CN220776820U

CN220776820U - Intelligent tree planting device

Info

Publication number: CN220776820U
Application number: CN202322473230.7U
Authority: CN
Inventors: 邓汉邦; 乔锐; 徐宏亮; 陈梓敬; 石柱; 郑雄浩; 王飞; 陈春梅
Original assignee: Ningbo University of Technology
Current assignee: Ningbo University of Technology
Priority date: 2023-09-12
Filing date: 2023-09-12
Publication date: 2024-04-16
Anticipated expiration: 2033-09-12

Abstract

The utility model discloses an intelligent tree planting device, which comprises a walking trolley, wherein four support columns are arranged on the walking trolley, and support plates are fixedly arranged on the four support columns; the seedling replenishing mechanism is arranged at one end of the top of the supporting plate; the hopper type rotating mechanism is arranged on the supporting plate, and the sapling replenishing mechanism conveys sapling into the hopper type rotating mechanism; the cylindrical rotating mechanism is located below the supporting plate and is arranged on the travelling trolley, the supporting plate is arranged on the intelligent tree planting device, the sapling supplying mechanism, the funnel type rotating mechanism and the cylindrical rotating mechanism and the sapling planting mechanism are arranged on the intelligent tree planting device, and therefore full-automatic sapling supplying and planting of saplings is achieved, manpower is effectively saved, and sapling planting stability is guaranteed.

Description

Intelligent tree planting device

Technical Field

The utility model relates to the technical field of tree planting equipment, in particular to an intelligent tree planting device.

Background

The current stage of populus euphratica seedling planting mainly relies on original labor force, and the working environment of the tree breeder is extremely bad. At this time, a robot is urgently needed to replace their physical labor.

Shu Qing, and the like, the height and the insertion pressure of a grass square lattice paving mechanism are controlled by a PLC according to the landform of a sand land so as to form a grass square lattice three-dimensional sand barrier on the sand land after operation, the sand-fixing capability is very strong, the paving efficiency can be improved by 161 times, and the paving cost is reduced by about 80%. The forestry robot in China is in a starting stage, and a robot obstetric research system suitable for the forestry situation in China is not formed in a system.

In China, a large area of tree planting is needed in many places, such as haze weather in North China, sand prevention forest protection needs to be built, desert transformation in North China is needed, and some dykes of rivers need to be reinforced, so that a large amount of labor and time are needed. And the development of modern seedling industry is low in efficiency of artificial tree planting and standardization degree only after the traditional artificial planting mode is obviously adopted, and if planting and watering are not timely, the survival rate cannot be guaranteed. An immeasurable loss is caused to the production.

Disclosure of utility model

The utility model aims to adopt mechanized planting to reduce the cost of tree planting links to a large extent, realize high-speed and high-quality forestation and improve the survival rate, and provide an intelligent tree planting device to solve the problems in the background technology.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the intelligent tree planting device comprises a walking trolley, wherein four support columns are arranged on the walking trolley, and support plates are fixedly arranged on the four support columns;

the seedling replenishing mechanism is arranged at one end of the top of the supporting plate;

The hopper type rotating mechanism is arranged on the supporting plate, and the sapling replenishing mechanism conveys sapling into the hopper type rotating mechanism;

The cylindrical rotating mechanism is positioned below the supporting plate and is arranged on the travelling trolley, a discharging hole is formed in the position, corresponding to the cylindrical rotating mechanism, of the supporting plate, and seedlings fall into the cylindrical rotating mechanism through the funnel type rotating mechanism and the discharging hole;

The seedling mechanism is arranged on the travelling trolley and used for digging tree seedlings at the cylindrical rotating mechanism into the dug soil pits.

