Bionic spider robot for desert tree planting and working method thereof

Abstract

The application provides a bionic spider robot for desert tree planting and a working method thereof, and relates to the technical field of robots.The robot comprises a head mechanism, a neck mechanism, a walking mechanism and a body mechanism;the body mechanism comprises an upper bottom plate and a lower bottom plate, the upper end of the upper bottom plate is provided with a body shell, a water tank and a water pump are arranged in the body shell, solar panels are arranged on the outer side of the body shell, and the body mechanism further comprises a soil drilling mechanism, a sapling transportation mechanism, a soil cultivating mechanism and a winding mechanism.The robot in the application imitates the principle of spider silk spinning, and combines automation design and principle so that the bionic spider robot can automatically wind the planted saplings from the tail, the unique winding design can make the saplings support and depend on each other when being planted, and greatly increases the resistance to wind sand and the survival rate of planting.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular, especially to a bionic spider robot for desert tree planting and a working method thereof. BACKGROUND

[0002] At present, the area of land desertification is increasing, the desert weather is harsh, the sand is large, and it seriously affects the planting of saplings.

[0003] Most of the tree planting robots on the market are single-function robots, which need multiple robots with different functions to work together to complete the tree planting task. Not only is it complicated, difficult to operate, and consumes a lot of resources, but also the survival rate of the planted saplings is not guaranteed, and many saplings are bent or tilted by the wind.

[0004] Therefore, a tree planting robot is needed to solve the problem of excessive consumption of human resources and the survival rate of sapling planting. SUMMARY

[0005] In view of the technical problems of the existing tree planting robots being complicated, difficult to operate, consuming a lot of resources, and having single function, a bionic spider robot for desert tree planting and a working method thereof are provided. The present application mainly imitates the principle of spider silk spinning, combines automation design and principle, so that the bionic spider robot can automatically wind the saplings planted from the tail. This unique winding design allows the saplings to support each other when planted, and to rely on each other, greatly increasing the resistance to wind and sand and the survival rate of planting.

[0006] The technical means adopted by the present application are as follows:

[0007] A bionic spider robot for desert tree planting, characterized in that it comprises a head mechanism, a neck mechanism, a walking mechanism, and a body mechanism.

[0008] The head mechanism comprises a petal-shaped head, a visual detection and detection lens device is arranged at the front end of the petal-shaped head, the lower end of the petal-shaped head is connected to a chord rod through a bolt ball to form a rotatable structure, and the lower end of the rotatable structure is connected to the neck mechanism.

[0009] The neck mechanism comprises a multi-stage spring telescopic rod structure, the lower end of the multi-stage spring telescopic rod structure is fixed on a sliding block through a flange, the sliding block is connected to a guide rail, and the sliding block and the guide rail are fixed on the upper bottom plate of the body mechanism through a bolt connection sleeve.

[0010] The walking mechanism comprises a six-legged walking device and a wheeled moving device.

[0011] The six-legged walking device comprises three groups of rudder control combined structures, the lower ends of the rudder control combined structures are connected with bionic shanks, the lower ends of the bionic shanks are fixedly connected with driving motors, the lower ends of the driving motors are connected with robot foot devices, and the foot devices are composed of a plurality of fan-shaped plates.

[0012] The wheeled moving device comprises a support seat connected with the lower bottom plate of the body structure through the upper part of a rotating shaft, the lower part of the rotating shaft is connected with a support rod, the lower end of each support rod is connected with a universal wheel, two universal wheels are fixedly connected through an axle, and a speed reducer motor is arranged in the middle of the axle; a cross beam servo motor is fixed on the lower bottom plate of the body structure through a motor support and connected with a lead screw reverser, the lead screw reverser is hingedly connected with one end of a lead screw, and the other end of the lead screw is connected with the lower bottom plate through a fixing block.

[0013] The body mechanism comprises an upper bottom plate and a lower bottom plate, the upper end of the upper bottom plate is provided with a shell, a water tank and a water pump are arranged in the shell, and a solar panel is arranged on the outer side of the shell; the body mechanism further comprises a soil drilling mechanism, a seedling transportation mechanism, a soil covering mechanism and a winding mechanism.

[0014] Further, the multi-stage spring telescopic rod structure comprises an upper neck portion, a middle neck portion and a lower neck portion, the upper neck portion, the middle neck portion and the lower neck portion are sequentially connected through a guide sleeve and can be telescopically extended and retracted.

[0015] Further, the rotatable structure comprises a rotating shaft and a connecting block, the lower end of the petal-shaped head is connected with the connecting block through the rotating shaft, and the lower end of the connecting block is connected with the upper neck portion.

[0016] Further, the three groups of rudder control combined structures in the six-legged walking device comprise a first rudder, a second rudder and a third rudder, the first rudder is slidably connected on the lower bottom plate through a support pad and a bolt connection kit, a first rudder swing arm is embedded on a first rudder support and fixedly connected with the first rudder through the bolt connection kit; the second rudder is hingedly connected on the first rudder support, a second rudder swing arm is embedded on a second rudder support and fixedly connected with the second rudder through the bolt connection kit; the second rudder support is fixedly connected with the upper end of a bionic thigh, the lower end of the bionic thigh is connected with the third rudder, the third rudder is hingedly connected on a third rudder support, a third rudder swing arm is embedded on the third rudder support and fixedly connected with the third rudder through the bolt connection kit.

