CN220458135U

CN220458135U - Robot for planting tree

Info

Publication number: CN220458135U
Application number: CN202320554161.XU
Authority: CN
Inventors: 陈林燕; 何海洋; 沈坤蓉; 周新志; 龙樟; 王毅
Original assignee: Southwest Petroleum University
Current assignee: Southwest Petroleum University
Priority date: 2023-03-20
Filing date: 2023-03-20
Publication date: 2024-02-09
Anticipated expiration: 2033-03-20

Abstract

The utility model discloses a tree planting robot, which relates to the field of greening equipment. It includes a movement component, a digging component and a tree planting component. The digging component includes a lifting mechanism fixedly installed on the movement component and a tree planting component installed on the movement component. A drill bit at the moving end of the lifting mechanism, with the head of the drill bit facing downwards. The tree planting component includes a turntable component fixedly installed on the moving component, a number of seedling storage tubes fixedly installed above the turntable component, and There is a seedling feeding tube under the turntable assembly, and the seedling feeding tube is fixedly connected to the movement component. In order to solve the problem that the existing tree planting machine has a single function, a low degree of automated planting, and requires a large amount of manpower and material resources as assistance.

Description

Robot for planting tree

Technical Field

The utility model relates to the field of greening equipment, in particular to a tree planting robot.

Background

The tree planting is one of the main measures for reducing the desertification of the land, and most of the tools for artificial tree planting are simple labor tools such as spades, picks, hoes and the like, and have the advantages of high working intensity, low efficiency and short continuous working time.

The tree planter is a forest planting machine for planting nursery stock. During operation, tree planting ditches or holes are formed in the land through the ditcher, tree seedlings are thrown into the ditches by using a manual or tree planting mechanism according to a certain plant spacing, and then the root soil of the tree seedlings is covered and compacted by the earthing compaction device. The traditional planting method is that gardeners firstly dig tree pits by using tools such as a drilling machine or a spade, then transplant the trees into the tree pits, finally carry out soil burying treatment, and regularly maintain and water the trees in the later period so as to keep nutrients in the growth process of the trees.

The existing tree planting machine has single function and lower automation planting degree, and needs a large amount of manpower and material resources as assistance, so that it is necessary to design an automatic tree planting robot integrating functions of pit digging, seedling planting and the like to replace manual operation.

Disclosure of Invention

The utility model provides a tree planting robot, which aims to solve the problems that the existing tree planting machine is single in function, low in automatic planting degree and needs a large amount of manpower and material resources as assistance.

In order to achieve the above object, the present utility model provides the following solutions:

the utility model provides a robot plants tree, includes the motion subassembly, still includes the subassembly of digging pit and tree planting subassembly, dig pit the subassembly including install in elevating system on the motion subassembly with install in the drill bit of elevating system lift end, the head of drill bit is down, the tree planting subassembly including install in carousel subassembly, a plurality of fixed mounting on the motion subassembly are in Chu Miaotong of carousel subassembly top, install in send seedling section of thick bamboo of carousel subassembly below, send seedling section of thick bamboo with motion subassembly fixed connection.

According to the utility model, the pit digging assembly and the tree planting assembly are arranged on the moving assembly, the moving assembly drives the tree planting assembly to work, after the tree planting assembly moves to a place where tree planting is required, the drill bit is started, the drill bit is controlled by the lifting mechanism to lift, pit digging and soil taking out are carried out by the rotating drill bit in the lifting process, after pit digging is finished, the drill bit is lifted, the tree planting assembly moves to the position above the dug pit by the moving assembly, the seedling conveying cylinder is aligned with the soil pit, the turntable assembly is rotated, the seedlings stored in one of the seedling storage cylinders are moved to the position above the seedling conveying cylinder, so that the seedlings enter the soil pit along the seedling conveying cylinder, the pit digging and seedling conveying operation of tree planting are finished, and preparation is made for subsequent soil covering and watering; the tree planting robot integrates the functions of digging pit and planting tree, realizes automatic tree planting, and does not need a large amount of manpower and material resources to assist; wherein, send seedling section of thick bamboo and motion subassembly fixed connection, can be direct fixed, also can be indirect (relative) fixed.

Further, the lifting mechanism comprises a first driving motor, a sliding block connected with the output end of the first driving motor and a guide rod used for guiding the sliding block, and the drill bit is rotationally connected with the sliding block.

