An intelligent desert tree-planting robot

Abstract

The present invention relates to an intelligent desert tree-planting robot, comprising a walking mechanism, a base, a loading box, a baffle and a planting mechanism, wherein the walking mechanism comprises a walking drive member and a walking track wheel, wherein the walking track wheel is connected to both sides of the walking drive member; the base comprises a horizontal portion, a vertical portion and a lever, wherein the vertical portion is connected to one end of the horizontal portion, and the horizontal portion is connected to the walking drive member, and a connecting groove is provided on the horizontal portion, and a strip insertion hole and a stamping groove are provided on the vertical portion, wherein the strip insertion hole passes through the vertical portion and is respectively connected to the connecting groove and the stamping groove. The intelligent desert tree-planting robot provided by the present invention can realize tree planting in the desert, and has good tree planting effect, high efficiency and low cost.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to an intelligent desert tree-planting robot. Background Art

[0002] Desertification and sandification are major ecological problems facing the world. The main measure to deal with this problem is to return some of the desertified arable land to forest land.

[0003] At present, there are four main methods of desert tree planting at home and abroad. The first is the most common artificial tree planting, but the storage and transportation of seedlings, digging, planting and cultivation consume a lot of manpower and have low efficiency, high labor intensity, and the quality of the operation cannot be guaranteed. The second is semi-mechanized planting, which is mechanized trenching and then manual striping, but the trenching width of the machine is about 1 meter, which causes serious damage to the original soil and vegetation. The third is mechanical cutting planting, that is, afforestation with a chain track tractor towing a hydraulic seedling machine, trenching, planting, covering and suppressing are completed at one time, which is efficient and labor-saving, but the cost is high and it is not suitable for working on sand dunes with poor moisture. The fourth is the modular tree planting robot currently being developed at home and abroad, but at this stage, the modular robot still has problems such as high desert planting cost, complicated operation modules, low stability, lack of watering devices, and chassis design that is difficult to adapt to the complex terrain of the desert.

[0004] Therefore, it is necessary to invent an intelligent desert tree-planting robot to solve the above problems, which can realize tree planting in the desert with good planting effect, high efficiency and low cost. Summary of the invention

[0005] In view of this, the present invention provides an intelligent desert tree-planting robot to solve the problem that the existing tree-planting robots are difficult to adapt to the complex desert terrain.

[0006] In order to achieve the above-mentioned purpose, the technical solution of the present invention to solve the technical problem is to provide an intelligent desert tree planting robot, including: a walking mechanism, a base, a loading box, a baffle and a planting mechanism, the walking mechanism including a walking drive member and a walking track wheel, the walking track wheel is connected to both sides of the walking drive member; the base includes a horizontal part, a vertical part and a lever, the vertical part is connected to one end of the horizontal part, the horizontal part is connected to the walking drive member, and a connecting groove is provided on the horizontal part, and a strip hole and a stamping groove are provided on the vertical part, the strip hole passes through the vertical part and is respectively connected to the connecting groove and the stamping groove; the lever is located in the connecting groove, and one end of the lever close to the vertical part is rotatably connected to the inner wall of the connecting groove; the loading box includes a box body and a branch member, the box body is connected to the horizontal part, is an internal hollow cavity, and one side wall thereof A branch groove is provided on it that runs through the box body; the branch member is located in the branch groove and is rotatably connected to the inner wall of the box body; the baffle is an internal hollow cavity, which is located in the connecting groove and covers the shift rod, and is provided with a feed groove, and the feed groove coincides with the branch groove; the planting mechanism includes a planting drive member, a stamping rod and a water pipe, the planting drive member, the stamping rod and the water pipe are all located in the stamping groove, and the planting drive member is connected to the inner wall of the stamping groove; one end of the water pipe is connected to the inner wall of the stamping groove and is connected to an external water source, and its end away from the stamping groove passes through the cutting hole to be exposed on the base; one end of the stamping rod also passes through the cutting hole to be exposed on the base, and it is slidably connected to the vertical part and connected to the planting drive member, so as to reciprocate along the axial direction of the cutting hole under the drive of the planting drive member.