[0017] Further, the wheeled moving device further comprises an upper support arm and a lower support arm, the upper support arm and the lower support arm are connected with the mounting hole in the middle of the support rod through bolts, the lower end of the upper support arm is connected with the upper end of the lower support arm through a connecting rod, and the upper end of the upper support arm is hingedly connected with the lower bottom plate of the body mechanism.

[0018] Further, the soil drilling mechanism comprises a bridge, the bridge is connected with a fourth steering wheel through a fourth steering wheel swing arm, the fourth steering wheel is fixed on the lower bottom plate through a bolt fastening assembly, the bridge is connected with a first rack mechanism, the first rack mechanism is slidingly connected in a groove of a first connecting plate, the first rack mechanism is meshingly connected with a first gear, a stepping motor drives the first gear to rotate through a transmission shaft, a first forward-reverse motor is fixedly connected on the first rack mechanism, and a spiral drill bit is connected below the first forward-reverse motor.

[0019] Further, the sapling transportation mechanism comprises four groups of steering wheel control combined structures and sapling storage boxes, the four groups of steering wheel control combined structures in the sapling transportation mechanism comprise a fifth steering wheel, a sixth steering wheel, a seventh steering wheel and an eighth steering wheel, the fifth steering wheel is fixedly connected on the upper bottom plate, the fifth steering wheel is connected with a fifth steering wheel support through a bolt and fixedly connected with a first transmission arm, the first transmission arm is fixedly connected with the sixth steering wheel, the sixth steering wheel is connected with a sixth steering wheel support through a bolt and fixedly connected with a second transmission arm, the second transmission arm is fixedly connected with the seventh steering wheel, the seventh steering wheel swing arm is embedded on the seventh steering wheel support and fixedly connected with the seventh steering wheel through a bolt connection set, the seventh steering wheel support is bolted with a connecting arm, the connecting arm is fixedly connected with the eighth steering wheel, the eighth steering wheel is provided with an arc-shaped clamping jaw at the upper end, the arc-shaped clamping jaw is a meshing gear structure, and the gear structure is used for grabbing saplings in the sapling storage box.

[0020] Further, the soil drilling mechanism comprises a bridge, the bridge is connected with a fourth steering wheel through a fourth steering wheel swing arm, the fourth steering wheel is fixed on the lower bottom plate through a bolt fastening assembly, the bridge is connected with a first rack mechanism, the first rack mechanism is slidingly connected in a groove of a first connecting plate, the first rack mechanism is meshingly connected with a first gear, a stepping motor drives the first gear to rotate through a transmission shaft, a first forward-reverse motor is fixedly connected on the first rack mechanism, and a spiral drill bit is connected below the first forward-reverse motor.

[0021] Further, the winding mechanism is fixedly connected with the lower bottom plate and installed at the rear end of the soil cultivating mechanism; the winding mechanism comprises a lead screw device, the lead screw device is fixedly connected with the lower end of the lower bottom plate, a driving motor is arranged on the front side of the lead screw device, fixed plates are connected on the two sides of the lead screw device, the fixed plates are connected with mounting plates through bolts, the mounting plates are fixedly connected with a third connecting plate, a third rack mechanism is slidingly connected in a groove of the third connecting plate, the third rack mechanism is meshingly connected with a third gear, a third forward-reverse motor drives the third gear to move on the third rack mechanism, a winding coil is connected with the lower end of the third rack mechanism, a winding strip is connected in a meshing mode with two fourth gears in the winding coil, and a fourth forward-reverse motor drives the fourth gear and then drives the winding strip to rotate along the spool.

[0022] The application also provides a working method of the bionic spider robot for desert afforestation.

[0023] After visual analysis by the visual detection at the front end of the robot head mechanism and the environment analysis module in the probe lens device, the robot travels to the specified position by the walking mechanism, the first gear is driven to rotate by the stepping motor in the soil drilling mechanism, the first rack mechanism moves up and down, and the auger bit moves up and down to form a pit;

[0024] The fifth steering wheel, the sixth steering wheel and the seventh steering wheel in the sapling transportation mechanism work in combination, so that the connecting arm moves to the sapling storage box, the arc-shaped clamping jaw accurately grabs the sapling, and the sapling is accurately placed in the pit after being grabbed;

[0025] The two second forward and reverse motors of the soil cultivating mechanism work at the same time to drive the second gear and the second rack mechanism to move, and then drive the soil cultivating plate to descend to compact the soil around the sapling;

[0026] After soil covering, the sapling is wound, first, the third forward and reverse motor and the driving motor work at the same time to make the winding mechanism axis descend to the three-quarter position of the sapling, at this time, the lead screw device starts to work to make the winding mechanism translate forward and backward, at this time, the sapling will pass through the gap in the winding coil, and the wire is completely arranged on the sapling, then the fourth forward and reverse motor works to make the winding strip rotate to wind the wire between the spools on the sapling;

[0027] After winding the wire of a sapling, the device is retracted, the robot continues to move forward to perform the planting task of the next sapling, and after winding the wires of multiple saplings, the saplings are connected into a whole to achieve the effect of reinforcement.

