Fruit tree transplanting manipulator and transplanting device

Abstract

The fruit tree transplanting manipulator comprises a clamping assembly, a pulling-out assembly and a fixed seat, the clamping assembly comprises two clamping rings and two first hydraulic cylinders, the section of each clamping ring is in an arc shape, one side edge of each clamping ring is hinged to the fixing base, one end of each first hydraulic cylinder is hinged to the fixing base, and the other end of each first hydraulic cylinder is hinged to the corresponding clamping ring. The pulling-out assembly comprises a shovel body and a second hydraulic cylinder, the second hydraulic cylinder is arranged on the outer side wall of the clamping ring, the shovel body is arranged on the lower side of the clamping ring, and the second hydraulic cylinder is used for driving the shovel body. The two clamping rings are used for clamping fruit trees, the clamping rings can be opened and closed so as to adapt to trees with different thicknesses, the clamping rings and the shovel body are directly driven by the hydraulic cylinder to act, no transmission structure is needed, the structure is simple, and the maintenance cost is low.

Description

Technical Field

[0001] The utility model relates to the technical field of forestry seedling transplanting, in particular to a fruit tree transplanting manipulator and a transplanting device. Background Art

[0002] During forestry afforestation, trees need to be transplanted. Traditional transplanting methods include manual transplanting and mechanical equipment transplanting. Manual transplanting has disadvantages such as low efficiency and personnel fatigue. In addition, when encountering larger trees, manual transplanting consumes too much human resources and cannot guarantee the accuracy of transplanting. With the development of social mechanization, manual transplanting has gradually been replaced by mechanical equipment transplanting.

[0003] In the prior art, there is a forestry seedling transplanting device for a forest farm disclosed in the patent application number CN202310964448.4. When the device is used, the seedlings enter the device from the gap of the limit seat and are clamped by the clamping module. Since the size of the gap on the limit seat is fixed, when the seedlings are too thick, the seedlings cannot enter the device. The shovel body is driven by a motor and a screw, and vibrates greatly during operation. In addition, the device uses a screw transmission structure and a belt transmission structure. The use of these transmission structures will increase the failure rate of the equipment and increase the maintenance cost of the equipment. Utility Model Content

[0004] In view of the problems pointed out in the background technology, the utility model proposes a fruit tree transplanting robot and a transplanting device to solve the above technical problems.

[0005] The technical solution of the utility model is achieved in this way:

[0006] A fruit tree transplanting manipulator, comprising a clamping component and a pulling component, and also comprising a fixing seat;

[0007] The clamping assembly comprises two clamping rings and two hydraulic cylinders. The cross section of the clamping ring is arc-shaped. One side of the clamping ring is hinged to the fixing seat. One end of the hydraulic cylinder is hinged to the fixing seat. The other end of the hydraulic cylinder is hinged to the clamping ring.

[0008] The extraction assembly comprises a shovel body and a second hydraulic cylinder. The second hydraulic cylinder is arranged on the outer side wall of the clamping ring, the shovel body is arranged on the lower side of the clamping ring, and the second hydraulic cylinder is used to drive the shovel body.

[0009] The utility model is further configured that the fixing seat is provided with an articulated arm corresponding to the clamping ring, one end of the articulated arm is fixedly connected to the fixing seat, and the other end of the articulated arm is hinged to the clamping ring.

[0010] The utility model is further configured that a connecting arm is provided on the outer side wall of the clamping ring, and the other end of the hydraulic cylinder is hinged to the connecting arm.

[0011] The utility model is further configured that the connecting arm is arranged in the middle of the clamping ring, and the connecting arm is arranged along the radial direction of the clamping ring.

[0012] The utility model is further configured that each clamping ring is provided with two extraction assemblies, and the two extraction assemblies are respectively located at two sides of the connecting arm.

[0013] The utility model is further configured that a protruding fixed beam is provided on the outer side wall of the clamping ring, the second hydraulic cylinder is connected to the fixed beam, and the piston rod of the second hydraulic cylinder is connected to the shovel body.

[0014] The utility model is further configured that the shovel body is a cone that is wide at the top and narrow at the bottom.

[0015] The utility model is further configured that an elastic clamping plate is provided on the inner side wall of the clamping ring.

[0016] The utility model is further configured that the elastic clamping plate is provided with a connecting shaft, the clamping ring is provided with a hole for the connecting shaft to pass through, the connecting shaft is connected with a spring and a nut, the spring is located between the elastic clamping plate and the clamping ring, and the nut is located on the outer side of the clamping plate.

[0017] A fruit tree transplanting device comprises a movable body, a fixing seat connected with the body, and a driving device capable of driving the fixing seat to move up and down is arranged on the body.

[0018] By adopting the above technical solution, the beneficial effects of the utility model are as follows:

[0019] The fruit tree transplanting manipulator and transplanting device provided by the utility model clamp the fruit trees by means of two clamping rings which can be opened and closed, thus adapting to trees of different thicknesses; the movements of the clamping rings and the shovel body are directly driven by the hydraulic cylinder, without the need for any transmission structure, and have a simple structure and low maintenance cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0021] Figure 1 It is a structural schematic diagram of the robot arm of the utility model.