The utility model adopts the vertically installed slide block mechanism to lift, the first driving motor drives the slide block to move up and down, the guide rod guides the slide block to move up and down, and the slide block is prevented from shifting.

Further, the pit digging assembly further comprises a limiting rod fixedly installed on the moving assembly and a second driving motor used for driving the drill bit to rotate, and a rotating shaft of the drill bit is rotationally connected with the limiting rod.

The second driving motor is used for driving the drill bit to rotate, and because the drill bit needs to enter the soil, the length of the rotating shaft of the drill bit is longer, if only one connecting point connected with the sliding block is arranged, the rotating shaft of the drill bit is easy to laterally deviate, the sliding block or the connecting rod is damaged, the limiting rod is used for increasing one connecting point for the rotating shaft, the rotating shaft is prevented from laterally deviating, and meanwhile, the damage in the rotating shaft can be prevented.

Further, both ends of the Chu Miaotong are provided with openings, and a plurality of Chu Miaotong are uniformly distributed along the circumferential direction of the turntable.

The seedling storage barrels with openings at two ends are convenient for adding seedlings and delivering the seedlings, chu Miaotong are uniformly distributed along the circumferential direction of the rotary table, and the rotary table drives the seedlings in the seedling storage barrels to rotate, so that cyclic automatic tree planting is realized.

Further, the turntable assembly comprises a third driving motor, a turntable connected with the output end of the third driving motor and a limiting platform fixedly connected with the moving assembly, wherein through holes which are coaxial and communicated with the seedling conveying cylinders are formed in the limiting platform, and the through holes are located on the rotating paths of the seedling storage cylinders.

The third driving motor drives the turntable to rotate, so that the seedling storage barrel can sequentially correspond to the through holes, seedlings in the seedling storage barrel conveniently enter the seedling conveying barrel through the through holes in sequence, automatic seedling conveying is achieved, and because of openings at two ends of Chu Miaotong, the limiting platform is used for dragging the opening at the lower end of the seedling storage barrel, seedlings in the seedling storage barrel are prevented from falling off, and meanwhile, seedlings rotating to the through holes enter the seedling conveying barrel through the through holes, and automatic seedling conveying operation is achieved.

Further, the tree planting device further comprises a soil covering assembly, wherein the soil covering assembly is located on one side, away from the pit digging assembly, of the tree planting assembly. The earthing component is used for backfilling soil carried out during digging the pit by the drill bit.

Further, the earthing subassembly include xyz axle telescoping subassembly and with the earthing board that xyz axle telescoping subassembly is connected, xyz axle telescoping subassembly includes first x axle telescoping device and second x axle telescoping device, the earthing board includes first subplate and second subplate, first subplate and second subplate fixed mounting respectively in the flexible end of first x axle telescoping device and the flexible end of second x axle telescoping device.

In the utility model, the advancing direction of the tree planting robot is defined as an x-axis, the direction vertical to the x-axis in the horizontal direction is defined as a y-axis, the direction vertical to the x-axis in the vertical direction is defined as a z-axis, and the xyz-axis telescopic component is arranged based on the coordinate system; the xyz-axis telescopic assembly is used for adjusting the position of the earthing plate, two earthing plates are needed due to the blocking of the trunk of the sapling, earthing is carried out by respectively closing two sides of the trunk, and the first x-axis telescopic device and the second x-axis telescopic device respectively control the two earthing plates to move. It will be appreciated by those skilled in the art that the xyz-axis retraction assembly may employ any mechanism known in the art capable of effecting movement in three opposite directions of xyz, such as a conventional three-axis sliding table or the like.

Further, the first sub-board and the second sub-board are distributed transversely, a first groove is formed in the first sub-board towards the second sub-board, a second groove is formed in the second sub-board towards the first sub-board, and the concave surfaces of the first groove and the second groove are opposite.

The first groove and the second groove are used for bulldozing, and a hole for accommodating the trunk is formed after the first groove and the second groove are matched, so that more operations are performed for bypassing the trunk when soil is covered, and time is saved.

Further, the tree planting device also comprises a watering assembly, wherein the watering assembly comprises a water storage tank arranged on the motion assembly and a spray pipe communicated with the water storage tank, and the tail end of the spray pipe is positioned at one side, far away from the tree planting assembly, of the earthing assembly. The watering component is used for watering the saplings after earthing and providing water for the saplings.

