Planting device for releasing speed-controlled aquatic plants

Abstract

The invention provides a planting device for releasing speed-controlled aquatic plants. The planting device comprises a planting pot for planting submerged plants; the main body is of a double-ship structure; the clamping and putting mechanism is arranged on the main body, the clamping and putting mechanism comprises a rack, a conveying mechanism and a grabbing mechanism used for grabbing the planting pots, the grabbing mechanism is arranged on the rack in a sliding mode so as to move left and right, the conveying mechanism conveys the planting pots to the position below the grabbing mechanism, and the grabbing mechanism grabs the planting pots to the planting mechanism; the planting mechanism comprises a hollow sleeve, submerged plants of the conveying mechanism are moved to the position over the hollow sleeve through a grabbing mechanism, an annular pipe and air bags are further embedded in the inner wall of the hollow sleeve, the air bags are evenly and annularly distributed on the inner circumferential wall of the hollow sleeve, and the annular pipe is communicated with the air bags; the air pump is started to convey air into the annular pipe to inflate the air bag, and the air bag expands after being inflated to extrude the planting pot in the hollow sleeve, so that the planting pot slowly descends, and the planting work of plants is completed.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of riverway nursing and restoration of water conservancy projects, and particularly relates to the field of riverway aquatic plant planting, and more particularly to a water plant planting device with speed control during throwing. BACKGROUND

[0002] The existing planting methods of submerged plants mainly include the fork planting method, the throwing method and the gradual sinking planting method. However, the above planting methods have various disadvantages and defects. When the fork planting method is used, it is difficult to determine the position and density of the plant planting. When the throwing method is used, the plants are easily washed down by water when the water flow rate is large, which is not conducive to root penetration. The gradual sinking planting method requires a complex device structure, has a high cost, can only plant single plants, has a very low efficiency, and some auxiliary materials used are easy to cause secondary pollution. In addition, in the process of throwing the aquatic plants into the water bottom mud, if the aquatic plant planting pot is lowered too fast, it is easy to be damaged by collision.

[0003] Therefore, in view of the above needs and problems, it is urgent to develop a new submerged plant planting technology and device, which can realize continuous operation of planting by using remote rocker control technology and control the throwing speed of the aquatic plant planting pot. SUMMARY

[0004] The present application aims to provide a water plant planting device with speed control during throwing to overcome the above-mentioned shortcomings and deficiencies of the prior art.

[0005] The technical solution adopted by the present application is as follows: A water plant planting device with speed control during throwing, comprising: The main body is a double-boat structure comprising a first boat body and a second boat body, and the first boat body and the second boat body are connected by two connecting beams arranged at intervals and oppositely; The grabbing and throwing mechanism comprises a rack spanning the first boat body and the second boat body, a conveying mechanism and a grabbing mechanism for grabbing the cultivated submerged plants, the grabbing mechanism is slidably arranged on the rack to move left and right, the conveying mechanism is arranged on both sides of the rack to convey the cultivated submerged plants to a predetermined position, and the grabbing mechanism grabs the submerged plants of the conveying mechanism onto the planting mechanism; A planting mechanism arranged below the frame, comprising a mounting beam, a derivative frame, two first electric push rods and a hollow sleeve, both ends of the mounting beam are fixed on the first hull and the second hull respectively, the derivative frame is fixed on the lower part of the mounting beam, the fixed ends of the two first electric push rods are fixed on the two sides of the derivative frame and the extension direction is vertically downward, the extension ends of the two first electric push rods are fixedly connected with the outer surface of the hollow sleeve through a fastening ring, and the hollow sleeve is coaxial with the derivative frame in the vertical direction, the hollow sleeve can move up and down under the drive of the two electric push rods to insert or move away from the bottom mud, the planting pot of the conveying mechanism is moved to the upper side of the hollow sleeve by the grabbing mechanism, and the planting pot of the submerged plant is planted from top to bottom until it falls into the water bottom. The outer wall of the hollow sleeve is fixed with an air pump, and the inner wall of the hollow sleeve is embedded with an annular pipe and air bags, the air bags are uniformly arranged on the inner wall of the hollow sleeve, the annular pipe is in communication with each group of air bags, the air pump is in communication with the annular pipe, the air bags can be inflated by starting the air pump to input air into the annular pipe, and the air bags can be inflated to extrude the planting pot in the hollow sleeve, so that the planting pot slowly descends.

