Rotary type desert automatic planting tracked robot and working process thereof

Abstract

The invention discloses a rotary desert automatic planting tracked robot and a working process thereof. The robot comprises a frame, and a cavity is formed in the center of the frame; the driving mechanism is fixedly connected to the lower part of the frame; the trepanning mechanism is fixed to the edge of the vehicle frame, and a drill bit is located outside the vehicle frame and can move downwards till making contact with the ground; the front support is located at the position, close to the punching mechanism, above the frame; the central bracket is positioned above the central hole of the frame; the seedling feeding mechanism is fixed above the front bracket; the seedling planting mechanism is composed of a ball screw and a funnel type seedling planter. The ball screw is fixed to the upper portion of the central support, the lower portion of the ball screw is connected with the sliding block, and the funnel-shaped seedling planter is located under the ball screw. The two earth ramming mechanisms are symmetrically fixed to the positions, on the two sides of the central support, of the lower portion of the frame, and earth ramming pieces point to the seedling planting mechanism; and the irrigation and fertilization mechanism is fixed on the frame and is opposite to the cavity in the center of the frame of the front bracket. The robot can achieve the technical effects of being high in land adaptability, planting in different geologies, flexibly adapting to seedling stems of different lengths and diameters, and liberating manpower through automation in the whole seedling planting process.

Description

Technical Field

[0001] The invention relates to the technical field of tree-planting robots, and in particular to a rotary desert automatic planting crawler robot and its working process. Background Art

[0002] Desertification is one of the important environmental problems facing my country and even the world. According to the fifth national desertification and sandification monitoring report, the area of ​​desertified land in my country accounts for about 13% of the country's total land area. This severe situation makes desert control and afforestation a top priority. Traditional desert tree planting methods rely on a large amount of manpower, which is not only labor-intensive, but also inefficient, and the survival rate of seedlings is difficult to guarantee. Although existing tree planting machinery and equipment have been widely used in landscaping, they are mostly suitable for flat areas with good soil conditions. In complex and changeable desert environments, such machinery often faces problems such as insufficient power, poor obstacle avoidance, and complex operation, and requires manual assistance to complete the seedling delivery process, resulting in low planting efficiency and unsatisfactory results. Therefore, it is particularly important to develop a robot that can automatically adapt to complex terrain in a desertification environment, realize mechanized seedling delivery, automatically control watering, and efficiently complete planting tasks. Summary of the invention

[0003] In order to solve or partially solve the problems existing in the related art, the present application provides a rotary desert automatic planting crawler robot.

[0004] To achieve the above objectives, this application is implemented through the following technical solutions: A rotary desert automatic planting crawler robot of the present invention comprises: A frame, wherein the frame has a hole in the center; A driving mechanism, the driving mechanism is fixedly connected to the lower part of the frame; A hole-opening mechanism, wherein the hole-opening mechanism is fixed to the edge of the frame, and the drill head is located outside the frame and can move downward until it touches the ground; A front bracket, the front bracket being located above the frame and close to the opening mechanism; A central bracket, the central bracket being located above the central hole of the frame; A seedling delivery mechanism, wherein the seedling delivery mechanism is fixed above the front support; The seedling planting mechanism is composed of a ball screw and a funnel-shaped seedling planting device. The ball screw is fixed on the upper part of the central bracket and connected to a slider at the bottom, and the funnel-shaped seedling planting device is located directly below the ball screw; A tamping mechanism, wherein there are two tamping mechanisms, which are symmetrically fixed below the vehicle frame on both sides of the central support, and the tamping pieces point in the direction of the seedling planting mechanism; The irrigation and fertilization mechanism is fixed on the vehicle frame and is opposite to the front bracket across the central cavity of the vehicle frame.

[0005] Furthermore, the driving mechanism is composed of four DC motors, which are respectively located below four points on the edge of the frame; the motors are respectively connected to track gears, and the four track gears are connected by two track groups.

[0006] Furthermore, the motor of the hole-opening mechanism is fixed to the lead screw, and the drill bit is mounted on a quick-change drill bit device at the lower end of the lead screw, so that it can be easily replaced; a spiral-shaped blade surrounds the drill bit, the drill bit and the blade are integrally welded, and the drill tip has a fork-shaped structure; the helix angle of the blade is between 10° and 20°.

[0007] Furthermore, preferably, the central support is slightly higher than the front support, and the two supports are connected by a cross bar.