[0028] Compared with the prior art, the present application has the following advantages:

[0029] 1、The robot of the present application greatly reduces the demand for manual tree planting, autonomously plans the planting path, accurately detects the planting position of the sapling, automatically digs a pit, plants and compacts the soil, and greatly improves the labor productivity.

[0030] 2、The robot of the present application can automatically wind the sapling from the tail after planting according to the principle of spider silk spinning, combined with automatic design and principle, so that the bionic spider robot can automatically wind the sapling from the tail after planting, the unique winding design can allow the saplings to support each other when planted, and the resistance to wind and sand and the survival rate of planting are greatly increased.

[0031] 3、The robot has two walking forms, six groups of rudder devices of six legs can make the robot walk independently, the unique fan-shaped foot design can support the robot safely on the soft and easy to sink sand, so that the robot will not be affected by the factors of desert environment and work normally; the wheeled movement can make the robot move freely on the road and save transportation cost.

[0032] 4、The robot body outside is paved with solar panels, which can be charged by sunlight in the desert during work, slow down battery consumption, increase service life, also prolong the use time of the robot, fully utilize solar energy, greatly reduce energy consumption, improve economic significance and broad application prospect. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0034] Figure 1 It is a schematic diagram of the whole device of the present application.

[0035] Figure 2 It is a front view of the whole robot of the present application.

[0036] Figure 3 It is a left view of the whole robot of the present application.

[0037] Figure 4 It is a bottom view of the whole robot of the present application.

[0038] Figure 5 It is a structure schematic diagram of the head mechanism and the neck mechanism of the present application.

[0039] Figure 6 It is a structure schematic diagram of the six-legged walking device in the walking mechanism of the present application.

[0040] Figure 7 It is a structure schematic diagram of the wheeled moving device in the walking mechanism of the present application.

[0041] Figure 8 It is a structure schematic diagram of the soil drilling mechanism.

[0042] Figure 9 It is a structure schematic diagram of the seedling transportation mechanism of the present application.

[0043] Figure 10 It is a structure schematic diagram of the soil cultivating mechanism of the present application.

[0044] Figure 11A structure diagram of the winding mechanism of the present application.

[0045] Figure 12 A diagram of the winding state one of the present application.

[0046] Figure 13 A diagram of the winding state two of the present application.

[0047] Figure 14 A diagram of the winding state three of the present application.

[0048] In the figure: 1, head mechanism; 11, visual detection and detection lens device; 12, string rod; 13, rotating shaft; 14, connecting block; 2, neck mechanism; 21, upper neck; 22, middle neck; 23, lower neck; 24, flange; 25, sliding block; 26, guide rail; 27, guide sleeve; 3, walking mechanism, 301, first steering engine; 302, support pad; 303, first steering engine swing arm; 304, second steering engine swing arm; 305, first steering engine support; 306, second steering engine support; 307, second steering engine; 308, bionic thigh; 309, third steering engine support; 310, third steering engine swing arm; 311, third steering engine; 312, bionic calf; 313, driving motor; 314, foot device; 315, support seat; 316, rotating shaft; 317, support rod; 318, universal wheel; 319, axle; 320, speed reduction motor; 321, upper support arm; 322, lower support arm; 323, cross beam servo motor; 324, motor support; 325, screw reverser; 326, screw; 327, fixed block; 328, connecting rod; 329, mounting hole; 4, body mechanism; 41, soil drilling mechanism; 4101, bridge; 4102, fourth steering engine; 4103, fourth steering engine swing arm; 4104, spiral drill bit; 4105, first forward and reverse motor; 4106, stepping motor; 4107, first gear; 4108, first rack mechanism; 4109, first connecting plate; 4110, transmission shaft; 42, sapling transportation mechanism; 4201, fifth steering engine; 4202, fifth steering engine support; 4203, first transmission arm; 4204, sixth steering engine; 4205, second transmission arm; 4206, sixth steering engine support; 4207, seventh steering engine; 4208, seventh steering engine support; 4209, seventh steering engine swing arm; 4210, connecting arm; 4211, arc-shaped clamping jaw; 4212, eighth steering engine; 4213, sapling storage box; 43, soil covering mechanism; 4301, soil covering plate; 4302, second forward and reverse motor; 4303, second gear; 4304, second rack mechanism; 4305, second connecting plate; 44, wire winding mechanism; 4401, screw device; 4402, driving motor; 4403, fixed plate; 4404, mounting plate; 4405, third forward and reverse motor; 4406, third gear; 4407, third rack mechanism; 4408, third connecting plate; 4409, winding strip; 4410, winding loop; 4411, spool; 4412, fourth gear; 4413, fourth forward and reverse motor; 45, upper bottom plate; 46, lower bottom plate; 47, shell. DETAILED DESCRIPTION

[0049] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0050] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. The following description of at least one example embodiment is merely illustrative in nature and is in no way limiting on the application or its uses. Based upon a review of the embodiments in the present application, all other embodiments that would be obvious to one of ordinary skill in the art are intended to be within the scope of the present application.