[0006] In one of the embodiments, the frame comprises two support columns, a sliding block, a ball screw and a servo motor driving the ball screw, the two supports are vertically fixed on the first hull and the second hull respectively, both ends of the ball screw are rotatably arranged on the two support columns through bearings, and the sliding block is sleeved on the outer surface of the ball screw to threadedly cooperate with the ball screw to slide.

[0007] In one of the embodiments, the grabbing mechanism comprises a second electric push rod and a mechanical claw, the fixed end of the second electric push rod is fixed on the sliding block, the extension end of the second electric push rod is connected with the mechanical claw, a cylinder for realizing the tightening and opening of the claw fingers is installed on the mechanical claw, the air inlet of the cylinder is connected in communication with the air outlet of an electromagnetic valve through a hose, the electromagnetic valve is installed on the top plate of a mounting bracket, a gas source is installed on one side of the electromagnetic valve, and the air outlet of the gas source is connected in communication with the air inlet of the electromagnetic valve through a hose.

[0008] In one of the embodiments, a pressure sensor is installed at the bottom of the hollow sleeve to sense the depth and pressure information.

[0009] In one of the embodiments, a groove is arranged on the side wall of the end of the hollow sleeve away from the derivative frame, and a seedling pressing device is arranged in the groove.

[0010] In one of the embodiments, the seedling pressing device comprises a seedling pressing fork, a driving member and a base arranged below the seedling pressing fork, the base is fixed to the outer surface of the hollow sleeve, the seedling pressing fork is hinged to the base, and the seedling pressing fork is deflected from the vertical initial state to the direction of the hollow sleeve under the driving of the driving member and enters the recess to press the planting pot in the bottom end of the hollow sleeve to the bottom mud.

[0011] In one of the embodiments, a reset spring is arranged below the seedling pressing fork, and the reset spring drives the seedling pressing fork to return to the initial position after the seedling pressing fork plants the planting pot to the bottom mud of the water body through the planting hole in the bottom of the hollow sleeve.

[0012] In one of the embodiments, the conveying mechanism comprises a frame, a motor, a conveying belt, two rotating shafts and an infrared sensor, one rotating shaft is rotatably arranged on each side of the frame, one rotating shaft is coupled with the motor, the conveying belt is sleeved outside the two rotating shafts, the infrared sensor is arranged on the conveying belt, and the infrared sensor controls the motor to start and stop in response to the sensing of the submerged plant, so that the planting pot is always stopped at a preset position for being grabbed by the grabbing mechanism.

[0013] Due to the above technical solutions, the beneficial effects of the present application include: the automatic planting equipment is used to replace manual planting, the planting efficiency of the submerged plant is improved, the planting density is standardized, the cost is saved, the application is wider, the planting depth of the hollow sleeve can be adjusted through the central control platform according to different bottom conditions, water bottom topography and other factors, in addition, the falling speed of the water plant planting pot can be controlled to avoid damage of the planting pot. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following drawings are provided for display: Figure 1 FIG. 1 is a structural schematic view of the water plant planting device with speed control for launching (in which the conveying mechanism is only used for illustration).

[0015] Figure 2 FIG. 4 is a structural schematic view of the central sleeve of the planting mechanism.

[0016] Figure 3 FIG. 5 is a schematic view of the planting pot with plants.

[0017] Figure 4 FIG. 6 is a state view after the grabbing mechanism grabs the submerged plant.

[0018] In the figure: 1-main body; 2-conveying mechanism; 3-mechanical claw; 4-hollow sleeve; 5-mounting beam; 6-planting pot; 7-submerged plant; 110-derivative frame; 120-first electric push rod; 130-fastening ring; 140-slide; 150-base; 151-seedling pressing fork. DETAILED DESCRIPTION

[0019] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not intended to limit the present application.