[0007] Furthermore, a U-shaped clamping block is provided on the stamping rod, and the planting drive component includes a gear box, a driving gear, a driven gear, a clamping plate and a driven gear, the driving gear and the driven gear are both arranged in the gear box, and the driving gear is meshed with the driven gear; the clamping plate is arranged on the outer wall of the gear box and extends in a direction close to the stamping rod, and the U-shaped clamping block is clamped with the clamping plate; a rack is also provided in the stamping groove, the driven gear is exposed from the gear box and meshed with the rack, so that the driven gear is driven to rotate by the driving gear, so that transmission is formed between the driven gear and the rack through meshing, and then the clamping plate is used to drive the U-shaped clamping block to move together, thereby realizing the movement of the stamping rod driven by the planting drive component.

[0008] Furthermore, a motor driving the driving gear is arranged in the gear box to provide motive power to the driving motor.

[0009] Furthermore, a stamping rotating motor is also provided on the base, and an output shaft of the stamping rotating motor is connected to the stamping rod to drive the stamping rod to rotate, so that the U-shaped clamping block is clamped or disengaged from the clamping plate.

[0010] Furthermore, a sliding groove is provided on the horizontal portion, and a sliding boss is provided on the box body, and the sliding boss is slidably matched with the sliding groove.

[0011] Furthermore, the sliding boss is T-shaped.

[0012] Furthermore, an annular sand flushing block is provided on one end of the water pipe close to the ground, and the annular sand flushing block is connected to the water pipe.

[0013] Furthermore, a water gun is arranged on a surface of the annular sand flushing block close to the ground, and the water gun is connected with the water pipe through the annular sand flushing block.

[0014] Furthermore, the box body includes a cutting placement area and a cutting sorting area, the inner wall of the cutting placement area is inclined and is connected to the cutting sorting area; a sorting component is arranged in the cutting sorting area, and the branch groove is opened on the side wall of the sorting area, so that the cuttings to be planted can be sorted by using the sorting component so that they fall out of the branch groove.

[0015] Furthermore, the arranging component includes a conveyor belt and a plurality of clamps, and the plurality of clamps are connected to the conveyor belt at equal intervals, so that when the cuttings to be planted fall from the cutting placement area to the arranging component, they are just clamped between two of the clamps, so that the cuttings to be planted can be transported to the branching groove by connecting the plurality of clamps.

[0016] Compared with the prior art, the intelligent desert tree planting robot provided by the present invention has the following beneficial effects:

[0017] Through the mutual cooperation of the walking mechanism, the base, the loading box, the shield and the planting mechanism, that is, the walking mechanism provides the moving function, the base provides the supporting function, the loading box is loaded with cuttings to be planted, and the shield and the planting mechanism are cooperated to plant the cuttings, so that tree planting in the desert can be achieved with good planting effect, high efficiency and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic structural diagram of an intelligent desert tree-planting robot provided by the first embodiment of the present invention;

[0019] Figure 2 for Figure 1 Structural diagram of the walking mechanism;

[0020] Figure 3 for Figure 1 Schematic diagram of the structure of the middle base;

[0021] Figure 4 for Figure 1 A schematic diagram of the structure of the middle loading box;

[0022] Figure 5 for Figure 1 The structural diagram of the middle shield;

[0023] Figure 6 for Figure 1 Schematic diagram of the structure of the implant mechanism;

[0024] Figure 7 for Figure 6 A partial enlarged view of the middle A;

[0025] Figure 8 for Figure 6 A schematic diagram of the cross-sectional structure of the implant drive member;

[0026] Fig. 9 for Figure 4 Schematic diagram of the organization of the finishing components;

[0027] Explanation of reference numerals: 10, intelligent desert tree planting robot; 20, walking mechanism; 30, base; 40, loading box; 50, shield; 60, planting mechanism; 21, walking drive member; 22, walking track wheel; 31, horizontal part; 32, vertical part; 33, lever; 311, connecting groove; 312, sliding groove; 321, cutting hole; 322, stamping groove; 41, box body; 42, branching member; 411, branching Groove; 412, sliding boss; 51, feed trough; 61, planting drive; 62, punching rod; 621, U-shaped block; 63, water pipe; 631, annular sand flushing block; 632, water gun; 611, gear box; 612, driving gear; 613, clamping plate; 614, driven gear; 412, cutting placement area; 413, cutting sorting area; 43, sorting assembly; 431, transmission belt; 432, splint. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0029] See also Figure 1-9The present invention provides an intelligent desert tree planting robot 10, which includes a walking mechanism 20, a base 30, a loading box 40, a shield 50 and a planting mechanism 60. The base 30 is connected to the walking mechanism 20, and the loading box 40, the shield 50 and the planting mechanism 60 are all connected to the base 30, so that the walking mechanism 20 drives the base 30, the loading box 40, the shield 50 and the planting mechanism 60 to move. Among them, the cuttings with planting are located in the loading box 40. When planting is required, the cuttings in the loading box 40 are transferred to the planting mechanism 60, and the planting mechanism 60 performs planting and watering.