Further, the seedling replenishing mechanism comprises two storage bins fixedly arranged on the supporting plate, a plurality of partition plates are equidistantly arranged in the storage bins, and trays are sleeved outside the partition plates;

An electric push rod for pushing the tray is arranged at the bottom of the supporting plate, and a transmission mechanism for transmitting seedlings is arranged at the top of the storage bin;

A slide is arranged between the two storage bins, and is obliquely arranged between the two storage bins at a certain angle, and the action of supplying seedlings is realized through a seedling supplying mechanism.

Further, the transmission mechanism comprises a plurality of windmill blades, a driving motor for driving the windmill blades is arranged on the storage bin, the windmill blades are located above the partition boards and used for transmitting seedlings pushed up by the tray to the slide, and the transmission mechanism is arranged for realizing the transmission function on the seedlings.

Further, funnel formula rotary mechanism is including rotating the outer lane of connection in the backup pad, and installs in the backup pad and be used for carrying out driven rotating member to the inner circle, is equipped with a plurality of exports on the inner circle, is equipped with the feed opening on the outer lane, and the feed opening corresponds with the discharge gate, and derives the mouth top and be equipped with the feeding little storehouse, and is a plurality of the feeding little storehouse is installed on the inner circle, and the feeding little storehouse corresponds with the slide, through the funnel formula rotary mechanism who is equipped with to realize carrying the effect to the sapling.

Further, the cylindrical rotating mechanism comprises a rotating cylinder, one side of the rotating cylinder is provided with a feeding step, and the rotating cylinder is provided with a receiving port communicated with the feeding step;

the travelling trolley is provided with a driving piece for driving the rotary drum, and the action of re-conveying the sapling is realized through the cylindrical rotating mechanism.

Further, the seedling mechanism comprises a bracket rotationally connected to the walking trolley, a servo motor (64) for driving the bracket is arranged on the supporting plate, and a fixing plate and a manipulator are sequentially and fixedly arranged on the bracket;

The fixed plate is provided with a pit digging part, and the seedling mechanism is arranged to realize the effect of planting the sapling.

Further, the digging part comprises a hydraulic cylinder fixedly installed on the fixed plate, the output end of the hydraulic cylinder is fixedly connected with a rotating motor, the output end of the rotating motor is fixedly connected with a drill bit, and the digging part is provided with the digging part, so that the digging effect on the soil pit is achieved.

The utility model has at least the following beneficial effects:

1. according to the invention, the supporting plate is arranged on the travelling trolley, and the sapling replenishing mechanism, the funnel-shaped rotating mechanism, the cylindrical rotating mechanism and the sapling mechanism are arranged on the travelling trolley, so that the full-automatic sapling feeding and planting effects are realized, the labor is effectively saved, and the sapling planting stability is ensured.

2. The invention adopts the funnel-shaped rotating mechanism similar to a toothpick holder, the upper part of the edge of the outer ring is provided with three feeding cabins, the continuous storage space of sapling is increased, the planting efficiency is improved, meanwhile, the inner part of the outer ring is provided with three slide-shaped steps, the sapling is ensured to accurately slide to the position to be clamped, and the feeding cabins can rapidly and accurately reach the position through the rotation of the rotating piece, so that the market demand is met.

3. The invention adopts the mechanical arm to send the seedlings, takes the situation that the seedlings are more firmly grabbed, improves the tree planting efficiency, has simple structure and lower price, and is widely applied to more industries along with the development of the technology level.

4. The pit is dug by adopting a pit drilling method, and a pit is dug by adopting a ditching method for a common pit digging mechanism, so that not only is the vegetation on the earth surface destroyed, but also a large amount of soil moisture is lost, and only a few tree planting machines are used for drilling and deep planting.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present utility model;

FIG. 2 is a side view of the overall structure of the present utility model;

FIG. 3 is a rear elevational view of the overall structure of the present utility model;

FIG. 4 is a schematic view of the internal structure of the storage bin of the present utility model;

FIG. 5 is a schematic view of the outer ring structure of the present utility model;

FIG. 6 is a schematic view of the structure of the outer ring feed opening of the present utility model;

FIG. 7 is a schematic view of a cylindrical rotary mechanism according to the present utility model;

fig. 8 is a schematic view of a fixing plate structure of the present utility model.