[0020] For the convenience of description, spatial relative terms such as "under", "below", "lower", "above", "upper" and the like will be used herein to describe the relationship of one element or feature to another element or feature as shown in the drawings. The spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientations depicted in the figures. For example, if the device in the figures is turned over, the elements described as "under" or "below" the other elements or features will be oriented "above" the other elements or features.

[0021] Unless otherwise defined, the terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs, and the terms should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense, except as expressly defined herein.

[0022] The device mainly comprises a ship body, a conveying mechanism, a submerged plant clamping and throwing mechanical device and a submerged plant planting mechanical device. The ship body is a double ship body, and a battery, a distribution box and a motor provide power. A driving motor drives a chain to drive a driving rod, and then drives the paddle wheels on both sides of the ship body to complete the forward movement, backward movement, left turn or right turn of the entire device in water. The operation of the motor is controlled by a remote control device. The power device is an engine arranged on the ship body and connected to the clamping and throwing mechanism and the planting device through a transmission mechanism to provide power for the clamping and throwing mechanism and the planting mechanism.

[0023] Please refer to Figure 1 , for example, a throwing speed control aquatic plant planting device, comprising: a planting pot in which a submerged plant is planted; the planting pot is made of degradable material; a main body in a double ship structure, comprising a first ship body and a second ship body, the first ship body and the second ship body are connected through two spaced and oppositely arranged connecting beams; a clamping and throwing mechanism, comprising a rack spanning the first ship body and the second ship body, a conveying mechanism and a grabbing mechanism for grabbing the planting pot, the grabbing mechanism is slidingly arranged on the rack to move left and right, the conveying mechanism is arranged on both sides of the rack to convey the planting pot in which the submerged plant is planted to a predetermined position, and the grabbing mechanism grabs the planting pot of the conveying mechanism to the planting mechanism; The planting mechanism, located below the frame, includes a mounting beam, a derivative frame, two first electric actuators, and a hollow sleeve. The two ends of the mounting beam are fixed to the first and second hulls, respectively. The derivative frame is fixed to the lower part of the mounting beam. The fixed ends of the two first electric actuators are fixed to both sides of the derivative frame, with their extension and retraction directions perpendicularly downwards. The extension and retraction ends of the two first electric actuators are fixedly connected to the outer surface of the hollow sleeve via fastening rings. The hollow sleeve and the derivative frame are coaxial in the vertical direction. Driven by the two electric actuators, the hollow sleeve can move up and down to insert into or move away from the bottom mud. The gripping mechanism moves the submerged planter from the conveying mechanism to directly above the hollow sleeve, allowing the planting pot to fall from top to bottom through the hollow sleeve until it reaches the bottom of the water, thus completing the planting process. The fastening rings can be circular clamps or ferrules.

[0024] To ensure the successful planting of submerged plants, a ring-shaped tube (not shown in the figure) and air bladders (not shown in the figure) are embedded inside the hollow sleeve. The ring-shaped tube is interconnected with each group of air bladders. An air pump is fixedly installed at the top of the outer wall of the hollow sleeve. The air pump is waterproofed. A T-junction is fixedly installed at the bottom output end of the air pump, located inside the rotating sleeve. Air supply pipes are fixedly installed at both output ends of the T-junction, and the other end of the air supply pipes is connected to the ring-shaped tube. When the air pump is activated, air is supplied to the ring-shaped tube through the T-junction and air supply pipes, thus inflating the air bladders. Once inflated, the air bladders expand, squeezing the planting pots inside the hollow sleeve. The planting pots slide downwards under their own weight, and the friction between the air bladders and the planting pots slows them down, causing them to descend slowly. The inner diameter of the hollow sleeve is larger than the width of the planting pot.