[0008] Furthermore, the seedling delivery mechanism is composed of a seedling storage box, a conveyor belt, four gears, and a reduction motor. The two gears on the left and the two gears on the right are each connected by a conveyor belt, and the two conveyor belts are parallel to each other. Two barb devices are installed on each gear, the size of the barbs can be adjusted, and they have a positioning function. The seedling storage box is an adjustable design, the baffle is installed on the slide rail, the spacing can be adjusted, and the bottom plate is a slope.

[0009] Furthermore, the funnel-shaped seedling planter is connected to a clamping ring, which restricts movement within a certain range in the vertical direction; a sliding ring is connected to the bottom of the clamping ring through a spring, and the sliding ring is evenly connected to a number of connecting rods, and the other ends of the connecting rods are each connected to a closing claw, and a sensor is installed at the end of the closing claw.

[0010] Furthermore, the tamping mechanism is composed of a crank rocker mechanism, wherein the shaft at one end is the output shaft of the reduction motor. The crank can rotate around the output shaft of the reduction motor, and the length can be changed according to the actual sand and soil conditions. The connecting rod is extended to the outside of the shaft on the side away from the crank, and the end is connected to the tamping piece.

[0011] Furthermore, the automatic watering mechanism is composed of a pump, a water tank, a impeller and a valve. The impeller is located inside the water tank and can control watering by regular rotation.

[0012] The working process of a rotary desert automatic planting crawler robot of the present invention comprises the following steps: After the power is turned on, the hole-drilling motor starts to operate the electric push rod to drive the drill bit to drill the hole; after completion, the robot moves until the seedling outlet of the seedling planter is coaxial with the hole, the seedling delivery unit runs through the conveying device to deliver the seedlings, the seedling planting unit sends the seedlings into the hole, the push rod of the tamping unit tamps the sand around the hole, and finally the irrigation and fertilization unit irrigates and fertilizes to keep the sand moist; then the robot moves to the next tree planting point and repeats the hole-drilling steps; until the scheduled tree planting task is completed or the power is about to run out, it returns to the designated location autonomously and turns off the power.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The robot of the present invention has strong adaptability to land and can be used for planting in different geological conditions. It can also automate the entire process of sapling planting and free up manual labor. The hole-opening mechanism provided in the present invention can conveniently replace different drill bits to drill tree pits of different diameters and depths, while avoiding the technical problem that the plow-type furrow opener seriously damages the surface vegetation and causes the surface soil to lose a large amount of moisture; the special setting of the integral welding form, the fork-shaped drill tip, and the spiral rise angle can achieve the technical effect of the drill bit having a strong soil conveying capacity and low working resistance; The side baffles of the seedling delivery mechanism provided in the present invention can adjust the spacing, and the seedling hook can adjust the size, which has the technical effect of flexibly adapting to seedling poles of different lengths and diameters; The funnel-shaped seedling planter of the seedling planting mechanism provided by the present invention omits the telescopic movement of the arm, thus avoiding the technical problems of the complex structure and high price of the general manipulator; the opening and closing claw structure can protect the seedlings and accurately locate the seedling emergence position in general soil, and has the technical effect of directly planting seedlings without opening holes in sandy soil; The tamping mechanism of the present invention adopts a crank slide rod structure and an electric push rod to press the soil, which has a floating effect that cannot be replaced by other mechanical transmissions, ensuring that the soil is loose and tight to a suitable degree; the symmetrically installed tamping devices form a "V" shape, and the tree pit after tamping forms a conical soil pile, which can achieve the technical effect of preventing rainwater accumulation and improving the survival rate of seedlings; The automatic watering mechanism of the present invention adopts the regular rotation of the impeller to fully mix the fertilizer and water, thereby completing the fertilization work. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is an isometric schematic diagram of a rotary desert automatic planting crawler robot according to an embodiment of the present invention; Figure 2 is an oblique upward view schematic diagram of a rotary desert automatic planting crawler robot according to an embodiment of the present invention; Figure 3 is a schematic side plan view of a hole opening mechanism in an embodiment of the present invention; Figure 4 is an isometric schematic diagram of a seedling delivery mechanism in an embodiment of the present invention; Figure 5 is an isometric schematic diagram of a funnel-shaped seedling planter in an embodiment of the present invention; Figure 6 is an isometric schematic diagram of a ramming mechanism in an embodiment of the present invention; Figure 7 is an isometric schematic diagram of an automatic watering mechanism in an embodiment of the present invention; Figure 8The present invention is a flowchart of a rotary desert automatic planting crawler robot according to an embodiment of the present invention.