[0030] Specifically, the traveling mechanism 20 includes a traveling driving member 21 and traveling track wheels 22 . The traveling track wheels 22 are connected to both sides of the traveling driving member 21 , so that the traveling track wheels 22 are driven by the traveling driving member 21 , thereby realizing movement on the ground.

[0031] It can be understood that the travel drive member 21 can be a motor, the travel track wheel 22 can be a roller wrapped by a track, and the output shaft of the motor is connected to the roller, thereby realizing the driving of the travel track wheel 22.

[0032] The base 30 includes a horizontal portion 31, a vertical portion 32 and a lever 33. The vertical portion 32 is connected to one end of the horizontal portion 31, and the horizontal portion 31 is connected to the travel drive member 21. The horizontal portion 31 is provided with a connection groove 311, and the vertical portion 32 is provided with a plug hole 321 and a punching groove 322, wherein the plug hole 321 passes through the vertical portion 32 and is respectively connected to the connection groove 311 and the punching groove 322. The lever 33 is located in the connection groove 311, and one end of the lever 33 close to the vertical portion 32 is rotatably connected to the inner wall of the connection groove 311.

[0033] The loading box 40 includes a box body 41 and a branching member 42. The box body 41 is connected to the horizontal portion 31 and is a hollow cavity. A branching groove 411 is formed on one side wall of the box body 41 and penetrates the box body 41. The branching member 42 is located in the branching groove 411 and is rotatably connected to the inner wall of the box body 41. The branching member 42 is rotated relative to the box body 41 to flip the cuttings to be planted in the box body 41 out of the box body 41.

[0034] It can be understood that the cuttings to be planted are plant seedlings, which are placed in the box 41. The branch piece 42 is a semi-cylindrical shell, that is, it has an opening on one side. When the opening of the branch piece 42 is facing the inside of the box 41, the cuttings can be placed into the branch piece 42 from the opening, so that when the branch piece 42 is rotated relative to the box 41 until the opening is away from the box 41, the cuttings are taken out of the box 41.

[0035] The shield 50 is a hollow cavity located in the connecting groove 311 and covers the lever 33 . A feed groove 51 is provided thereon, and the feed groove 51 overlaps with the branch groove 411 , so that when the branching member 42 rotates the cuttings out of the box body 41 , the cuttings just enter the shield 50 from the feed groove 51 .

[0036] It can be understood that after the insertion strip enters the blocking cover 50, the insertion strip can be pushed into the insertion strip hole 321 by rotating the lever 33 from a direction parallel to the horizontal plane to a direction perpendicular to the horizontal plane, so that the insertion strip falls out of the base 30 from the insertion strip hole 321 in a direction perpendicular to the horizontal plane.

[0037] The planting mechanism 60 includes a planting drive 61, a punching rod 62 and a water pipe 63, wherein the planting drive 61, the punching rod 62 and the water pipe 63 are all located in the punching groove 322, wherein the planting drive 61 is connected to the inner wall of the punching groove 322. One end of the water pipe 63 is connected to the inner wall of the punching groove 322 and communicates with an external water source, and the end thereof away from the punching groove 322 passes through the cutting hole 321 and is exposed to the base 30. One end of the punching rod 62 also passes through the cutting hole 321 and is exposed on the base 30, and is slidably connected to the vertical portion 32 and is connected to the planting drive 61, so that it can reciprocate along the axial direction of the cutting hole 321 under the drive of the planting drive 61, thereby using the punching rod 62 to punch the ground, so that the cuttings to be planted are pushed out of the base 30 by the push rod 33, and directly enter the hole formed by the punching rod 62 punching the ground, and then are sprayed with water by the water pipe 63 to complete the planting.

[0038] It can be understood that the punching rod 62 can be slidably connected to the vertical part 32 by setting a slide groove, a spring or any other means, as long as it can slide in the punching groove 322 and the cutting hole 321 under the drive of the planting drive member 61 to punch the ground.