[0025] In one embodiment, the conveying mechanism includes a frame, a motor, a conveyor belt (not shown in the figure), two rotating shafts (not shown in the figure), and an infrared sensor (not shown in the figure). The two rotating shafts are rotatably mounted on opposite sides of the frame, i.e., one rotating shaft is rotatably mounted at the first end of the frame, and the other rotating shaft is rotatably mounted at the second end of the frame. One of the rotating shafts is connected to the motor. The conveyor belt is sleeved on the outside of the two rotating shafts. The infrared sensor is mounted on the conveyor belt. The infrared sensor detects submerged plants and planting pots and controls the motor to start and stop, keeping the submerged plants and planting pots at a preset position for the gripping mechanism to grasp. That is, when the infrared sensor detects a planting pot, it controls the motor to turn off, and the conveyor belt stops moving. When the submerged plant and its corresponding planting pot at the preset position are removed, the motor starts until the infrared sensor detects the next planting pot and stops moving again. The conveying mechanism is located on both inner sides of the frame to facilitate the gripping operation of the mechanical claw. The conveying mechanism is controlled by the central control unit to transport submerged plants to the entire system.

[0026] In one embodiment, the frame includes two support columns, a slider, a ball screw, and a servo motor for driving the ball screw. The two supports are vertically fixed to the first hull and the second hull, respectively. The two ends of the ball screw are rotatably mounted on the two support columns via bearings. The slider is fitted onto the outer surface of the ball screw to slide in a threaded engagement with the ball screw. The gripping mechanism includes a second electric actuator and a mechanical claw. The fixed end of the second electric actuator is fixed to the slider, and the telescopic end of the second electric actuator is connected to the mechanical claw. The mechanical claw is equipped with a cylinder for tightening and loosening the claw fingers. The air inlet of the cylinder is connected to the air outlet of a solenoid valve via a hose. The solenoid valve is mounted on the top plate of the mounting bracket, and an air source is installed on one side of the solenoid valve. The air outlet of the air source is connected to the air inlet of the solenoid valve via a hose.

[0027] In use, firstly, the position of the product is detected by an infrared sensor, and the signal is transmitted to the control box, which can be remotely controlled. Then, the control box controls the servo motor that drives the ball screw to move the slider to the appropriate position. Then, the second electric push rod pushes the mechanical claw to the position of the product through the telescopic end. When the mechanical claw reaches the position of the product, the air source enters the cylinder through the solenoid valve and controls the mechanical claw to complete a precise gripping action of the product. This not only improves the gripping accuracy and work efficiency of the mechanical claw, but also has the advantages of simple structure, flexible operation and safety and reliability.

[0028] like Figure 4 As shown, in one embodiment, the mechanical gripper includes a disc and four gripping forks. The telescopic end of the second electric actuator is connected to the disc. Four mechanical openings are evenly distributed around the circumference of the disc, with an included angle of 90° between each opening. The gripping forks are positioned within the disc and extend outward from the mechanical openings to grip the support. Multiple vision sensors are evenly arranged on the outer side of the disc, capable of detecting the 360-degree environment around the disc and the shape of the submerged plant's pot (support). The vision sensors send information to a control box, which adjusts the mechanical gripper's posture for gripping. The mechanical openings are semi-circular. The gripping forks include a first clamp and a second clamp, symmetrically arranged to grip the support. The first and second clamps are controlled by a hydraulic system to perform releasing or gripping actions, such as the gripping mechanism in CN120816525 A. Optionally, the first and second clamps are arc-shaped to accommodate the support.

[0029] In another embodiment, the seedling grasping fork includes a cylinder, a drive unit, and two grippers installed at the mechanical opening inside the disc. The two grippers are located inside the disc and extend outward from the mechanical opening to grip the support. Driven rods are respectively provided on the inner sides of the ends of the two grippers. The two driven rods are cross-hinged in the middle and hinged to the bottom surface inside the disc. The drive unit consists of two cylinders, each connected to the end of a driven rod. The two cylinders move the ends of the driven rods closer or further apart, thus achieving the gripping and releasing action of the two grippers. This allows the grippers to move inward or outward to separate, forming the grasping and releasing operation required for seedling removal. Its principle is similar to the lever structure of scissors, except that cylinders are used to automate the lever structure, and the cylinders are controlled by a control box.

