A linkage contraction mechanism and an automatic planting device thereof

Abstract

The present invention discloses a linkage contraction mechanism and an automatic tree-planting device thereof, which includes a chassis, a manipulator unit, a sapling storage, a sapling storage tray, a linkage contraction unit, a drill unit, a position conversion unit and a control unit. A number of saplings are arranged in sequence in the sapling storage. The drill unit is driven by a lead screw to move up and down. While rotating the drill bit, it descends to dig a hole and moves upward to restore. The position conversion unit moves four lead screws to rotate in pairs to achieve misaligned movement. The linkage contraction unit exchanges positions with the drill unit. The manipulator grabs the sapling and places it in the storage unit of the manipulator, translates from the pre-loading point along the action track to the release point to put down the sapling. The linkage contraction unit moves to complete the soil ramming action. The manipulator unit moves to the next pre-loading point, and the machine moves forward to reach the next tree-planting point, repeating the above actions. The servo door opens to recycle the empty sapling storage tray, closes and resets the new sapling storage tray, thus completing the automatic planting of a large number of saplings.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment for desert tree planting, and particularly to a linkage contraction mechanism and an automatic planting device thereof. Background Art

[0002] Desertification is a global environmental problem, and China is one of the countries most severely affected by desertification in the world.

[0003] Strengthening the prevention and control of desertification plays a very important role in promoting ecological balance, economic development and goal achievement in China. At present, the planting of Populus euphratica seedlings mainly relies on primitive labor, and the working environment of tree planters is extremely harsh.

[0004] To solve the above problems, the present invention provides a linkage contraction mechanism and an automatic planting device thereof to solve the problem of low automation of previous planting devices. Summary of the Invention

[0005] The purpose of the present invention is to provide a linkage contraction mechanism and an automatic planting device thereof to achieve the purpose of improving tree planting automation.

[0006] To achieve the above purpose, the present invention provides the following solutions:

[0007] A linkage contraction mechanism includes a frame, a driving guide rail, a driven guide rail, a guiding guide rail, a sliding block guide rail, a folding unit, a braking unit and a linkage connecting rod arranged on the frame. The guiding guide rail is arranged on both sides of the end of the frame, and a first sliding block is arranged on each guiding guide rail. The driven guide rail is perpendicular to the guiding guide rail and is connected to the guiding guide rail through the first sliding block. The driving guide rail includes an SBR guide rail and an SBR sliding block arranged on the SBR guide rail. The driven guide rail is connected to the SBR sliding block. The SBR guide rail is arranged on the sliding block guide rail and can move on the sliding block guide rail. The driving guide rail, the driven guide rail and the guiding guide rail form a symmetric hexagon. The linkage connecting rod includes a first connecting rod arranged at the bottom of the frame and fixedly connected to the side of the driven guide rail, a gathering plate, and an L-shaped second connecting rod arranged on the gathering plate and hinged to the first connecting rod. The folding unit includes a pair of brackets arranged on the frame at intervals, a guiding plate arranged on the brackets. The two brackets are respectively arranged on both sides of the axis of the symmetric hexagon. The second connecting rod is connected to the vertical bracket through a four-link mechanism and is hinged to the second connecting rod and the vertical bracket. The braking unit is used to drive the movement of the driving guide rail.

[0008] Preferably, the braking unit includes a stepping motor and a lead screw connected to the output end of the stepping motor. The lead screw is connected to the driving guide rail.

[0009] An automatic planting device includes a chassis frame, as well as a sapling storage tray, a sapling memory, a drill unit, a position conversion unit, a linkage contraction mechanism, a manipulator unit, and a control unit disposed on the chassis frame. The drill unit and the linkage contraction mechanism are respectively disposed on the upper and lower portions of the position conversion unit. The sapling storage tray is disposed on the sapling memory. The manipulator unit is disposed at the front end of the sapling storage tray. The control unit is used to control the operation of the manipulator, the position conversion unit, the drill unit, and the linkage contraction unit.

[0010] Preferably, the chassis frame includes a square frame formed by square tubes and drive wheels disposed on the square frame. The drive wheels are connected to vertical bearing seats, and a chain is disposed between adjacent drive wheels. The chain is driven by a DC motor.