Further, the tail end of the spray pipe is equal to the lower end of the seedling feeding barrel in height. The spray pipe is close to the ground, so that water flow is relatively concentrated, and the watering efficiency is enhanced.

The one or more technical schemes provided by the utility model have at least the following technical effects or advantages:

(1) According to the utility model, the pit digging assembly and the tree planting assembly are arranged on the motion assembly, so that automatic pit digging and tree planting are realized, and a large amount of manpower and material resources are not needed for assistance;

(2) Through installing earthing subassembly and subassembly that waters on the motion subassembly, with the cooperation work of digging pit subassembly and tree planting subassembly together, realize automatic tree planting, practice thrift manpower and materials.

Drawings

The accompanying drawings, which are included to provide a further understanding of embodiments of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the principles of the utility model;

FIG. 1 is a schematic view of an overall structure of a tree planting robot according to the present utility model;

FIG. 2 is a schematic view of a pit digging assembly according to the present utility model;

FIG. 3 is a schematic view of a tree planting assembly according to the present utility model;

FIG. 4 is a schematic view of a limiting platform according to the present utility model;

FIG. 5 is a schematic view of the construction of the earthing assembly of the present utility model;

FIG. 6 is a bottom view of the soil covering assembly of the present utility model;

the device comprises a 1-motion component, a 2-pit digging component, a 201-drill bit, a 202-first driving motor, a 203-sliding block, a 204-guide rod, a 205-limit rod, a 206-second driving motor, a 3-tree planting component, 301-Chu Miaotong, a 302-seedling feeding barrel, a 303-third driving motor, a 304-turntable, a 305-limit platform, a 306-through hole, a 4-earthing component, a 401-xyz axis telescopic component, a 402-first x axis telescopic device, a 403-second x axis telescopic device, a 404-first subplate, a 405-second subplate, a 406-first groove, a 407-second groove and a 5-watering component.

Detailed Description

In order that the above-recited objects, features and advantages of the present utility model will be more clearly understood, a more particular description of the utility model will be rendered by reference to the appended drawings and appended detailed description. In addition, the embodiments of the present utility model and the features in the embodiments may be combined with each other without collision.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model, however, the present utility model may be practiced in other ways than within the scope of the description, and the scope of the utility model is therefore not limited to the specific embodiments disclosed below.

Referring to fig. 1-6, the present embodiment provides a tree planting robot, including a motion assembly 1, a pit digging assembly 2 and a tree planting assembly 3, where the pit digging assembly 2 includes a lifting mechanism installed on the motion assembly 1 and a drill bit 201 installed at a moving end of the lifting mechanism, a head of the drill bit 201 faces downward, and the tree planting assembly 3 includes a turntable assembly installed on the motion assembly 1, a plurality of Chu Miaotong fixedly installed above the turntable assembly, and a seedling feeding barrel 302 installed below the turntable assembly, and the seedling feeding barrel 302 is fixedly connected with the motion assembly 1.

The motion assembly 1 can be a crawler type motion mechanism or a wheel type motion mechanism, preferably a wheel type motion mechanism, has more accurate movement and positioning and strong adaptability to the environment; the lifting mechanism can be a sliding block guide rail mechanism or a telescopic column mechanism, and is preferably a sliding block guide rail mechanism in order to ensure that the drill bit 201 penetrates into the soil with enough force during pit digging and has enough digging precision; the drill 201 adopts a screw drill, the diameters of the Chu Miaotong and seedling feeding barrels 302 are determined according to the sizes of the seedlings to be planted, the number of the seedling storage barrels 301 is determined according to the sizes of the turntable assemblies, the embodiment is not particularly limited, and the seedling feeding barrels 302 are fixed on the moving assembly 1 through welding or bolting.

In a more preferred embodiment, the chassis suspension of the motion assembly 1 employs a combined independent suspension damping device. The combined independent suspension system has no controllable mechanism, but has good adaptability to the terrain change in a complex environment, so that the multifunctional clustered tree planting robot has a compact structure and can effectively reduce the vibration of a vehicle body. The structure and control are easier to realize, and the cost is reduced.

In a more preferred embodiment, the lifting mechanism comprises a first driving motor 202, a sliding block 203 connected with the output end of the first driving motor 202, and a guiding rod 204 for guiding the sliding block 203, and the drill bit 201 is rotatably connected with the sliding block 203.

