installed at the both ends of conveyer belt, it is described Transmission shaft is connect with driving motor.
In said program, the digging mechanism may include drill bit, drill bit motor, vertically-mounted drill bit shaft and for controlling The lifting gear that drill bit processed moves up and down, the drill bit are located at the lower section of vehicle frame and the bottom end Joint with drill bit shaft, drill bit Shaft be arranged between conveyer belt and water storage cabinet and the top of drill bit shaft pass through drill bit lifting platform after be fixed on drill bit lifting Drill bit motor connection on platform.
In said program, the lifting gear may include the lifting of lifting motor and two settings parallel with drill bit shaft Push rod, one end of the lifting push rod is fixed on the bottom of drill bit lifting platform, its other end is connected with lifting shaft, the lifting shaft It is connected with lifting motor.
In said program, the casing mechanism includes being located at two pieces of trailing bars below vehicle frame and for driving trailing bar Earthing drive rod, two pieces of trailing bars centered on drill bit, be symmetrically mounted on the both sides of drill bit, the earthing drive rod turns with drill bit Axis is parallel and the lower end of earthing drive rod is fixedly connected with trailing bar, its top is connected with earthing driving steering engine, the earthing Steering engine is driven to be mounted on vehicle frame by steering engine bearing.
In said program, the cross section of the trailing bar can V-shaped structure.
In said program, the manipulator can specifically include the first swing arm, the second swing arm, catching plate mounting base, steering engine and Gripper, one end hinge of first swing arm is mounted on clevis mounting, one end of its other end and the second swing arm is hinged, institute The other end for stating the second swing arm installs the catching plate mounting base by movable connecting rod, and a pair is equipped in the catching plate mounting base Rotary gear shaft is installed, the steering engine is mounted on the bottom of catching plate mounting base on pitch wheel and wherein a gear And connect with rotary gear shaft, one end of the gripper is fixed on as grasping end, its other end on gear.
In said program, in order to ensure vehicle frame in the stationarity of tree planting process, the traveling wheel is specially Mecanum wheel, The Mecanum wheel is connected with the internal walking turbin generator for being equipped with PID controller.
The beneficial effects of the utility model are:
The utility model digs tree well by the digging mechanism of setting, is put the sapling in sapling container using manipulator It sets on a moving belt and then is pushed into tree well by sapling telescopic rod by the sapling on conveyer belt, pass through the casing mechanism of setting Tree well to putting sapling well carries out earthing, waters to sapling finally by control solenoid valve, and combine the work of controller Realize the full-automatic operation planted trees.Compared with prior art, have intelligence degree it is high, it is simple in structure, tree planting it is efficient, The characteristics of system run all right.
Description of the drawings
Fig. 1 is the structural schematic diagram of the full-automatic Machine for planting tree people planted suitable for uniline.
Fig. 2 is the backsight structural representation in Fig. 1.
Fig. 3 is the overlooking structure diagram for two pieces of trailing bars being symmetrically installed.
Fig. 4 is the left view structural representation of Fig. 3.
Figure label is:1, water storage cabinet, 2-1, drill bit motor, 2-2, drill bit shaft, 2-3, drill bit, 2-4, drill bit lifting Platform, 3, vehicle frame, 4. walking turbin generators, 5-1, the second swing arm, 5-2, pawl disk mounting base, 5-3, gripper, 5-4, gear, 5-5, rudder Machine, 5-6, the first swing arm, 6, sapling container, 7, outlet pipe, 8, traveling wheel, 9-1, lifting shaft, 9-2, lifting motor, 9-3, lifting Push rod, 10, sapling telescopic rod, 11, earthing drive rod, 12-1, conveyer belt, 12-2, transmission shaft, 12-3, driving motor, 13, tree Seedling push plate, 14, V-arrangement trailing bar, 15, turntable, 16, clevis mounting, 17, driving device.
Specific implementation mode
As shown in Figure 1 and Figure 2, it is suitable for the full-automatic Machine for planting tree people of uniline plantation, including vehicle frame 3 and under the vehicle frame 3 The traveling wheel of side.The traveling wheel is specially Mecanum wheel, and the Mecanum wheel is connected with inside and is equipped with PID controller Walking turbin generator 4.Further include the water storage cabinet 1 being mounted on vehicle frame 3, the sapling mechanism for being put into sapling in tree well, use In the digging mechanism for digging tree well, the casing mechanism being arranged below vehicle frame 3 and the controller planted trees for controlling robot.