In the figure: 1-a walking trolley; 11-supporting columns; 12-supporting plates; 121-a discharge port; 2-a seedling replenishment mechanism; 21-a storage bin; 22-a separator; 23-a tray; 24-an electric push rod; 25-a transmission mechanism; 251-windmill type blades; 252-driving a motor; 26-slides; 3-a funnel type rotating mechanism; 31-an outer ring; 311-a feed opening; 32-feeding small bin; 33-inner ring; 331-an outlet; a 4-cylindrical rotating mechanism; 41-rotating a drum; 42-feeding steps; 43-a material receiving port; 5-seedling mechanism; 51-a bracket; 52-fixing plates; 53-a manipulator; 6, digging pit parts; 61-a hydraulic cylinder; 62-a rotating electric machine; 63-bit; 64-servo motor.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-8, the present utility model provides a technical solution:

the intelligent tree planting device comprises a walking trolley 1, wherein the walking trolley 1 is provided with a driving system, the driving system consists of four direct current motors which are all digitally controlled, and the four direct current motors are used for controlling the movement of a machine in the operation process, so that the linear movement and turning can be completed, and the flexibility is high; the intelligent control system adopts singlechip control, is responsible for the control to the walking drive of dolly and processes such as pit digging, seedling sending, and bluetooth module is equipped with to the device, and accessible cell-phone App carries out individual control to each item function alone, makes its function more perfect, installs four support columns 11 on the walking dolly 1, and fixed mounting backup pad 12 on four support columns 11, its characterized in that:

a seedling replenishment mechanism 2, the seedling replenishment mechanism 2 being mounted at one end of the top of the support plate 12;

a hopper type rotating mechanism 3, wherein the hopper type rotating mechanism 3 is installed on the supporting plate 12, and the sapling replenishing mechanism 2 conveys sapling into the hopper type rotating mechanism 3;

the cylindrical rotating mechanism 4 is arranged below the supporting plate 12 and is arranged on the travelling trolley 1, a discharging hole 121 is formed in the position, corresponding to the cylindrical rotating mechanism 4, of the supporting plate 12, and seedlings fall into the cylindrical rotating mechanism 4 through the funnel-type rotating mechanism 3 and the discharging hole 121;

The seedling mechanism 5 is arranged on the travelling trolley 1, and tree seedlings at the cylindrical rotating mechanism 4 are planted in the dug soil pits.

The seedling replenishing mechanism 2 comprises two storage bins 21 fixedly arranged on a supporting plate 12, the top of each storage bin 21 is provided with a small storage bin 21, two seedling storage bins can be used for accommodating 40 seedlings at one time, the characteristic of intermittent motion of wheels is skillfully utilized, the seedlings accurately slide to the small bins through a slide 26 to finish the conveying of the seedlings, a plurality of partition plates 22 are arranged in each storage bin 21 at equal intervals, a tray 23 is sleeved outside each partition plate 22, a transmission mechanism 25 comprises a plurality of windmill blades 251, a driving motor 252 for driving the windmill blades 251 is arranged on each storage bin 21, and the windmill blades 251 are positioned above the space between the plurality of partition plates 22 and are used for transmitting the seedlings pushed by the tray 23 to the slide 26;

The seedling emergence mode of the reserve 21 is as follows:

1. Under the control of the singlechip, the electric push rod 24 with the sapling at the upper part is driven to rise to a designated position, and the sapling is waited for pulling out.

2. After the platform reaches the designated position, the plurality of windmill blades 251, namely the windmill type rotary shifting piece mechanism, are driven by the motor to shift the seedlings on the platform to the slide 26 one by one.