The first driving motor 202 may be a servo motor or a stepping motor, and is fixed to the moving assembly 1 through a bracket, a transmission mode between the first driving motor 202 and the sliding block 203 adopts screw transmission, and a transmission mode between the first driving motor 202 and the screw may be spur gear transmission or bevel gear transmission, as shown in fig. 2, the first driving motor 202 drives the screw to rotate through a bevel gear, the sliding block 203 is rotationally connected with the screw through a screw nut, the drill bit 201 and the guide rod 204 are both arranged in parallel with the screw, the guide rod 204 is fixedly connected with the moving assembly 1 through welding or bolting, preferably welding, the connection strength is high, and looseness is not easy; the rotary shaft of the drill 201 is rotatably connected through the slider 203, and the drill 201 is driven by a motor mounted above the slider 203.

In a more preferred embodiment, the pit digging assembly 2 further comprises a limiting rod 205 fixedly installed on the moving assembly 1, and a second driving motor 206 for driving the drill bit 201 to rotate, wherein the rotating shaft of the drill bit 201 is rotatably connected with the limiting rod 205.

The stop rod 205 is fixedly connected with the moving assembly 1 by welding, bolting or pinning, preferably welding, with high connection strength and difficult loosening, and the second driving motor 206 may be a servo motor or a stepping motor and is mounted above the slider 203.

In a more preferred embodiment, the Chu Miaotong is open at both ends, and a plurality of Chu Miaotong s 301 are uniformly distributed along the circumference of the turntable 304.

In a more preferred embodiment, the turntable assembly includes a third driving motor 303, a turntable 304 connected to an output end of the third driving motor 303, and a limiting platform 305 fixedly connected to the moving assembly 1, where a through hole 306 coaxial and communicating with the seedling feeding barrel 302 is formed on the limiting platform 305, and the through hole 306 is located on a rotation path of each seedling storage barrel 301.

Wherein, the third driving motor 303 can be a servo motor or a stepping motor, and is fixed on the motion assembly 1 through a bracket, the connection mode between the third driving motor 303 and the turntable 304 can be belt transmission or gear transmission, preferably gear transmission, and is bevel gear transmission as shown in fig. 3; the spacing platform 305 and the moving component 1 may be welded or connected by bolts, and the seedling feeding barrel 302 may be separated from the spacing platform 305 or fixed with the spacing platform 305, as shown in fig. 4, in order to fixedly connect the seedling feeding barrel 302 and the spacing platform 305, preferably welded, and preferably, the seedling feeding barrel 302, the through holes 306 and Chu Miaotong have equal diameters.

In a more preferred embodiment, the soil covering assembly 4 is further included, and the soil covering assembly 4 is located on the side of the tree planting assembly 3 away from the pit digging assembly 2.

In a more preferred embodiment, the covering assembly 4 includes an xyz-axis telescopic assembly 401 and a covering plate connected to the xyz-axis telescopic assembly 401, the xyz-axis telescopic assembly 401 includes a first x-axis telescopic device 402 and a second x-axis telescopic device 403, and the covering plate includes a first sub-plate 404 and a second sub-plate 405, and the first sub-plate 404 and the second sub-plate 405 are fixedly mounted on the telescopic ends of the first x-axis telescopic device 402 and the second x-axis telescopic device 403, respectively.

The xyz-axis telescopic assembly 401 may be a ball screw structure, a gear rack structure or a combination of the two, as shown in fig. 5, the z-axis direction adopts a ball screw structure, the y-axis direction adopts a gear rack structure, as shown in fig. 6, and the x-axis direction adopts a ball screw structure and is driven by a motor; the first x-axis telescopic device 402 and the second x-axis telescopic device 403 are identical, have opposite installation directions, and preferably rotate synchronously, so that the control is facilitated; the sum of the sizes of the first sub-plate 404 and the second sub-plate 405 is greater than the diameter of the drill bit 201 to facilitate compaction of the backfilled soil.

In a more preferred embodiment, the first sub-board 404 and the second sub-board 405 are laterally distributed, a first groove 406 is disposed on the first sub-board 404 towards the second sub-board 405, and a second groove 407 is disposed on the second sub-board 405 towards the first sub-board 404, and the first groove 406 is opposite to the second groove 407.