[0030] In one embodiment, the hollow sleeve has a groove on the side wall at the end away from the derived frame, and a seedling pressing device is provided at the groove near the bottom of the hollow sleeve. The seedling pressing device includes a pressing fork, a driving component, and a base disposed below the pressing fork. The base is fixed to the outer surface of the hollow sleeve, and the pressing fork is hinged to the base and positioned near the edge of the base. Driven by the driving component, the pressing fork deflects from an initial vertical position toward the hollow sleeve, enters through the groove, and presses the submerged plant in the bottom of the hollow sleeve down to the bottom mud. The pressing fork can deflect 0-120 degrees. The driving component is the actuating element that realizes the action of the pressing fork, and consists of components such as a motor or a cylinder. For example, the motor drives the pressing fork to rotate through gear transmission or directly, while the cylinder pushes the pressing fork to move through a piston rod. The specific type of driving component needs to be determined according to the actual mechanical structure.

[0031] In one embodiment, a return spring is provided below the seedling pressing fork. After the seedling pressing fork plants the submerged plant into the bottom mud of the water body through the planting hole at the bottom of the hollow sleeve, the return spring drives the seedling pressing fork back to the initial position.

[0032] A pressure sensor is installed at the bottom of the hollow sleeve to sense depth and pressure information to determine whether it has been pressed into the bottom mud. The hollow sleeve is a non-closed tubular component, that is, the cross-sectional shape of the hollow sleeve is approximately C-shaped, and a slide rail is formed on the hollow sleeve along the z-axis. The width of the straight arm of the pressing fork is smaller than the width of the slide rail, and the outer diameter of the Y-shaped fork of the pressing fork is smaller than the inner diameter of the track tube. Therefore, the C-shaped fork of the pressing fork can enter the hollow sleeve.

[0033] In one embodiment, the derivative frame is formed by connecting railings. The derivative frame has a hollow cavity in the vertical direction. The shape of the cavity is the same as that of the hollow sleeve and its size is slightly larger than the outer diameter of the hollow sleeve. The derivative frame also serves as a guide port, so that the submerged plants are put into the hollow sleeve from above the derivative frame.

[0034] The planting depth is determined based on the actual aquatic plant conditions and the intended planting area. Pre-determining the planting depth and environment can improve the survival rate of submerged plants. After finding a suitable planting location, the central control unit is activated, and the engine starts working. The central control unit controls the hollow sleeve to rise and fall into the sea / riverbed for positioning. During the descent of the hollow sleeve, the pressure sensor detects depth information and feeds it back to the central control unit. After reaching the set depth, the central control unit controls the hollow sleeve to stop its rising and falling motion. The operator pre-plants the cultivated submerged plants into planting pots and places them on the conveyor belt. The conveyor belt drives the planting pots, and infrared sensors identify and control the planting pots to stop at the preset position. The central control unit (control box) controls the mechanical claw to pick them up. Then, the robotic arm places the planting pot into the hollow sleeve, and the pressing fork plants the pot containing the submerged plants through the planting hole at the bottom of the hollow sleeve into the bottom sediment. The return spring drives the pressing fork back to the initial position, thus completing one planting cycle. A pressure sensor at the bottom of the hollow sleeve detects depth and pressure information, transmitting it to the central control unit. The hollow sleeve then rises to continue the next planting cycle. The operator can adjust their position to the designated area using the steering wheel. After all planting tasks are completed, all power switches on the central control unit can be turned off.

[0035] The above description of the embodiments is provided to enable those skilled in the art to understand and use the present invention. It will be apparent to those skilled in the art that various modifications can be made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present invention is not limited to the above embodiments, and any improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the invention should be within the protection scope of the present invention.