[0011] Preferably, the sapling storage tray includes a plurality of placement frames connected in parallel. Each placement frame includes a pair of oppositely disposed columns, a baffle and a tray disposed between the columns. A plurality of semi-circular card slots are spaced on the baffle. A plurality of insertion holes are formed on the tray. The semi-circular card slots correspond to the insertion holes one by one. A plastic-coated bearing pulley for the sapling storage tray to slide in the sapling storage is disposed on the side of the bottom surface of the tray.

[0012] Preferably, the sapling storage includes a dislocation moving device. The dislocation moving device includes vertical frames disposed on both sides of the placement frame. A pair of linearly parallel guide rails, a closed chain and sprockets disposed between the two linearly parallel guide rails, a first triangular push rod and a second triangular push rod are disposed on the vertical frames. The first triangular push rod and the second triangular push rod are both connected by sleeves disposed on the two linearly parallel guide rails. The sleeves are connected to the closed chain. Three pieces of fiberglass are disposed on the front side of the vertical frame and reinforced with aluminum square tubes as the falling space of the sapling storage. A servo-driven one-way door is disposed on the front side of the frame of the upper base chute. The sapling storage is placed at the left front position of the machine.

[0013] Preferably, the drill unit includes a drill frame, four micro linear guide sliders disposed at the bottom of the drill frame, a load-bearing plate disposed at the top of the drill frame, a gearbox disposed on the load-bearing plate. The drill is connected to the gear in the gearbox and is driven by a DC motor. Eight scs box-type sliders are symmetrically installed on the side. The sliders are sleeved into the optical axes. A lead screw nut is placed behind the load-bearing plate. The lead screw nut is at the rear of the structure, vertically passes through the bearing and is connected to the drill frame. A stepping motor is placed at the extended lower side frame and drives the lead screw through gears.

[0014] Preferably, the manipulator unit includes a micro linear guide rail arranged at the front end of the vertical frame, which forms a manipulator slideway with an aluminum square tube. On the manipulator slideway, an aluminum square tube and four micro linear guide blocks form a manipulator slider. A gear rack is provided to enable the slider to move along the micro linear guide rail. A long rod parallel to the falling space of the seedling storage is arranged thereon as a manipulator arm, and the structure connected to the manipulator arm is a transmission structure. The upper structure of the transmission structure is a one-way manipulator composed of a rubber band, a hard plastic-coated bearing pulley, a screw tube, and a fiberglass board. A long barrel-shaped manipulator storage unit is arranged in the center of the manipulator arm, and a rubber band one-way door is arranged below. The manipulator storage unit is driven by a servo motor and can rotate around a fixed point above the manipulator arm.

[0015] Preferably, the control unit is controlled by two Wildfire STM32 development boards F407 motor industrial control development boards. The FOC control PID multi-closed-loop motor controller controls several stepper motors, DC reduction motors, and servo motors.

[0016] The present invention has achieved the following technical effects compared with the prior art:

[0017] 1. The present invention includes a chassis, a manipulator unit, a seedling storage, a seedling storage tray, a linkage contraction unit, a drill unit, a position conversion unit, and a control unit. A number of seedlings are arranged in sequence in the seedling storage. The drill unit is driven by a lead screw to move up and down. While rotating the drill bit, it descends to make a hole, and then moves up to restore. The position conversion unit moves four lead screws to rotate in pairs to achieve misaligned movement. The linkage contraction unit exchanges positions with the drill unit. The manipulator grabs the seedling and puts it into the storage unit of the manipulator, translates from the pre-loading point along the action track to the release point and puts down the seedling. The linkage contraction unit moves to complete the soil ramming action. The manipulator unit moves to the next pre-loading point, and the machine moves forward to the next tree-planting point. Repeat the above actions. The servo door opens, the empty seedling storage tray is recycled, and then closes to reset the new seedling storage tray, thus completing the automatic planting of a large number of seedlings. Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Appendix Figure 1 It is a top view of the linkage contraction mechanism of the present invention;

[0020] Appendix Figure 2 It is a sectional view taken along line F-F of the present invention;

[0021] Appendix Figure 3Side view of the linkage contraction mechanism of the present invention;