[0051] It should be noted that the terminology used herein is for the purpose of describing specific embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, components, and / or groups thereof, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0052] The relative arrangement of parts and steps, numerical expressions, and numerical values set forth in the examples are not intended to limit the scope of the application, unless otherwise specifically stated. It should be apparent that the dimensions of the various parts shown in the drawings are not to scale and are only meant to illustrate the general principles of the application. Techniques, methods, and apparatus known to those of ordinary skill are not discussed in detail, but should be considered as part of the disclosure, where appropriate. In all examples shown and discussed herein, any specific value should be interpreted as illustrative only and not as a limitation. Thus, other example embodiments of the example embodiments can have different values. It should be noted that like reference numerals and letters refer to like items in the following drawings, and thus, once an item is defined in one drawing, it need not be discussed further in subsequent drawings.

[0053] In the description of the present application, it should be understood that the orientation words such as "front, back, up, down, left, right", "transverse, vertical, perpendicular, horizontal" and "top, bottom" and the like indicated orientation or position relationship are generally based on the orientation or position relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, without the opposite indication, these orientation words do not indicate and imply that the indicated device or element must have a specific orientation or be constructed and operated in a specific orientation, therefore, it cannot be understood as a limitation on the scope of protection of the present application: the orientation words "inner, outer" refer to the inner and outer relative to the contour of each component.

[0054] For purposes of the description hereinafter, spatial relations terms are used, such as "above", "below", "top", "bottom", "side", "higher", "lower", "upper", "lower", "horizontal", "vertical", "front", "back", "rear", "up", "down", "under", "above" and the like, are not to be construed as limiting to the absolute positions of an item as shown in the drawings when such terms are consistent with the activities and uses of the item in use or operation. For example, if the device in the drawing is inverted, then the device described as "above" or "above" other devices or structures will be positioned "below" or "below" the other devices or structures. Thus, the exemplary term "above" can include both "above" and "below" positions. The device can also be positioned in other different ways (rotated 90 degrees or in other positions), and the spatial relative descriptions used herein are interpreted accordingly.

[0055] In addition, it should be noted that the use of the words "first", "second" and the like to define parts is only for the convenience of distinguishing the corresponding parts, and the above words have no special meaning unless otherwise stated, and therefore cannot be understood as limiting the scope of protection of the present application.

[0056] As shown in Figures 1-14 The present application provides a bionic spider robot for desert afforestation, mainly comprising: a head mechanism 1, a neck mechanism 2, a walking mechanism 3, and a body mechanism 4.

[0057] The head mechanism 1 comprises a visual detection and detection lens device 11, a string rod 12, a rotating shaft 13 and a connecting block 14. The visual detection and detection lens device 11 is fixed at the front end of the petal-shaped head, the petal-shaped head lower end and the string rod 12 are connected by bolt ball into a rotatable structure, the rotating shaft 13 and the connecting block 14 are hinged, so that the head mechanism 1 can rotate forward, backward, left and right.

[0058] The neck mechanism 2 comprises an upper neck 21, a middle neck 22, a lower neck 23, a flange 24, a sliding block 25, a guide rail 26, a bolt connection kit (including bolt, nut and washer), and a guide sleeve 27. The neck mechanism 2 is a multi-stage spring telescopic rod structure, wherein the upper neck 21, the middle neck 22 and the lower neck 23 are connected to each other through the guide sleeve 27 and can be telescoped up and down. The lower neck 23 is fixed on the sliding block 25 through the flange 24, the sliding block 25 is connected to the guide rail 26, and the sliding block 25 and the guide rail 26 are fixed on the upper bottom plate 45 of the tree planting robot through the bolt connection kit 27, so that the neck mechanism 2 can translate left and right.

[0059] The walking mechanism 3 comprises a six-legged walking device and a wheeled moving device. The six-legged walking device comprises three groups of steering engine control combined structures (steering engine, steering engine support, steering engine swing arm), support pad 302, bionic thigh 308, bionic calf 312, driving motor 313, foot device 314. The first steering engine 301 is slidingly connected to the lower bottom plate 46 of the tree planting robot through the support pad 302 and the bolt connection kit, the first steering engine swing arm 303 is embedded in the first steering engine support 305 and the first steering engine 301 is fixed through the bolt connection kit. The second steering engine swing arm 304 is embedded in the second steering engine support 306 and the second steering engine 307 is fixed through the bolt connection kit. The second steering engine 307 is hinged to the first steering engine support 305. The upper end of the bionic thigh 308 is fixedly connected to the second steering engine support 306, the lower end of the bionic thigh 308 is connected to the third steering engine 311, the third steering engine 311 is hinged to the third steering engine support 309, the third steering engine swing arm 310 is embedded in the third steering engine support 309 and the third steering engine 311 is fixed through the bolt connection kit. The upper end of the bionic calf 312 is fixedly connected to the third steering engine support 309, and the lower end of the bionic calf 312 is fixedly connected to the driving motor 313. The lower end of the driving motor 313 is connected to the foot device 314. Each driving motor 313 can independently directly drive the corresponding fan-shaped plate of the foot device 314 to open and close. The robot foot device 314 is composed of several fan-shaped plates, which can rotate bidirectionally through the driving of forward and reverse motors, achieving the effect similar to "fan leaf opening and closing". Each fan-shaped plate has a slot-shaped opening to prevent "fan closing" from being stuck and dead.