The bottom of the water storage cabinet 1 is equipped with water outlet, and the water outlet is connected with outlet pipe 7, the end of the outlet pipe 7 In the side of digging mechanism, i.e., outlet pipe 7 is extended on the side of drill bit shaft 2-2, best drill bit shaft 2-2 and outlet pipe 7 end spacing 2-5mm, to ensure that outlet pipe 7 was in sapling pours water area.One solenoid valve is installed on outlet pipe 7, it should Module is connect solenoid valve with controller by radio communication.
The digging mechanism is mounted between water storage cabinet 1 and sapling transmission device, specifically includes drill bit 2-3, drill bit motor 2, vertically-mounted drill bit shaft 2-2 and the lifting gear moved up and down for controlling drill bit 2-3.The drill bit 2-3 is located at vehicle The lower section of frame 3 and with the bottom end Joint of drill bit shaft 2-2.Drill bit shaft 2-2 is arranged between conveyer belt 12-1 and water storage cabinet 1 And the top of drill bit shaft 2-2 is connect after drill bit lifting platform 2-4 with the drill bit motor 2 being fixed on drill bit lifting platform 2-4.
In the present embodiment, specifically the lifting gear includes that lifting motor 9-2 and two are parallel with drill bit shaft 2-2 One end of lifting the push rod 9-3, the lifting push rod 9-3 of setting are fixed on the bottom of drill bit lifting platform 2-4, the connection of its other end There are lifting shaft 9-1, the lifting shaft 9-1 to be connected with lifting motor 9-2.The lifting gear on the one hand play support drill bit 2-3, On the other hand the effect of drill bit shaft 2-2, drill bit motor 2 are played and drill bit shaft 2-2 are driven to decline, drill bit 2-3 contacts are dropped to Behind ground, then worked by drill bit motor 2.Wherein, drill bit motor 2 and each lifting motor 9-2 module and controls by radio communication Device connection processed controls time and the keying of each motor rotation by controller.
The casing mechanism includes two pieces of trailing bars for being located at 3 lower section of vehicle frame and the earthing drive rod for driving trailing bar 11.Two pieces of trailing bars centered on drill bit 2-3, be symmetrically mounted on the both sides of drill bit 2-3.As shown in Figure 3, Figure 4, the trailing bar The V-shaped structure in cross section.The earthing drive rod 11 is parallel with drill bit shaft 2-2 and lower end of earthing drive rod 11 with cover Native plate is fixedly connected, its top is connected with earthing driving steering engine 5-5.The earthing driving steering engine 5-5 is pacified by steering engine 5-5 bearings On vehicle frame 3.Module is wirelessly connected the earthing driving steering engine 5-5 with controller by radio communication, long-range to realize The function of control and automatic earthing.
The sapling mechanism includes sapling container 6, manipulator and sapling transmission device.The sapling container 6 be mounted on On the vehicle frame 3 of 1 opposite side of water storage cabinet.
The manipulator is connected mounted between the water storage cabinet 1 and sapling container 6 and lower end of manipulator by clevis mounting 16 It is connected to turntable 15, the lower section of the turntable 15 is fixed with a shaft, and the shaft is connected with driving device 17.The rotation Platform 15 can carry out 360 degree of rotation in the horizontal direction under the driving of driving device 17, in use, the driving device 17 passes through Wireless communication module is connect with controller.The manipulator is used to capture the sapling in sapling container 6 to conveyer belt 12-1, Concrete structure includes the first swing arm 5-6, the second swing arm 5-1, catching plate mounting base, steering engine 5-5 and gripper 5-3.Described first is dynamic One end hinge of arm 5-6 is on clevis mounting 16, one end of its other end and the second swing arm 5-1 is hinged, second swing arm The other end of 5-1 installs the catching plate mounting base by movable connecting rod.A pair of is installed mutually to nibble in the catching plate mounting base Gear 5-4 shafts are installed on the gear 5-4 of conjunction and wherein a gear 5-4.The steering engine 5-5 is mounted on catching plate mounting base Bottom and connect with gear 5-4 shafts, one end of the gripper 5-3 is fixed on gear 5-4 as grasping end, its other end On.