[0022] Appendix Figure 4 D-D sectional view of the present invention;

[0023] Appendix Figure 5 Schematic structural diagram of the automatic planting device of the present invention;

[0024] Appendix Figure 6 Schematic structural diagram of the seedling storage tray of the present invention;

[0025] Appendix Figure 7 Schematic structural diagram of the seedling memory of the present invention;

[0026] Appendix Figure 8 Schematic structural diagram of the drill unit of the present invention;

[0027] Appendix Figure 9 Schematic structural diagram of the manipulator of the present invention;

[0028] Wherein, 1, frame; 2, active guide rail; 3, driven guide rail; 4, guiding guide rail; 5, slider guide rail, 6, folding unit; 7, braking unit; 8, linkage connecting rod; 9, first slider; 10, SBR guide rail; 11, SBR slider; 12, gathering plate; 13, first connecting rod; 14, second connecting rod; 15, bracket; 16, guiding plate; 17, four-bar linkage; 18, stepping motor; 19, lead screw; 20, chassis frame; 21, seedling storage tray; 22, seedling memory; 23, drill unit; 24, position conversion unit; 25, linkage contraction mechanism; 26, manipulator unit; 27, transmission wheel; 28, DC motor; 29, column; 30, retaining piece; 31, tray; 32, seedling; 33, first triangular push rod; 34, second triangular push rod; 35, drill frame; 36, micro linear guide rail slider; 37, load-bearing plate; 38, gear box; 39, DC motor; 40, scs box-type slider; 41, optical axis; 42, stepping motor; 43, drill bit; 44, manipulator slideway. Detailed implementation manners

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0030] The purpose of the present invention is to provide a linkage contraction mechanism and its automatic planting device to achieve the purpose of improving the automation of tree planting.

[0031] To make the above objects, features, and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] Reference Figures 1 to 4 , a linkage contraction mechanism, comprising a frame, a driving guide rail, a driven guide rail, a guiding guide rail, a slider guide rail, a folding unit, a braking unit, and a linkage connecting rod arranged on the frame. The guiding guide rail is arranged on both sides of the end of the frame, and a first slider is arranged on each guiding guide rail. The driven guide rail is perpendicular to the guiding guide rail and is connected to the guiding guide rail through the first slider. The driving guide rail includes an SBR guide rail and an SBR slider arranged on the SBR guide rail. The driven guide rail is connected to the SBR slider. The SBR guide rail is arranged on the slider guide rail and can move on the slider guide rail. The driving guide rail, the driven guide rail, and the guiding guide rail form a symmetric hexagon. The linkage connecting rod includes a first connecting rod arranged at the bottom of the frame and fixedly connected to the side of the driven guide rail, a gathering plate, and an L-shaped second connecting rod arranged on the gathering plate and hinged to the first connecting rod. The folding unit includes a pair of brackets arranged on the frame at intervals, a guiding plate arranged on the brackets. The two brackets are respectively arranged on both sides of the axis of the symmetric hexagon. The second connecting rod is connected to the vertical bracket through a four-link mechanism hinged to the second connecting rod and the vertical bracket. The braking unit is used to drive the movement of the driving guide rail.

[0033] Reference Figure 1 , the braking unit includes a stepping motor and a lead screw connected to the output end of the stepping motor. The lead screw is connected to the driving guide rail.

[0034] Reference Figure 5 , an automatic planting device, comprising a chassis frame, a sapling storage tray, a sapling memory, a drill unit, a position conversion unit, a linkage contraction mechanism, a manipulator unit, and a control unit arranged on the chassis frame. The drill unit and the linkage contraction mechanism are respectively arranged on the upper and lower parts of the position conversion unit. The sapling storage tray is arranged on the sapling memory. The manipulator unit is arranged on the sapling storage tray. The control unit is used to control the operation of the manipulator, the position conversion unit, the drill unit, and the linkage contraction unit.

[0035] Reference Figure 5 , the chassis frame includes a square frame surrounded by square tubes and transmission wheels arranged on the square frame. The transmission wheels are connected to vertical bearing seats, and a chain is arranged between adjacent transmission wheels. The chain is driven by a DC motor.