[0060] The walking mechanism includes a support seat 315, a rotating shaft 316, a support rod 317, a universal wheel 318, an axle 319, a speed reduction motor 320, an upper support arm 321, a lower support arm 322, a cross beam servo motor 323, a motor support 324, a screw reverse device 325, a screw rod 326, and a fixing block 327. The support seat 315 is connected to the lower bottom plate 46 of the robot body through the upper part of the rotating shaft 316 and is connected to the support rod 317 through the lower part. The upper support arm 322 and the lower support arm 321 are bolted to the mounting hole 329 in the middle of the support rod 317, which is used to reinforce the four support rods 317 on the left and right sides. The lower end of the upper support arm 322 is connected to the upper end of the lower support arm 321 through a connecting rod 328, and the upper end of the upper support arm 322 is hinged to the lower bottom plate 46 of the robot body. Each end of the support rod 317 is connected to the universal wheel 318, and the two universal wheels 318 are fixedly connected through the axle 319 and have the speed reduction motor 320 in the middle. The cross beam servo motor 323 is fixed on the lower bottom plate 46 of the robot body through the motor support 324 and is connected to the upper part of the screw reverse device 325. The lower part of the screw reverse device 325 is hinged to one end of the screw rod 326, and the other end of the screw rod 326 is connected to the lower bottom plate 46 through the fixing block 327. The screw rod device enables the wheel type moving device to rotate like an airplane landing wheel.

[0061] The body mechanism includes a soil drilling mechanism 41, a sapling transportation mechanism 42, a soil covering mechanism 43, a wire winding mechanism 44, an upper bottom plate 45, a lower bottom plate 46, and a body shell 47.

[0062] The soil drilling mechanism 41 in the body mechanism 4 includes a bridge 4101, a fourth steering wheel 4102, a fourth steering wheel swing arm 4103, a spiral drill bit 4104, a stepping motor 4106, a first forward and reverse motor 4105, a first gear 4107, and a first rack mechanism 4108. The upper part of the bridge 4101 is connected to the fourth steering wheel 4102 through the fourth steering wheel swing arm 4103, and the fourth steering wheel 4102 is fixed to the lower bottom plate 46 through a bolt fastening assembly 5 to drive the entire soil drilling mechanism 41 to rotate and drill soil. The lower part of the bridge 4101 is connected to the first rack mechanism 4108. The stepping motor 4106 drives the first gear 4107 to rotate through a transmission shaft 4110, which cooperates with the first rack mechanism 4108 to move up and down in the first connecting plate 4109 with a groove. The upper part of the first forward and reverse motor 4105 is fixed to the first rack mechanism 4108, and the lower part is connected to the upper end of the spiral drill bit 4104, so that the spiral drill bit 4104 rotates up and down to drill soil.

[0063] The sapling transportation mechanism 42 in the body mechanism 4 includes four groups of rudder control combined structures (each group includes a rudder, a rudder support, a rudder swing arm), a first transmission arm 4203, a second transmission arm 4205, a connecting arm 4210, an arc-shaped clamping jaw 4211, and a sapling storage box 4213. The lower part of the fifth rudder 4201 is fixedly connected to the upper bottom plate 45, and the upper part of the fifth rudder 4201 is fixedly connected to the first transmission arm 4203 through the bolt connection of the fifth rudder support 4202. The lower part of the sixth rudder 4204 is fixedly connected to the first transmission arm 4203, and the upper part of the sixth rudder 4204 is fixedly connected to the second transmission arm 4205 through the bolt connection of the sixth rudder support 4206. The lower part of the seventh rudder 4207 is fixedly connected to the second transmission arm 4205, and the upper part of the seventh rudder 4207 is fixedly connected to the seventh rudder support 4208 embedded with the seventh rudder swing arm 4209 through the bolt connection. The lower part of the connecting arm 4210 is bolted to the seventh rudder support 4208, and the upper part of the connecting arm 4210 is fixedly connected to the eighth rudder 4212. The eighth rudder 4212 is provided with an arc-shaped clamping jaw 4211 at the upper end, which is a gear structure and can be meshed together to cooperate with the eighth rudder 4212 to work and drive the connecting arm 4210 to move for precise grabbing and planting of the sapling from the sapling storage box 4213.

[0064] The hilling mechanism 43 in the body mechanism 4 includes a hilling plate 4301, a second forward and reverse motor 4302, a second gear 4303, a second rack mechanism 4304, and a second connecting plate 4305. The hilling mechanism 43 is fixed on the lower bottom plate 46 and located at the rear part of the tree planting robot as the main device for covering soil. The hilling plate 4301 is fixedly connected to the second rack mechanism 4304 through a bolt, and the second rack mechanism 4304 is slidingly connected in the second connecting plate 4305 with a groove. The second gear 4303 is driven by the second forward and reverse motor 4302 to move on the second rack mechanism 4304, so that the hilling plate 4301 completes the hilling task.