3. The seedlings on the slide 26 slide freely under the action of gravity into the feed bin 32 to be replenished.

4. So reciprocating, after all the seedlings in the reserve bin 21 are supplemented, the platform returns to the initial position to wait for the manual supplement of the seedlings in the reserve bin 21

An electric push rod 24 for pushing the tray 23 is arranged at the bottom of the supporting plate 12, and a transmission mechanism 25 for transmitting seedlings is arranged at the top of the storage bin 21;

A slide 26 is mounted between the two storage bins 21, and the slide 26 is mounted between the two storage bins 21 at an angle.

The funnel-type rotary mechanism 3 comprises an outer ring 31 which is rotationally connected to a supporting plate 12, three slide 26-shaped steps are attached to the inner part of the outer ring 31, the sapling is guaranteed to accurately slide to a position to be clamped, a rotary part which is used for driving the inner ring 33 is arranged on the supporting plate 12, the rotary part is an existing rotary driving mechanism, the outer ring 31 can rotate relative to the supporting plate 12, a stepping motor which is arranged on the supporting plate 12 can be used, other mechanisms with rotary functions can be used, and the mechanism is not repeated for the purpose, a plurality of outlet ports 331 are arranged on the outer ring 31, a feed opening 311 is arranged on the outer ring 31, the feed opening 311 corresponds to a discharge opening 121, a small feed bin 32 is arranged above the outlet ports 331, the small feed bin 32 is arranged on the inner ring 33, and the small feed bin 32 corresponds to the slide 26.

The cylindrical rotating mechanism 4 comprises a rotating cylinder 41, one side of the rotating cylinder 41 is provided with a feeding step 42, and the rotating cylinder 41 is provided with a receiving port 43 communicated with the feeding step 42;

the travelling trolley 1 is provided with a driving member for driving the rotary drum 41, the driving member can drive the rotary drum 41 in the prior art so as to rotate relative to the trolley, and the mechanism is the prior equipment and is not repeated for the purpose.

The seedling mechanism 5 comprises a bracket 51 rotatably connected to the travelling trolley 1, a servo motor (64) for driving the bracket 51 is arranged on the supporting plate 12, and a fixed plate 52 and a manipulator 53 are sequentially and fixedly arranged on the bracket 51;

The fixed plate 52 is provided with the digging part 6, the digging part 6 comprises a hydraulic cylinder 61 fixedly arranged on the fixed plate 52, the output end of the hydraulic cylinder 61 is fixedly connected with a rotating motor 62, the output end of the rotating motor 62 is fixedly connected with a drill bit 63, the drill bit 63 adopts a spiral drill bit 63, the soil loosening and the soil discharging are facilitated, the rotating motor 62 controls the drill bit 63 to dig holes after receiving an instruction, the structure rotates by a certain angle after digging holes, and a mechanical arm with sapling grabbing is used for putting sapling into the dug holes, so that two processes of digging holes and planting the sapling are effectively combined into one.

The specific implementation process comprises the following steps: according to the invention, through independent opening of the storage, transportation and drilling of the saplings, each part is reasonably matched, when one mechanism operates, other mechanisms can also independently operate and prepare for the next operation, so that the planting efficiency of the saplings is greatly increased, the maximization of mechanical functions is realized, the travelling trolley 1 is connected with a mobile phone through Bluetooth, the travelling trolley 1 can also be controlled to move through a digital display on the trolley, the travelling trolley 1 moves forwards along a straight line at the beginning, two large-sized storage bins 21 of the head are operated at intervals, the storage bins 21 push the saplings out, the saplings slide to the small-sized storage bins 21 of the small bins along the tray 23, the three small-sized storage bins 21 push one sapling out at a time interval while supplementing the saplings, the three small bins are all full bins, the saplings can always be pushed out, the operation of the next saplings can be always carried out, the machine is not delayed, when the saplings fall into the feeding small bins 32 on the inner ring 33 from the slide 26, the saplings fall into the hopper 32 from the support frame 31 to the outer ring 31, the saplings fall into the mechanical arm 51 at the end of the position corresponding to the rotary support frame 31, the saplings fall into the tail hole 51 at the end of the rotary support frame 31, and the mechanical saplings fall into the tail hole 51 at the end of the position of the mechanical support 31.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Intelligence tree planting device, including walking dolly (1), install four support column (11) on walking dolly (1), and fixed mounting backup pad (12) on four support column (11), its characterized in that:

the seedling replenishing mechanism (2) is arranged at one end of the top of the supporting plate (12);

the hopper type rotating mechanism (3), the hopper type rotating mechanism (3) is arranged on the supporting plate (12), and the sapling supplying mechanism (2) conveys saplings into the hopper type rotating mechanism (3);

The cylindrical rotating mechanism (4), the cylindrical rotating mechanism (4) is arranged below the supporting plate (12) and is arranged on the travelling trolley (1), a discharging hole (121) is formed in the position, corresponding to the cylindrical rotating mechanism (4), of the supporting plate (12), and seedlings fall into the cylindrical rotating mechanism (4) through the funnel-type rotating mechanism (3) and the discharging hole (121);

the seedling mechanism (5), seedling mechanism (5) is installed on travelling trolley (1), and the sapling of drum formula rotary mechanism (4) department is gone into in the earth pit of digging.

2. The intelligent tree planting device according to claim 1, wherein: the seedling replenishing mechanism (2) comprises two storage bins (21) fixedly arranged on the supporting plate (12), a plurality of partition plates (22) are equidistantly arranged in the storage bins (21), and trays (23) are sleeved outside the partition plates (22);

An electric push rod (24) for pushing the tray (23) is arranged at the bottom of the supporting plate (12), and a transmission mechanism (25) for transmitting seedlings is arranged at the top of the storage bin (21);

a slide (26) is arranged between the two storage bins (21), and the slide (26) is obliquely arranged between the two storage bins (21) at a certain angle.

3. The intelligent tree planting device according to claim 2, wherein: the transmission mechanism (25) comprises a plurality of windmill blades (251), a driving motor (252) for driving the windmill blades (251) is arranged on the storage bin (21), and the windmill blades (251) are positioned above the partition boards (22) and used for transmitting seedlings pushed up by the tray (23) to the slide (26).

4. The intelligent tree planting device according to claim 1, wherein: funnel formula rotary mechanism (3) are including rotating outer lane (31) of being connected on backup pad (12), and the inside inner circle (33) that is equipped with of outer lane (31), and install on backup pad (12) and be used for carrying out driven rotating member to inner circle (33), are equipped with a plurality of export (331) on inner circle (33), are equipped with feed opening (311) on outer lane (31), and feed opening (311) correspond with discharge gate (121), and export (331) top and be equipped with feeding bin (32), a plurality of feeding bin (32) are installed on inner circle (33), and feeding bin (32) correspond with slide (26).

5. The intelligent tree planting device according to claim 1, wherein: the cylindrical rotating mechanism (4) comprises a rotating cylinder (41), one side of the rotating cylinder (41) is provided with a feeding step (42), and the rotating cylinder (41) is provided with a material receiving opening (43) communicated with the feeding step (42);

A driving member for driving the rotary drum (41) is mounted on the travelling trolley (1).

6. The intelligent tree planting device according to claim 1, wherein: the seedling mechanism (5) comprises a bracket (51) rotatably connected to the travelling trolley (1), a servo motor (64) for driving the bracket (51) is mounted on the supporting plate (12), and a fixing plate (52) and a manipulator (53) are sequentially and fixedly mounted on the bracket (51);

the fixed plate (52) is provided with a pit digging part (6).

7. The intelligent tree planting device according to claim 6, wherein: the pit digging part (6) comprises a hydraulic cylinder (61) fixedly arranged on the fixed plate (52), the output end of the hydraulic cylinder (61) is fixedly connected with a rotating motor (62), and the output end of the rotating motor (62) is fixedly connected with a drill bit (63).