[0015] Figure numerals: 1, frame; 2, hole opening mechanism; 3, seedling delivery mechanism; 4, front bracket; 5, seedling planting ball screw; 6, central bracket; 7, funnel-shaped seedling planter; 8, tamping mechanism; 9, irrigation and fertilization mechanism; 10, front drive motor; 11, rear drive motor; 12, crawler gear; 13, crawler; 14, hole opening motor; 15, drill screw; 16, lifting motor; 17, drill bit; 18, blade; 19, drill tip; 20, seedling storage box; 21. conveyor belt; 22. conveyor belt gear; 23. seedling delivery reduction motor; 24. adjustable seedling hook; 25. baffle; 26. slide rail; 27. inclined bottom plate; 28. sleeve; 29. ​​snap ring; 30. spring; 31. circular slider; 32. connecting rod; 33. opening and closing claw; 34. ramming earth reduction motor; 35. crank; 36. connecting rod; 37. ramming earth sheet; 38. water pump; 39. water storage tank; 40. impeller; 41. valve. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical effect and technical solution of the embodiment of the present invention clearer, the technical solution in the embodiment of the present invention is clearly and completely described below in conjunction with the drawings in the embodiment of the present invention; it is obvious that the described embodiment is a part of the embodiment of the present invention. Based on the embodiment disclosed in the present invention, other embodiments obtained by ordinary technicians in this field without making creative work should all fall within the scope of protection of the present invention.

[0017] See also Figure 1 and Figure 2 A rotary desert automatic planting crawler robot according to an embodiment of the present invention comprises: a frame 1, a driving mechanism, a hole-opening mechanism 2, a seedling-feeding mechanism 3, a seedling-planting mechanism 4, a tamping mechanism 5 and an irrigation and fertilization mechanism 6. Preferably, the frame 1 is rectangular, and has a rectangular hole in the center for the seedling-planting mechanism 4 to pass through. The driving mechanism is fixed to the four corners below the frame 1, the hole-opening mechanism 2 is fixed to the front end of the frame 1, and the drill bit is located outside the frame 1 and can move downward until it touches the ground. Brackets are provided at the front and center of the frame 1, and the seedling-feeding mechanism 3 is fixed above the front bracket 4. The seedling-planting mechanism consists of a ball screw 5 and a funnel-shaped seedling-planting device 7. The ball screw 5 is fixed to the upper part of the central bracket 6, and is connected to a slider at the bottom. The funnel-shaped seedling-planting device 7 is located directly below the ball screw 5. Preferably, the central bracket 6 is slightly higher than the front bracket 4, and the two brackets are connected by a crossbar. There are two tamping mechanisms 8, which are symmetrically fixed to the lower part of the frame 1 on both sides of the central bracket 6 to form a "V" shape, and the tamping pieces point to the direction of the seedling planter 7. The irrigation and fertilization mechanism 9 is fixed to the rear part of the frame 1.

[0018] See also Figure 2The driving mechanism is composed of four 12V brushless DC motors 10 and 11, which are respectively located below the left front, right front, left rear and right rear corners of the frame. The motors are respectively connected to track gears 12, and the track gears 12 on the same side are connected by tracks 13. When the driving mechanism is working, the robot moves forward when the left and right sides are energized in the forward direction at the same time, and moves backward when the left and right sides are energized in the reverse direction at the same time. The robot turns left when the left motor is energized in the reverse direction and the right motor is energized in the forward direction, and the robot turns right when the left motor is energized in the forward direction and the right motor is energized in the reverse direction.

[0019] See also Figure 3 , the drilling motor 14 of the hole-opening mechanism is fixed to the lead screw 15, and the drill bit 17 is installed at the lower end of the lead screw 15. The lifting rod of the lifting motor 16 is connected to the lead screw 15, and can control the vertical movement of the lead screw 15 and the drill bit 17 mechanism. The lead screw 15 uses a device for quickly replacing drill bits, which can easily replace drill bits of different apertures and lengths so as to drill tree pits of different diameters and depths. The drill bit 17 is surrounded by a spiral blade 18, and the drill bit 17 and the blade 18 are welded as a whole, and the drill tip 19 adopts a fork-shaped structure. In this embodiment, the drill bit spiral angle is 15°. It has been verified by experiments that at this angle, the drill bit has a strong ability to transport soil, a small working resistance, and a good transport effect. When the hole-opening mechanism is working, the lifting motor drives the lead screw to move up and down by forward and reverse rotation, and the drilling motor drives the drill bit to rotate to complete the drilling action.