[0065] The wire winding mechanism 44 in the body mechanism 4 comprises a driving motor 4402, a lead screw device 4401, a gear and rack mechanism, a winding bar 4408, a winding ring 4409 and a wire spool 4410. The wire winding mechanism 44 is fixed to the lower bottom plate 46 and installed at the rear end of the hilling mechanism 43. The lead screw device 4401 is fixedly connected to the lower end of the lower bottom plate 46, and the driving motor 4402 is arranged at the front end of the lead screw device 4401, so that the wire winding mechanism 44 can move forward and backward. The two sides of the lead screw device 4401 are connected with fixed plates 4403, and the fixed plates 4403 and mounting plates 4404 are connected together by bolts. The mounting plate 4404 is fixedly connected with a third connecting plate 4408, and a third rack mechanism 4407 is arranged in the groove of the third connecting plate 4408. The third gear 4406 is driven by the third forward and reverse motor 4405 to move upwardly in mesh with the third rack mechanism 4407, and the third rack mechanism 4407 is slidingly connected in the third connecting plate 4408 with the groove. The third rack mechanism 4407 is connected with the winding ring 4410 at the lower end, the winding ring 4410 is connected with the winding bar 4409 in the fourth gear 4412 meshing mode inside, and the winding bar 4409 rotates along the wire spool 4411 under the driving of the fourth forward and reverse motor 4413, and the seedling winding task is completed.

[0066] The robot is powered by a battery when performing the tree planting task in the desert, and the long working time requirement may cause insufficient power, so the solar panel is arranged on the surface of the robot body 47 to slow down the consumption of the power and strengthen the energy utilization of the surrounding environment. The solar panel is arranged on the surface of the robot body 47 of the bionic spider desert tree planting robot, and the robot can be charged by the sunlight in the desert during work, so as to slow down the battery consumption, increase the service life, and prolong the use time of the robot.

[0067] The application further provides a working method of the bionic spider robot for desert tree planting, which comprises the following processes.

[0068] After the visual detection and the environmental analysis module in the probe lens device 11 at the front end of the head mechanism 1 perform visual analysis, the robot travels to the designated position by the walking mechanism 3, the stepping motor 4106 in the soil drilling mechanism 41 drives the first gear 4107 to rotate, the first rack mechanism 4108 moves up and down, the screw drill 4104 moves up and down, the two drill bits work intermittently, preventing excessive mechanical performance loss caused by long-time work of one drill bit, and prolonging the service life of the drill bit. The combination mechanism of the fifth steering wheel 4201, the sixth steering wheel 4204 and the seventh steering wheel 4207 in the sapling transportation mechanism 42 works respectively, so that the connecting arm 4210 moves to the sapling storage box 4213, the arc-shaped clamping jaw 4211 is arranged above the eighth steering wheel 4212, the lower end of the arc-shaped clamping jaw 4211 is a gear structure, so that the two halves of the clamping jaw are engaged together, the accurate grabbing of the sapling is realized, and the sapling is accurately placed into the hole after being grabbed. Then the soil cultivating mechanism 43 is used, the second gear 4303 and the rack mechanism 4304 are arranged on the left and right sides of the soil cultivating mechanism 43 respectively, the second forward and reverse motor 4302 is arranged, the two second forward and reverse motors 4302 work at the same time, so that the soil cultivating plate 4301 descends, and the sapling is covered with soil and compacted. After the soil is cultivated, the water tank, the water pump and the water pipe in the robot body 47 irrigate the sapling.

[0069] Finally, the planted sapling is wound with a wire, and the unique "bracket type" winding mechanism is located behind the soil cultivating mechanism of the tree planting machine. First, the third forward and reverse motor 4405 and the driving motor 4402 work at the same time, so that the winding mechanism 44 descends to the appropriate position (so that the axis is located at 3 / 4 of the sapling), the lead screw device 4401 works, so that the winding mechanism 44 translates forward and backward, at this time the sapling passes through the gap in the winding coil 4410, the wire is completely placed on the sapling, then the fourth forward and reverse motor 4413 works, so that the winding strip 4409 rotates to enable the wire between the spool 4411 to be wound on the sapling, after the winding of the sapling is completed, the device is retracted, the robot continues to move forward to perform the planting task of the next sapling. After the winding of the plurality of saplings is completed, the saplings are connected into a whole to achieve the effect of reinforcement and resist the harsh climate in the desert. The winding mechanism contains a sensor for detecting winding force, winding position and winding coil number and the like.

[0070] The present application uses dot matrix method to control the tree planting robot, by pre-setting the task, action or state of each point, the tree planting robot executes corresponding operation according to the point currently located and the predetermined rule when running.