For the sapling transmission device for sapling to be accurately pushed into the tree well dug, the structure specifically used includes tree Seedling push plate 13, sapling telescopic rod 10 and conveyer belt 12-1 mechanisms.The sapling telescopic rod 10 is located at vehicle frame 3 side by side with turntable 15 On, and one end of sapling telescopic rod 10 is connected with motor, its other end installs the sapling push plate 13.The sapling push plate 13 with Digging mechanism is corresponding, and specifically sapling push plate 13 is corresponding with drill bit shaft 2-2, to which guarantee accurately will be on conveyer belt 12-1 Sapling push-in tree well in.One sensor is installed at the top of sapling push plate 13, the sensor is specifically as follows infrared ray Sensor and photoelectric sensor.The input terminal of module and controller is wirelessly connected the sensor by radio communication.For controlling The motor of sapling telescopic rod 10 processed is connect also by wireless communication module with controller.
Conveyer belt 12-1 mechanisms include conveyer belt 12-1 and two driving motors 12-3, the conveyer belt 12-1 and tree In the perpendicular setting of seedling telescopic rod 10 and the vehicle frame 3 being mounted between drill bit shaft 2-2 and sapling push plate 13.In conveyer belt 12-1 Both ends be separately installed with transmission shaft 12-2, the transmission shaft 12-2 is connect with driving motor 12-3.The driving motor 12-3 When in use, module is wirelessly connected with controller by radio communication.
It is described control implement body may include the PLC controller as central controller, 51 microcontrollers or other models place Other relevant control components of reason device and control button, setup module, radio receiving transmitting module etc..
The utility model is when planting trees:
1) by controlling traveling wheel by robot ambulation to place to be planted trees, pass through lifting gear after selecting tree planting position Drive under drill bit 2-3 dropped to contacted with ground, then start drill bit motor 2, pass through drill bit shaft 2-2 and drive drill bit 2- 3 work, which is realized, digs tree well work;2) after tree well is dug, manipulator puts the sapling crawl in sapling container 6 to conveyer belt 12- On 1, sapling is with the movement of conveyer belt 12-1, and when being moved to the position of sapling push rod, sensor sensing has obstacle to front After object, start telescopic rod immediately, the sapling on conveyer belt 12-1 is pushed into tree well;3) rotation of driving earthing steering engine 5-5, it is right Trailing bar, which is swung and moved up and down, scrapes the soil on ground in tree well, realizes earthing work;4) finally start Solenoid valve on outlet pipe 7 realizes the work watered to sapling.
Automatic tree planting for robot, can by be arranged remote manipulator manually be controlled to realize, that is, dig tree well, Sapling crawl, send the operation of sapling, earthing and watering when carry out, the length of corresponding operating time etc. can all pass through operation Controller is completed;Another kind is that specifically can such as be given by being implanted into corresponding operation program in controller without manual operation Each relevant motor is numbered, and the operation sequencing of each control motor of program setting, interval realization of execution etc. come Realize full automatic tree planting.Controller for reaching above-mentioned function has been compared with mature technology.
It these are only the embodiment for illustrating the utility model, be not intended to limit the utility model, for this field For technical staff, within the spirit and principle of the utility model, any modification, equivalent replacement, improvement and so on, It should be included within the scope of protection of this utility model.

Claims (8)

1. suitable for the full-automatic Machine for planting tree people of uniline plantation, including vehicle frame (3) and the traveling wheel below vehicle frame (3), It is characterized in that:Further include the water storage cabinet (1) being mounted on vehicle frame (3), the sapling mechanism for being put into sapling in tree well, use In the digging mechanism, the casing mechanism being arranged below vehicle frame (3) and the controller planted trees for controlling robot that dig tree well, institute The bottom for stating water storage cabinet (1) is equipped with water outlet, and the water outlet is connected with outlet pipe (7), and the end of the outlet pipe (7) is in digging It digs the side of mechanism and a solenoid valve is installed on outlet pipe (7);
The sapling mechanism includes sapling container (6), manipulator and sapling transmission device, the sapling container (6) be mounted on On the vehicle frame (3) of water storage cabinet (1) opposite side, the manipulator is mounted between water storage cabinet (1) and sapling container (6) and machinery The lower end of hand is connected with turntable (15) by clevis mounting (16), and a shaft, institute are fixed with below the turntable (15) It states shaft and is connected with driving device (17);The digging mechanism is mounted between water storage cabinet (1) and sapling transmission device.