[0036] Reference Figure 6, the sapling storage tray includes a number of placement frames connected side by side. The placement frame includes a pair of oppositely arranged columns, a baffle and a tray arranged between the columns. A number of semi-circular card slots are arranged at intervals on the baffle. A number of jacks are provided on the tray. The semi-circular card slots correspond to the jacks one by one. A plastic-coated bearing pulley for the sapling storage tray to slide in the sapling storage device is arranged on the side of the bottom surface of the tray.

[0037] Reference Figure 7 , the sapling storage device includes a dislocation moving device. The dislocation moving device includes vertical frames arranged on both sides of the placement frame. A pair of linearly parallel guide rails, a closed chain and sprockets arranged between the two linearly parallel guide rails, a first triangular push rod and a second triangular push rod are arranged on the vertical frames. The first triangular push rod and the second triangular push rod are both connected by sleeves arranged on the two linearly parallel guide rails. The sleeve is connected to the closed chain. Three pieces of fiberglass are arranged on the front side of the vertical frame and reinforced with aluminum square tubes as the falling space of the sapling storage device. A servo-driven one-way door is arranged on the front side of the frame of the upper base chute. The sapling storage device is placed at the left front position of the machine.

[0038] Reference Figure 8 , the drill unit includes a drill frame, four micro linear guide rail sliders arranged at the bottom of the drill frame, a load-bearing plate arranged at the top of the drill frame, and a gearbox arranged on the load-bearing plate. The drill is connected to the gear in the gearbox and is driven by a DC motor. Eight SCS box-type sliders are symmetrically installed on the side. The sliders are sleeved into the optical axis. A lead screw nut is placed behind the load-bearing plate. The lead screw nut is at the rear of the structure and is vertically connected to the drill frame through a bearing. A stepping motor is placed by extending the lower side frame and is driven by a gear to drive the lead screw.

[0039] Reference Figure 9 , the manipulator unit includes a micro linear guide rail arranged at the front end of the vertical frame, which forms a manipulator slideway with an aluminum square tube. An aluminum square tube and four micro linear guide blocks are arranged on the manipulator slideway to form a manipulator slider. A gear rack is arranged to enable the slider to move along the micro linear guide rail. A long rod parallel to the falling space of the sapling storage device is arranged above as the manipulator arm. The structure connected to the manipulator arm is the transmission structure. The upper structure of the transmission structure is a one-way manipulator composed of a rubber band, a hard rubber-coated plastic-bearing pulley screw tube and a fiberglass board. A long-barrel-shaped manipulator storage unit is arranged in the center of the manipulator arm. A rubber band one-way door is arranged below. The manipulator storage unit is driven by a servo and can rotate around a fixed point above the manipulator arm.

[0040] Furthermore, the control unit is controlled by two WildFire STM32 development boards F407 motor industrial control development boards. The FOC control PID multi-closed-loop motor controller controls several stepping motors, DC reduction motors and servos.

[0041] Adaptations made according to actual requirements are within the scope of protection of the present invention.

[0042] It should be noted that for those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be encompassed by the invention. Any reference signs in the claims should not be construed as limiting the claims involved.