[0039] Furthermore, a U-shaped block 621 is provided on the punching rod 62, and the planting drive 61 includes a gear box 611, a driving gear 612, a clamping plate 613 and a driven gear 614. The driving gear 612 and the driven gear 614 are both provided in the gear box 611, and the driving gear 612 is meshed with the driven gear 614. The clamping plate 613 is provided on the outer wall of the gear box 611 and extends in a direction close to the punching rod 62, and the U-shaped block 621 is clamped with the clamping plate 613. A rack (not shown) is also provided in the punching groove 322, and the driven gear 614 is exposed in the gear box 611 and meshed with the rack, so that the driven gear 614 is driven to rotate by the driving gear 612, so that the driven gear 614 and the rack are meshed to form a transmission, and then the clamping plate 613 is used to drive the U-shaped block 621 to move together, so that the planting drive 61 drives the punching rod 62 to move.

[0040] It can be understood that a motor is disposed in the gear box 611 to drive the driving gear 612 to rotate, so as to provide motive force to the driving gear 612 .

[0041] Furthermore, a stamping rotating motor (not shown) is also provided on the base 30 , and the output shaft of the stamping rotating motor is connected to the stamping rod 62 to drive the stamping rod 62 to rotate, so that the U-shaped clamping block is clamped or disengaged with the clamping plate 613 .

[0042] Furthermore, a sliding groove 312 is provided on the horizontal portion 31, and a sliding boss 412 is provided on the box body 41. The sliding boss 412 slidably cooperates with the sliding groove 312 to achieve the connection between the box body 41 and the horizontal portion 31, and by providing the sliding boss 412 and the sliding groove 312, the box body 41 can be easily disassembled.

[0043] Furthermore, the sliding boss 412 is T-shaped to increase the sliding stability between the sliding boss 412 and the sliding groove 312 .

[0044] Furthermore, an annular sand flushing block 631 is provided on one end of the water pipe 63 close to the ground, and the annular sand flushing block 631 is connected to the water pipe 63 to spray the external water source.

[0045] Furthermore, a water gun 632 is provided on the surface of the annular sand flushing block 631 close to the ground, and the water gun 632 is connected to the water pipe 63 through the annular sand flushing block 631 to increase the pressure of the water flow when spraying water.

[0046] Furthermore, the box body 41 includes a cutting placement area 412 and a cutting sorting area 413. The inner wall of the cutting placement area 412 is inclined and connected to the cutting sorting area 413. A sorting component 43 is also provided in the cutting sorting area 413. The cuttings to be planted are initially located in the cutting placement area 412 and roll onto the sorting component 43 in the cutting sorting area 413 through the inclined surface. The branch groove 411 is opened on the side wall of the cutting sorting area 413, so that the cuttings to be planted in the box body 41 can be sorted by using the sorting component 43 so that they fall out of the branch groove 411 on the box body 41 in order.

[0047] Furthermore, the sorting component 43 includes a sorting conveyor belt 431 and clamps 432. The clamps 432 are connected to the conveyor belt 431 at equal intervals so that when the cuttings to be planted fall from the cutting placement area 412 to the sorting component 43, they are just clamped on the two clamps 432, thereby using multiple clamps 432 to continuously transport the cuttings to be planted to the branch groove 411.

[0048] The working principle of the present invention is as follows: when the walking mechanism 20 moves to the position to be planted, the planting drive member 61 drives the punching rod 62 to punch holes for planting on the ground, and then the branch member 42 flips the cuttings to be planted in the box body 41 into the baffle 50, and the lever 33 is lifted to drop the cuttings to be planted from the cutting hole 321 out of the baffle 50 in a direction perpendicular to the ground and into the hole punched by the punching rod 62, and the water pipe 63 injects water into the hole to complete the planting.

[0049] Compared with the prior art, the intelligent desert tree planting robot provided by the present invention has the following beneficial effects:

[0050] Through the mutual cooperation of the walking mechanism, the base, the loading box, the shield and the planting mechanism, that is, the walking mechanism provides the moving function, the base provides the supporting function, the loading box is loaded with cuttings to be planted, and the shield and the planting mechanism are cooperated to plant the cuttings, so that tree planting in the desert can be achieved with good planting effect, high efficiency and low cost.