2. the full-automatic Machine for planting tree people according to claim 1 suitable for uniline plantation, it is characterised in that:The sapling passes Dynamic device includes sapling push plate (13), sapling telescopic rod (10) and conveyer belt (12-1) mechanism, the sapling telescopic rod (10) with Turntable (15) is located at side by side on vehicle frame (3) and one end of sapling telescopic rod (10) is connected with described in motor, the installation of its other end Sapling push plate (13), the sapling push plate (13) is corresponding with digging mechanism, and a biography is equipped at the top of sapling push plate (13) Sensor;
Conveyer belt (12-1) mechanism includes conveyer belt (12-1) and two driving motors (12-3), the conveyer belt (12-1) With the perpendicular setting of sapling telescopic rod 10 and on the vehicle frame (3) between digging mechanism and sapling push plate (13), transmitting The both ends of band (12-1) are separately installed with transmission shaft (12-2), and the transmission shaft (12-2) connect with driving motor (12-3).
3. the full-automatic Machine for planting tree people according to claim 2 suitable for uniline plantation, it is characterised in that:The excavator Structure includes drill bit (2-3), drill bit motor (2), vertically-mounted drill bit shaft (2-2) and is moved down on drill bit (2-3) for controlling Dynamic lifting gear, the drill bit (2-3) be located at the lower section of vehicle frame (3) and with the bottom end Joint of drill bit shaft (2-2), drill bit Shaft (2-2) is arranged between conveyer belt (12-1) and water storage cabinet (1) and the top of drill bit shaft (2-2) passes through drill bit lifting platform (2-4) is connect with the drill bit motor (2) being fixed on drill bit lifting platform (2-4) afterwards.
4. the full-automatic Machine for planting tree people according to claim 3 suitable for uniline plantation, it is characterised in that:The lifting dress The lifting push rod (9-3) including lifting motor (9-2) and two settings parallel with drill bit shaft (2-2) is set, the lifting pushes away One end of bar (9-3) is fixed on the bottom of drill bit lifting platform (2-4), its other end is connected with lifting shaft (9-1), the lifting shaft (9-1) is connected with lifting motor (9-2).
5. the full-automatic Machine for planting tree people according to claim 2 suitable for uniline plantation, it is characterised in that:The drag links Structure includes being located at two pieces of trailing bars below vehicle frame (3) and the earthing drive rod (11) for driving trailing bar, two pieces of trailing bars Centered on drill bit (2-3), it is symmetrically mounted on the both sides of drill bit (2-3), the earthing drive rod (11) and drill bit shaft (2-2) Parallel and earthing drive rod (11) lower end is fixedly connected with trailing bar, its top is connected with earthing driving steering engine (5-5), institute Earthing driving steering engine (5-5) is stated to be mounted on vehicle frame (3) by steering engine (5-5) bearing.
6. the full-automatic Machine for planting tree people according to claim 5 suitable for uniline plantation, it is characterised in that:The trailing bar The V-shaped structure in cross section.
7. the full-automatic Machine for planting tree people for being suitable for uniline plantation according to claim 2~6 any one, feature exist In:The manipulator includes the first swing arm (5-6), the second swing arm (5-1), catching plate mounting base, steering engine (5-5) and gripper (5- 3), one end hinge of first swing arm (5-6) is on clevis mounting (16), one end of its other end and the second swing arm (5-1) It is hinged, the other end of second swing arm (5-1) installs the catching plate mounting base, the catching plate installation by movable connecting rod It is equipped on a pair of of pitch wheel (5-4) and wherein a gear (5-4) on seat and gear (5-4) shaft is installed, The steering engine (5-5) is mounted on the bottom of catching plate mounting base and is connect with gear (5-4) shaft, the one of the gripper (5-3) End is fixed on as grasping end, its other end on gear (5-4).
8. the full-automatic Machine for planting tree people according to claim 7 suitable for uniline plantation, it is characterised in that:The traveling wheel For Mecanum wheel, the Mecanum wheel is connected with the internal walking turbin generator (4) for being equipped with PID controller.
CN201820048170.0U 2018-01-11 2018-01-11 Full-automatic Machine for planting tree people suitable for uniline plantation Active CN207869642U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109662006A (en) * 2019-02-13 2019-04-23 武汉理工大学 A kind of small-sized ecological seedling transplanter
CN111406599A (en) * 2020-04-24 2020-07-14 武汉理工大学 Mountain region tree planting robot
CZ308903B6 (en) * 2020-01-14 2021-08-18 Veronika Staňková Growing processor for afforestation

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109662006A (en) * 2019-02-13 2019-04-23 武汉理工大学 A kind of small-sized ecological seedling transplanter
CZ308903B6 (en) * 2020-01-14 2021-08-18 Veronika Staňková Growing processor for afforestation
CN111406599A (en) * 2020-04-24 2020-07-14 武汉理工大学 Mountain region tree planting robot

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