Claims

1. An automatic planting device, characterized in that, It includes a linkage contraction mechanism, and the linkage contraction mechanism includes a frame, a driving guide rail, a driven guide rail, a guiding guide rail, a slider guide rail, a folding unit, a braking unit and a linkage connecting rod arranged on the frame. The guiding guide rail is arranged on both sides of the end of the frame, and a first slider is arranged on each of the guiding guide rails. The driven guide rail is perpendicular to the guiding guide rail and is connected to the guiding guide rail through the first slider. The driving guide rail includes an SBR guide rail and an SBR slider arranged on the SBR guide rail. The driven guide rail is connected to the SBR slider. The SBR guide rail is arranged on the slider guide rail and moves on the slider guide rail. The driving guide rail, the driven guide rail and the guiding guide rail form a symmetrical hexagon. The linkage connecting rod includes a first connecting rod arranged at the bottom of the frame and fixedly connected to the side of the driven guide rail, a gathering plate, and an L-shaped second connecting rod arranged on the gathering plate and hinged to the first connecting rod. The folding unit includes a pair of brackets arranged on the frame at intervals, a guiding plate arranged on the brackets. The two brackets are respectively arranged on both sides of the axis of the symmetrical hexagon. The second connecting rod and the bracket are connected by a four-bar linkage hinged to the second connecting rod and the bracket. The braking unit is used to drive the movement of the driving guide rail; It further includes a chassis frame, a sapling storage tray, a sapling memory, a drill unit, a position conversion unit, a linkage contraction mechanism, a manipulator unit and a control unit arranged on the chassis frame. The drill unit and the linkage contraction mechanism are respectively arranged on the upper and lower parts of the position conversion unit. The sapling storage tray is arranged on the sapling memory. The manipulator unit is arranged at the front end of the sapling storage tray. The control unit is used to control the operation of the manipulator, the position conversion unit, the drill unit and the linkage contraction unit; The chassis frame includes a square frame surrounded by square tubes and transmission wheels arranged on the square frame. The transmission wheels are connected to vertical bearing seats, and a chain is arranged between adjacent transmission wheels. The chain is driven by a DC motor; The sapling storage tray includes a number of placement frames connected in parallel. The placement frame includes a pair of oppositely arranged columns, a baffle and a tray arranged between the columns. A number of semi-circular card slots are arranged on the baffle at intervals. A number of jacks are opened on the tray. The semi-circular card slots correspond to the jacks one by one. A plastic-coated bearing pulley for the sapling storage tray to slide in the sapling storage is arranged on the side of the bottom surface of the tray.

2. The automatic planting device according to claim 1, wherein The braking unit includes a stepping motor and a lead screw connected to the output end of the stepping motor. The lead screw is connected to the driving guide rail.

3. An automatic planting device according to claim 1, wherein, The sapling storage device includes a dislocation moving device. The dislocation moving device includes vertical frames arranged on both sides of the placement rack. A pair of linearly parallel guide rails, a closed chain and sprockets arranged between the two linearly parallel guide rails, a first triangular push rod and a second triangular push rod are provided on the vertical frames. The first triangular push rod and the second triangular push rod are both connected through sleeves arranged on the two linearly parallel guide rails. The sleeves are connected to the closed chain. Three fiberglass sheets are provided on the front side of the vertical frame and reinforced with aluminum square tubes to serve as the falling space of the sapling storage device. A servo-driven one-way door is provided on the front side of the frame of the upper base chute. The sapling storage device is placed at the left front position of the machine.

4. An automatic planting device according to claim 1, characterized in that, The drill unit includes a drill frame, four micro linear guide rail sliders arranged at the bottom of the drill frame, a load-bearing plate arranged at the top of the drill frame, a gear box arranged on the load-bearing plate. The drill is connected to the gear in the gear box and is driven by a DC motor. Eight SCS box-type sliders are symmetrically installed on the side. The SCS box-type sliders are sleeved into the optical axes. A lead screw nut is placed behind the load-bearing plate. The lead screw nut is located at the rear of the structure and is vertically connected to the drill frame through a bearing. A stepping motor is placed at the extended lower side frame and drives the lead screw through a gear connection.

5. An automatic planting device according to claim 3, characterized in that, The manipulator unit includes a micro linear guide rail arranged at the front end of the vertical frame, which forms a manipulator slideway with an aluminum square tube. An aluminum square tube and four micro linear guide blocks are arranged on the manipulator slideway to form a manipulator slider. A gear rack is provided to enable the manipulator slider to move along the micro linear guide rail. A long rod parallel to the falling space of the sapling storage device is provided on the manipulator slider as a manipulator arm. The structure connected to the manipulator arm is a transmission structure. The upper structure of the transmission structure is a one-way manipulator composed of a rubber band, a hard rubber-coated plastic bearing pulley, a screw tube and a fiberglass board. A long-barrel-shaped manipulator storage unit is arranged in the center of the manipulator arm. A rubber band one-way door is provided below. The manipulator storage unit is driven by a servo and can rotate around a fixed point above the manipulator arm.

6. An automatic planting device according to claim 1, characterized in that, The control unit is controlled by two Wildfire STM32 development boards F407 motor industrial control development boards. The FOC control PID multi-closed-loop motor controller controls several stepping motors, DC reduction motors and servos.

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