[0020] See also Figure 4 The seedling delivery mechanism is composed of a seedling storage box 20, a conveyor belt 21, a gear 22, and a reduction motor 23. The two gears on the left and the two gears on the right are each connected by a conveyor belt, and the two conveyor belts are parallel to each other. Two barb-shaped seedling hooks 24 are installed on each of the four gears. The barbs can be adjusted in size to adapt to seedling poles of different diameters and have a positioning function. The seedling storage box 20 is an adjustable design, and the baffle 25 is installed on the slide rail 26. The mutual spacing can be freely adjusted. The bottom plate 27 is a 45-degree slope. Under the action of gravity, the seedlings can always fall to the conveyor belt seedling transfer position. When different seedlings are mixed and arranged, the tree planting machine can automatically plant different types of seedlings. When the seedling delivery mechanism is working, the reduction motor drives the auxiliary conveyor belt to transmit power to the main conveyor belt. The seedling delivery piece is installed on the main conveyor belt. The conveyor belt movement can smoothly transport the seedlings to the preset position.

[0021] See also Figure 5, the seedling planter sleeve 28 is connected with a clamp ring 29, and is restricted by the clamp ring 29 to move within a certain range in the vertical direction; a circular slider 31 is connected to the lower part of the clamp ring through a spring 30, preferably, the circular slider 31 is evenly connected to four connecting rods 32, and the other end of each connecting rod 32 is connected to a piece of opening and closing claw 33, and a sensor is installed at the end of the opening and closing claw 33 to sense the state of the seedling fixation. When the seedling planting mechanism is working, the motor drives the ball screw slider to move downward to push the funnel-shaped seedling planter downward. When it moves to the preset position, the circular slider is stuck by the connecting rod and stops moving. At this time, the seedling planter continues to be pushed downward by the slider acted by the ball screw, and the bottom of the opening and closing claw opens, so that the seedling falls to the preset position.

[0022] See also Figure 6 The tamping mechanism is composed of a reduction motor 34 and a four-axis three-link crank rocker mechanism. The shaft at one end of the crank rocker is the output shaft of the reduction motor 34. The crank 35 can rotate around the output shaft of the reduction motor 34, and the length can be changed according to the actual sand and soil conditions. The connecting rod 36 is extended to the outside of the shaft on the side away from the crank, and the end is connected to the tamping piece 37. When the tamping mechanism is working, the circular motion of the output shaft of the reduction motor is converted into the reciprocating curved motion of the tamping piece to complete the tamping and pushing action. Through tamping, the tree pit forms a conical soil pile, which can prevent the accumulation of rainwater and improve the survival rate of the seedlings.

[0023] See also Figure 7 The automatic watering mechanism is composed of a water pump 38, a water tank 39, a pulsator 40 and a valve 41. The pulsator 40 is located at the bottom of the water tank 39. After the water pump fills the water tank with water, the automatic watering mechanism opens the valve when working to perform the watering function. The pulsator rotates regularly to control the irrigation, and at the same time, the fertilizer and water are fully mixed to complete the fertilization work.

[0024] See also Figure 8 The working process of the present invention includes: after the power is turned on, the hole-making motor starts to operate the electric push rod to link the drill bit to make a hole; after completion, the motor drives the robot to move forward until the seedling outlet of the seedling planter is coaxial with the hole, the seedling delivery unit runs through the transmission device to deliver the seedlings, the seedling planting unit sends the seedlings into the hole, the push rod of the tamping unit tamps the sand around the hole, and finally the irrigation and fertilization unit irrigates and fertilizes to keep the sand moist; then the robot moves to the next tree planting point and repeats the hole-making steps; until the predetermined tree planting task is completed or the power is about to be exhausted, it returns to the designated location autonomously and turns off the power.

[0025] The above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, a person skilled in the art can still modify or make equivalent substitutions to the specific implementations of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention are within the scope of protection of the claims of the present invention to be approved.