[0071] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions recorded in the above embodiments can be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A biomimetic spider robot for desert afforestation, characterized in that, Head mechanism (1), neck mechanism (2), walking mechanism (3) and body mechanism (4) are included; The head mechanism (1) includes a petal-shaped head, the front end of the petal-shaped head is provided with a visual detection and detection lens device (11), the lower end of the petal-shaped head is connected with a chord rod (12) through a bolt ball into a rotatable structure, the lower end of the rotatable structure is connected with the neck mechanism (2); The neck mechanism (2) includes a multi-stage spring telescopic rod structure, the lower end of the multi-stage spring telescopic rod structure is fixed on a sliding block (25) through a flange (24), the sliding block (25) is connected to a guide rail (26), the sliding block (25) and the guide rail (26) are fixed on the upper bottom plate (45) of the body mechanism (4) through a bolt connection sleeve set; The walking mechanism (3) includes a six-legged walking device and a wheeled moving device; The six-legged walking device includes three groups of rudder control combined structures, the lower end of the rudder control combined structure is connected with a bionic calf (312), the lower end of the bionic calf (312) is fixedly connected with a first driving motor (313), the lower end of the first driving motor (313) is connected with a robot foot device (314), the foot device (314) is composed of a plurality of fan-shaped plates; The wheeled moving device includes a support seat (315), the support seat (315) is connected with the lower bottom plate (46) of the body mechanism (4) through a rotating shaft (316) upper portion, the rotating shaft (316) lower portion is connected with a support rod (317), the lower end of each support rod (317) is connected with a universal wheel (318), two universal wheels (318) are fixedly connected through an axle (319), the axle (319) is provided with a speed reducer motor (320) in the middle; A cross beam servo motor (323) is fixed on the lower bottom plate (46) of the body mechanism (4) through a motor support (324) and is connected with a lead screw reverser (325), the lead screw reverser (325) is hinged with one end of a lead screw (326), the other end of the lead screw (326) is connected with the lower bottom plate (46) through a fixed block (327); The body mechanism (4) includes an upper bottom plate (45) and a lower bottom plate (46), the upper end of the upper bottom plate (45) is provided with a body shell (47), a water tank and a water pump are arranged in the body shell (47), a solar panel is arranged on the outside of the body shell (47), the body mechanism (4) further includes a soil drilling mechanism (41), a sapling transportation mechanism (42), a soil covering mechanism (43) and a winding mechanism (44). The winding mechanism (44) is fixedly connected to the lower bottom plate (46) and is installed at the rear end of the hilling mechanism (43); the winding mechanism (44) comprises a lead screw device (4401) fixedly connected to the lower end of the lower bottom plate (46), and a second driving motor (4402) is arranged on the front side of the lead screw device (4401); the lead screw device (4401) is connected with a fixed plate (4403) on both sides, and the fixed plate (4403) is connected with a mounting plate (4404) through bolts; the mounting plate (4404) is fixedly connected with a third connecting plate (4408), and the third connecting plate (4408) is slidably connected with a third rack mechanism (4407) in a groove; the third rack mechanism (4407) is meshingly connected with a third gear (4406), and a third reversible motor (4405) drives the third gear (4406) to move on the third rack mechanism (4407); a winding coil (4410) is connected to the lower end of the third rack mechanism (4407), and the winding coil (4410) is internally provided with a winding bar (4409) connected in a meshing manner with two fourth gears (4412); a fourth reversible motor (4413) drives the fourth gears (4412) to further drive the winding bar (4409) to rotate along the spool (4411).

2. The biomimetic spider robot for desert afforestation of claim 1, wherein, The multi-stage spring telescopic rod structure comprises an upper neck portion (21), a middle neck portion (22) and a lower neck portion (23), and the upper neck portion (21), the middle neck portion (22) and the lower neck portion (23) are connected in sequence through a guide sleeve (27) and can be telescopically extended upward and downward.

3. The biomimetic spider robot for desert afforestation of claim 2, wherein, The rotatable structure comprises a rotating shaft (13) and a connecting block (14), and the lower end of the petal-shaped head is connected with the connecting block (14) through the rotating shaft (13), and the lower end of the connecting block (14) is connected with the upper neck portion (21).

4. The biomimetic spider robot for desert afforestation of claim 3, wherein, The three groups of rudder control combined structures in the six-legged walking device comprise a first rudder (301), a second rudder (307) and a third rudder (311), the first rudder (301) is slidably connected to the lower bottom plate (46) through a support pad (302) and a bolt connection kit, and a first rudder swing arm (303) is embedded in a first rudder support (305) and fixedly connected with the first rudder (301) through a bolt connection kit; the second rudder (307) is hingedly connected to the first rudder support (305), a second rudder swing arm (304) is embedded in a second rudder support (306) and fixedly connected with the second rudder (307) through a bolt connection kit; the second rudder support (306) is fixedly connected with the upper end of a bionic thigh (308), the lower end of the bionic thigh (308) is connected with the third rudder (311), the third rudder (311) is hingedly connected to a third rudder support (309), and a third rudder swing arm (310) is embedded in the third rudder support (309) and fixedly connected with the third rudder (311) through a bolt connection kit.