[0051] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent desert tree planting robot, characterized in that: include: A walking mechanism, a base, a loading box, a shield and a planting mechanism, wherein the walking mechanism comprises a walking drive member and a walking track wheel, and the walking track wheel is connected to both sides of the walking drive member; The base includes a horizontal portion, a vertical portion and a lever, the vertical portion is connected to one end of the horizontal portion, the horizontal portion is connected to the travel drive member, a connecting groove is provided on the horizontal portion, a plug hole and a punching groove are provided on the vertical portion, the plug hole passes through the vertical portion and is connected to the connecting groove and the punching groove respectively; the lever is located in the connecting groove, and one end of the lever close to the vertical portion is rotatably connected to the inner wall of the connecting groove; The loading box includes a box body and a branching member. The box body is connected to the horizontal portion and is a hollow cavity. A branching groove that penetrates the box body is provided on one side wall. The branching member is located in the branching groove and is rotatably connected to the inner wall of the box body. The branching member is a semi-cylindrical shell with an opening on one side. When the opening of the branching member faces the inside of the box body, the cutting strip can be placed into the branching member from the opening. When the branching member rotates relative to the box body until the opening is away from the box body, the cutting strip can be taken out of the box body. The blocking cover is a hollow cavity located in the connecting groove and covering the shifting rod, and a feed groove is provided on the blocking cover, and the feed groove overlaps with the branch groove; The planting mechanism comprises a planting drive, a punching rod and a water pipe, wherein the planting drive, the punching rod and the water pipe are all located in the punching groove, and the planting drive is connected to the inner wall of the punching groove; one end of the water pipe is connected to the inner wall of the punching groove and communicated with an external water source, and one end of the water pipe away from the punching groove passes through the cutting hole and is exposed to the base; one end of the punching rod also passes through the cutting hole and is exposed to the base, and is slidably connected to the vertical portion and connected to the planting drive to reciprocate along the axial direction of the cutting hole under the drive of the planting drive; The box body includes a cutting placement area and a cutting arrangement area. The inner wall of the cutting placement area is inclined and connected to the cutting arrangement area. A arranging component is arranged in the cutting arrangement area. The branching groove is opened on the side wall of the arranging area, so that the cuttings to be planted can be arranged by using the arranging component so that they fall out of the branching groove.

2. The intelligent desert tree planting robot according to claim 1, characterized in that: A U-shaped clamping block is arranged on the stamping rod, and the planting drive component includes a gear box, a driving gear, a driven gear, a clamping plate and a driven gear, the driving gear and the driven gear are both arranged in the gear box, and the driving gear is meshed with the driven gear; the clamping plate is arranged on the outer wall of the gear box and extends in a direction close to the stamping rod, and the U-shaped clamping block is clamped with the clamping plate; a rack is also arranged in the stamping groove, and the driven gear is exposed from the gear box and meshed with the rack, so that the driven gear is driven to rotate by the driving gear, so that transmission is formed by meshing between the driven gear and the rack, and then the clamping plate is used to drive the U-shaped clamping block to move together, so that the planting drive component drives the movement of the stamping rod.

3. The intelligent desert tree planting robot according to claim 2, characterized in that: The gear box is provided with a motor for driving the driving gear to provide motive power to the driving gear.

4. The intelligent desert tree planting robot according to claim 2, characterized in that: The base is also provided with a punching rotating motor, and the output shaft of the punching rotating motor is connected with the punching rod to drive the punching rod to rotate, so that the U-shaped clamping block is clamped or disengaged with the clamping plate.

5. The intelligent desert tree planting robot according to claim 1, characterized in that: The horizontal portion is provided with a sliding groove, the box body is provided with a sliding boss, and the sliding boss is slidably matched with the sliding groove.

6. The intelligent desert tree planting robot according to claim 5, characterized in that: The sliding boss is T-shaped.

7. The intelligent desert tree planting robot according to claim 1, characterized in that: An annular sand flushing block is arranged on one end of the water pipe close to the ground, and the annular sand flushing block is communicated with the water pipe.

8. The intelligent desert tree planting robot according to claim 7, characterized in that: A water gun is arranged on a surface of the annular sand flushing block close to the ground, and the water gun is connected with the water pipe through the annular sand flushing block.

9. The intelligent desert tree planting robot according to claim 1, characterized in that: The arranging component includes a conveyor belt and a plurality of clamps, wherein the plurality of clamps are connected to the conveyor belt at equal intervals, so that when the cuttings to be planted fall from the cutting placement area to the arranging component, they are just clamped between two of the clamps, so that the cuttings to be planted are transported to the branching groove by connecting the plurality of clamps.

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