Claims

1. A rotary desert automatic planting crawler robot, characterized in that: include: A frame (1), wherein a hole is provided in the center of the frame; A driving mechanism, the driving mechanism is fixedly connected to the lower part of the frame; A hole-opening mechanism (2), the hole-opening mechanism being fixed to the edge of the frame, and the drill head being located outside the frame and being able to move downward until it touches the ground; A seedling delivery mechanism (3), wherein the seedling delivery mechanism is fixed above the front support; A front bracket (4), the front bracket being located above the vehicle frame and close to the hole opening mechanism; A central support (6), the central support being located above the central cavity of the frame; A seedling planting mechanism, the seedling planting mechanism is composed of a ball screw (5) and a funnel-shaped seedling planting device (7), the ball screw (5) is fixed to the upper part of the central support (6), and is connected to a slider at the bottom, and the funnel-shaped seedling planting device (7) is located directly below the ball screw (5); A tamping mechanism (8), wherein there are two tamping mechanisms, which are symmetrically fixed below the vehicle frame on both sides of the central support, and the tamping pieces point in the direction of the seedling planting mechanism; An irrigation and fertilization mechanism (9) is fixed on the vehicle frame and is opposite to the front bracket across the central cavity of the vehicle frame.

2. The rotary desert automatic planting crawler robot according to claim 1, characterized in that: The driving mechanism is composed of four DC motors (10) (11), which are respectively located below four points on the edge of the frame; the motors are respectively connected to track gears (12), and the four track gears are connected in groups by two track belts (13).

3. The rotary desert automatic planting crawler robot according to claim 1, characterized in that: The motor (14) of the hole-opening mechanism is fixed to the lead screw (15), and the drill bit (17) is mounted on a quick-change drill bit device at the lower end of the lead screw, so that it can be easily replaced.

4. The rotary desert automatic planting crawler robot according to claim 3, characterized in that: A spiral blade (18) surrounds the drill bit (17) of the hole-opening mechanism. The drill bit and the blade are welded together as a whole. The drill tip (19) is a fork-shaped structure. The helix angle of the blade (18) is between 10° and 20°.

5. The rotary desert automatic planting crawler robot according to claim 1, characterized in that: The seedling delivery mechanism is composed of a seedling storage box (20), a conveyor belt (21), four gears (22), and a reduction motor (23). The two gears on the left side and the two gears on the right side are respectively connected by a conveyor belt, and the two conveyor belts are parallel to each other. Two barb devices (24) are respectively installed on the gears, and the barbs are adjustable in size and have a positioning function.

6. The rotary desert automatic planting crawler robot according to claim 5, characterized in that: The seedling storage box (20) of the seedling delivery mechanism is of adjustable design, the baffle (25) is installed on the slide rail (26), the spacing can be adjusted, and the seedling storage box bottom plate (27) is a slope.

7. The rotary desert automatic planting crawler robot according to claim 1, characterized in that: The funnel-shaped seedling planter is connected to a clamping ring (29) and is restricted by the clamping ring to move within a certain range in the vertical direction; a sliding ring (31) is connected below the clamping ring through a spring (30), and the sliding ring is evenly connected to a plurality of connecting rods (32), and the other ends of the connecting rods are each connected to a piece of opening and closing claw (33), and a sensor can be installed at the end of the opening and closing claw to sense the state of the seedling fixation.

8. The rotary desert automatic planting crawler robot according to claim 1, characterized in that: The tamping mechanism is composed of a crank rocker mechanism, wherein the shaft at one end is the output shaft of a reduction motor (34); the crank (35) can rotate around the output shaft of the reduction motor, and the length can be changed according to the actual sand and soil conditions; the connecting rod (26) is extended to the outside of the shaft on the side away from the crank, and the end is connected to the tamping piece (37).

9. The rotary desert automatic planting crawler robot according to claim 1, characterized in that: The automatic watering mechanism is composed of a water pump (38), a water storage tank (39), a pulsator (40) and a valve (41). The pulsator is located inside the water storage tank and can control watering by regular rotation.

10. A working process of a rotary desert automatic planting crawler robot according to claim 1, characterized in that: The following steps are involved: After the power is turned on, the drilling motor starts to operate and the electric push rod drives the drill bit to drill the hole; After completion, the robot moves until the seedling outlet of the seedling planter is coaxial with the hole, the seedling delivery unit runs through the conveying device to deliver the seedlings, the seedling planting unit sends the seedlings into the hole, the push rod of the tamping unit tamps the sand around the hole, and finally the watering and fertilizing unit irrigates and fertilizes to keep the sand moist; then the robot moves to the next tree planting point and repeats the hole opening steps; until the scheduled tree planting task is completed or the power is about to run out, it returns to the designated location autonomously and turns off the power.

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