The depth of the first recess 406 and the second recess 407 is larger than the trunk diameter of the sapling, and the first recess 406 and the second recess 407 are used for backfilling soil, so that the lengths of the first recess 406 and the second recess 407 in the vertical direction need to be determined according to the height of the soil accumulation carried by the drill bit 201 in practical situations, and the embodiment is not specifically limited.

In a more preferred embodiment, the device further comprises a watering assembly 5, wherein the watering assembly 5 comprises a water storage tank arranged on the motion assembly 1 and a spray pipe communicated with the water storage tank, and the tail end of the spray pipe is positioned on the side, away from the tree planting assembly 3, of the earthing assembly 4. The tail end of the spray pipe is equal to the lower end of the seedling feeding barrel 302 in height. The nozzle is controlled by the electromagnetic valve, and the specific installation and control mode of the electromagnetic valve is not particularly limited in this embodiment.

While preferred embodiments of the present utility model have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the utility model.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present utility model without departing from the spirit or scope of the utility model. Thus, it is intended that the present utility model also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims

1. The tree planting robot comprises a motion assembly (1), and is characterized by further comprising a pit digging assembly (2) and a tree planting assembly (3), wherein the pit digging assembly (2) comprises a lifting mechanism arranged on the motion assembly (1) and a drill bit (201) arranged at the lifting end of the lifting mechanism, the head of the drill bit (201) faces downwards, the tree planting assembly (3) comprises a turntable assembly arranged on the motion assembly (1), a plurality of Chu Miaotong (301) fixedly arranged above the turntable assembly and a seedling feeding barrel (302) arranged below the turntable assembly, and the seedling feeding barrel (302) is fixedly connected with the motion assembly (1); the soil covering assembly (4) is positioned on one side of the tree planting assembly (3) away from the pit digging assembly (2); the tree planting device is characterized by further comprising a watering assembly (5), wherein the watering assembly (5) comprises a water storage tank arranged on the motion assembly (1) and a spray pipe communicated with the water storage tank, and the tail end of the spray pipe is located at one side, far away from the tree planting assembly (3), of the earthing assembly (4).

2. A tree planting robot according to claim 1, characterized in that the lifting mechanism comprises a first drive motor (202), a slide block (203) connected to the output end of the first drive motor (202) and a guide bar (204) for guiding the slide block (203), the drill bit (201) being rotatably connected to the slide block (203).

3. A tree planting robot according to claim 2, characterized in that the pit digging assembly (2) further comprises a limit lever (205) fixedly mounted on the moving assembly (1), and a second driving motor (206) for driving the drill bit (201) to rotate, the rotation shaft of the drill bit (201) being rotatably connected with the limit lever (205).

4. A tree planting robot according to claim 1, wherein the two ends of the Chu Miaotong (301) are openings, and a plurality of Chu Miaotong (301) are uniformly distributed along the circumference of the turntable (304).

5. The tree planting robot according to claim 1, wherein the turntable assembly comprises a third driving motor (303), a turntable (304) connected with the output end of the third driving motor (303), and a limiting platform (305) fixedly connected with the moving assembly (1), the limiting platform (305) is provided with a through hole (306) coaxial and communicated with the seedling feeding barrel (302), and the through hole (306) is located on the rotation path of each seedling storage barrel (301).

6. A tree planting robot according to claim 1, characterized in that the earthing assembly (4) comprises an xyz-axis telescopic assembly (401) and an earthing plate connected with the xyz-axis telescopic assembly (401), the xyz-axis telescopic assembly (401) comprises a first x-axis telescopic device (402) and a second x-axis telescopic device (403), the earthing plate comprises a first sub-plate (404) and a second sub-plate (405), and the first sub-plate (404) and the second sub-plate (405) are fixedly mounted at the telescopic end of the first x-axis telescopic device (402) and the telescopic end of the second x-axis telescopic device (403), respectively.

7. The tree planting robot according to claim 6, wherein the first sub-board (404) and the second sub-board (405) are laterally distributed, a first groove (406) is formed in the first sub-board (404) in a direction towards the second sub-board (405), a second groove (407) is formed in the second sub-board (405) in a direction towards the first sub-board (404), and the first groove (406) is opposite to the second groove (407) in concave surface.

8. A tree planting robot according to claim 1, wherein the tip of the nozzle is at the same height as the lower end of the seedling feeding barrel (302).