Claims

1. A device for distributing and controlling the speed of aquatic plant cultivation, comprising a planting pot into which submerged plants are implanted, characterized in that, Also includes: The main body is a twin-hull structure, including a first hull and a second hull, which are connected by two spaced and oppositely arranged connecting beams. The clamping and dispensing mechanism includes a frame spanning the first hull and the second hull, a conveying mechanism, and a gripping mechanism for gripping planting pots. The gripping mechanism is slidably mounted on the frame to move left and right. The conveying mechanism is located on both sides of the frame to convey planting pots to a preset position. The gripping mechanism grips the planting pots from the conveying mechanism and places them onto the planting mechanism. The planting mechanism located below the frame includes a mounting beam, a derivative frame, two first electric actuators, and a hollow sleeve. The two ends of the mounting beam are fixed to the first hull and the second hull, respectively. The derivative frame is fixed to the lower part of the mounting beam. The fixed ends of the two first electric actuators are fixed to both sides of the derivative frame, and their extension and retraction directions are vertically downward. The extension and retraction ends of the two first electric actuators are fixedly connected to the outer surface of the hollow sleeve through fastening rings. The hollow sleeve is coaxial with the derivative frame in the vertical direction. The hollow sleeve can move up and down under the drive of the two electric actuators to insert into or move away from the bottom mud. The gripping mechanism moves the planting pot of the submerged plant from the conveying mechanism to directly above the hollow sleeve, and the planting pot falls from top to bottom into the water through the hollow sleeve. An air pump is fixed to the outer wall of the hollow sleeve, and an annular tube and air bladders are embedded in the inner wall of the hollow sleeve. The air bladders are evenly distributed around the inner circumference of the hollow sleeve. The annular tube is connected to each group of air bladders, and the air pump is connected to the annular tube. By starting the air pump, air can be supplied into the annular tube to inflate the air bladders. After the air bladders are inflated, they can compress the planting pots inside the hollow sleeve, causing them to descend slowly.

2. The device for controlling the speed of aquatic plant planting according to claim 1, characterized in that: The frame includes two support columns, a slider, a ball screw, and a servo motor that drives the ball screw. The two supports are vertically fixed to the first hull and the second hull, respectively. The two ends of the ball screw are rotatably mounted on the two support columns through bearings. The slider is sleeved on the outer surface of the ball screw to slide in threaded engagement with the ball screw.

3. The device for controlling the speed of aquatic plant planting according to claim 2, characterized in that: The gripping mechanism includes a second electric actuator and a mechanical claw. The fixed end of the second electric actuator is fixed to the slider, and the telescopic end of the second electric actuator is connected to the mechanical claw. The mechanical claw is equipped with a cylinder for tightening and loosening the claw fingers. The air inlet of the cylinder is connected to the air outlet of a solenoid valve through a hose. The solenoid valve is mounted on the top plate of the mounting bracket. An air source is installed on one side of the solenoid valve, and the air outlet of the air source is connected to the air inlet of the solenoid valve through a hose.

4. The device for releasing and controlling the speed of aquatic plant cultivation according to claim 1, characterized in that: A pressure sensor is installed at the bottom of the hollow sleeve to sense depth and pressure information.

5. The device for controlling the speed of aquatic plant planting according to claim 1, characterized in that: The hollow sleeve has a groove on the side wall at the end away from the derivative frame, and the groove is equipped with a seedling pressing device.

6. The device for controlling the speed of aquatic plant planting according to claim 5, characterized in that: The seedling pressing device includes a seedling pressing fork, a driving component, and a base disposed below the seedling pressing fork. The base is fixed to the outer surface of the hollow sleeve. The seedling pressing fork is hinged to the base. Under the drive of the driving component, the seedling pressing fork deflects from its initial vertical state toward the hollow sleeve and enters through the groove, pressing down the planting pot in the bottom end of the hollow sleeve onto the bottom mud.

7. The device for releasing and controlling the speed of aquatic plant cultivation according to claim 6, characterized in that: A return spring is provided below the seedling pressing fork. After the seedling pressing fork plants the planting pot into the bottom mud of the water body through the planting hole at the bottom of the hollow sleeve, the return spring drives the seedling pressing fork back to the initial position.

8. The device for controlling the speed of aquatic plant planting according to claim 1, characterized in that: The conveying mechanism includes a frame, a motor, a conveyor belt, two rotating shafts, and an infrared sensor. The two rotating shafts are rotatably mounted on both sides of the frame. One of the rotating shafts is connected to the motor. The conveyor belt is sleeved on the outside of the two rotating shafts. The infrared sensor is mounted on the conveyor belt. The infrared sensor senses the planting pot into which the submerged plant is implanted and controls the motor to start and stop, so that the planting pot always stays at a preset position for the gripping mechanism to grip.

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