5. The biomimetic spider robot for desert afforestation of claim 4, wherein, The wheeled mobile device further comprises an upper support arm (321) and a lower support arm (322), the upper support arm (321) and the lower support arm (322) are bolted to the mounting hole (329) in the middle of the support rod (317), the lower end of the upper support arm (321) is connected to the upper end of the lower support arm (322) through a connecting rod (328), and the upper end of the upper support arm (321) is hinged to the lower bottom plate (46) of the body mechanism (4).

6. The biomimetic spider robot for desert afforestation of claim 5, wherein, The soil drilling mechanism (41) comprises a bridge (4101), the bridge (4101) is connected with a fourth steering engine (4102) through a fourth steering engine swing arm (4103), the fourth steering engine (4102) is fixed on the lower bottom plate (46) through a bolt fastening assembly, the bridge (4101) is connected with a first rack mechanism (4108), the first rack mechanism (4108) is slidingly connected in a groove of a first connecting plate (4109); the first rack mechanism (4108) is in meshing connection with a first gear (4107), a stepping motor (4106) drives the first gear (4107) to rotate through a transmission shaft (4110); a first forward-reverse motor (4105) is fixedly connected on the first rack mechanism (4108), and a spiral drill bit (4104) is connected to the lower part of the first forward-reverse motor (4105).

7. The biomimetic spider robot for desert afforestation of claim 6, wherein, The sapling transportation mechanism (42) comprises four groups of steering engine control combined structures and a sapling storage box (4213); the four groups of steering engine control combined structures in the sapling transportation mechanism (42) comprise a fifth steering engine (4201), a sixth steering engine (4204), a seventh steering engine (4207) and an eighth steering engine (4212); the fifth steering engine (4201) is fixedly connected on the upper bottom plate (45), the fifth steering engine (4201) is connected with a first transmission arm (4203) through a bolt connection fifth steering engine support (4202); the first transmission arm (4203) is fixedly connected with the sixth steering engine (4204), the sixth steering engine (4204) is fixedly connected with a second transmission arm (4205) through a bolt connection sixth steering engine support (4206); the second transmission arm (4205) is fixedly connected with the seventh steering engine (4207), a seventh steering engine swing arm (4209) is embedded on a seventh steering engine support (4208) and is fixedly connected with the seventh steering engine (4207) through a bolt connection sleeve; the seventh steering engine support (4208) is bolted with a connecting arm (4210), the connecting arm (4210) is fixedly connected with the eighth steering engine (4212); the eighth steering engine (4212) is provided with an arc-shaped clamping jaw (4211) at the upper end, the arc-shaped clamping jaw (4211) is a meshing gear structure, and the gear structure is used for grabbing saplings in the sapling storage box (4213).

8. The biomimetic spider robot for desert afforestation of claim 7, wherein, The hilling mechanism (43) is fixed on the lower bottom plate (46), the hilling mechanism (43) includes a hilling plate (4301), the hilling plate (4301) is fixedly connected with the second rack mechanism (4304) through a bolt, the second rack mechanism (4304) is slidingly connected in the second connecting plate (4305) with a groove, the second rack mechanism (4304) is meshingly connected with the second gear (4303), and the second reversible motor (4302) drives the second gear (4303) to move on the second rack mechanism (4304).

9. A working method for a bionic spider robot for desert afforestation, based on the bionic spider robot for desert afforestation of claim 8, characterized in that, The method comprises the following steps: After visual analysis by the visual detection and the environmental analysis module in the probe lens device (11) at the front end of the robot head mechanism (1), the robot travels to the specified position by the walking mechanism (3), the step motor (4106) in the soil drilling mechanism (41) drives the first gear (4107) to rotate, the first rack mechanism (4108) moves up and down, and the spiral drill bit (4104) moves up and down to form a pit; The fifth steering wheel (4201), the sixth steering wheel (4204) and the seventh steering wheel (4207) in the sapling transportation mechanism (42) work in combination, the connecting arm (4210) moves to the sapling storage box (4213), the arc-shaped clamping jaw (4211) accurately clamps the sapling, and the sapling is accurately placed in the pit after being clamped; The hilling mechanism (43) is used, two second reversible motors (4302) of the hilling mechanism (43) work simultaneously, drive the second gear (4303) and the second rack mechanism (4304) to move, and then drive the hilling plate (4301) to descend, and the sapling is covered and compacted; After hilling, the sapling is wrapped with wire, first, the third reversible motor (4405) and the second driving motor (4402) work simultaneously, the wire wrapping mechanism (44) axis is lowered to three quarters of the sapling, at this time, the lead screw device (4401) starts to work, the wire wrapping mechanism (44) translates forward and backward, at this time, the sapling passes through the gap in the winding coil (4410), the wire is completely placed on the sapling, then the fourth reversible motor (4413) works, the winding strip (4409) rotates, and the wire between the spools (4411) is wound on the sapling; After the wire of the sapling is wound, the device is retracted, the robot continues to move forward, and the planting task of the next sapling is performed, after the wire of the plurality of saplings is wound, the plurality of saplings are connected into a whole, and the reinforcing effect is achieved.

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