[0022] Figure 2 The utility model is a schematic diagram of the structure of the shovel body.

[0023] Description of the numbers in the accompanying drawings: fixed seat 1, clamping ring 2, hydraulic cylinder 1 3, articulated arm 4, connecting arm 5, shovel body 6, hydraulic cylinder 2 7, fixed beam 8, elastic clamping plate 9, connecting shaft 10, spring 11, nut 12. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] For reference Figure 1-2 The utility model is described as follows:

[0026] Embodiment 1: A fruit tree transplanting manipulator comprises a clamping assembly and a pulling assembly. The clamping assembly is used to clamp and fix the vertical rod, and the pulling assembly is used to dig the soil at the root of the tree.

[0027] It also includes a fixing base 1, which is a vertically arranged plate structure. The fixing base 1 is provided with a fixing connection hole, and the fixing base 1 is fixedly connected to the equipment frame through the fixing connection hole.

[0028] The clamping assembly includes two clamping rings 2 and two hydraulic cylinders 3, and the hydraulic cylinders 3 are arranged corresponding to the clamping rings 2.

[0029] The clamping ring 2 is vertically arranged, and the cross section of the clamping ring 2 is arc-shaped. The two clamping rings 2 are arranged opposite to each other, and a clamping area is formed between the two clamping rings 2 .

[0030] One side of the clamping ring 2 is hinged to the fixing seat 1, and the fixing seat 1 is provided with an articulated arm 4 corresponding to the clamping ring 2, one end of the articulated arm 4 is fixedly connected to the fixing seat 1, and the other end of the articulated arm 4 is hinged to the clamping ring 2, and the articulated arm 4 is vertically arranged to the fixing seat 1.

[0031] One end of the hydraulic cylinder 3 is hinged to the fixed seat 1, and the other end of the hydraulic cylinder 3 is hinged to the clamping ring 2. A connecting arm 5 is provided on the outer wall of the clamping ring 2. The connecting arm 5 is arranged in the middle of the clamping ring 2 and arranged along the radial direction of the clamping ring 2. The other end of the hydraulic cylinder 3 is hinged to the connecting arm 5. The hydraulic cylinder 3 moves in a telescopic manner, driving the clamping ring 2 to rotate, so that the two clamping rings 2 can open and close to clamp.

[0032] Two extraction assemblies are provided on each clamping ring 2, and the two extraction assemblies are respectively located on both sides of the connecting arm 5. The extraction assembly includes a shovel body 6 and a hydraulic cylinder 2 7. The hydraulic cylinder 2 7 is arranged on the outer side wall of the clamping ring 2, and the hydraulic cylinder 2 7 is arranged vertically. A protruding fixed beam 8 is provided on the outer side wall of the clamping ring 2, and the fixed beam 8 is arranged vertically with the clamping ring 2. The hydraulic cylinder 2 7 is connected to the fixed beam 8. The shovel body 6 is arranged on the lower side of the clamping ring 2, and the piston rod of the hydraulic cylinder 2 7 is connected to the shovel body 6. The hydraulic cylinder 2 7 is used to drive the shovel body 6. The shovel body 6 is a cone with a wide top and a narrow bottom, and the shovel body 6 is arranged to be gradually bent inward from top to bottom.

[0033] By adopting the above technical solution, when transplanting fruit trees, the equipment is moved so that the trunk of the fruit tree enters between the two clamping rings, the fixed seat 1 drives the manipulator to move downward to a suitable position, and the hydraulic cylinder 1 3 is actuated to close the two clamping rings to clamp the vertical rod. At this time, the hydraulic cylinder 2 7 is actuated, the shovel body 6 moves downward, and the shovel body 6 drills into the soil. The lower ends of the four shovel bodies 6 gradually approach each other and gradually dig out the soil at the root of the fruit tree; the fixed seat 1 moves upward again, driving the entire machine to lift up, thus completing the excavation work.

[0034] An elastic clamping plate 9 is provided on the inner side wall of the clamping ring 2. A connecting shaft 10 is provided on the elastic clamping plate 9, and a hole is provided on the clamping ring 2 for the connecting shaft 10 to pass through. A spring 11 and a nut 12 are connected to the connecting shaft 10, and the spring 11 is located between the elastic clamping plate 9 and the clamping ring 2, and the nut 12 is located on the outer side of the elastic clamping plate 9. By adopting the above technical solution, the clamping ring clamps and fixes the tree trunk with the help of the elastic clamping plate 9, which has stronger adaptability and can also reduce the clamping damage to the fruit tree.

[0035] A fruit tree transplanting device comprises a movable body, the above-mentioned manipulator is arranged on the body, a fixing seat 1 is connected to the body, and a driving device capable of driving the fixing seat 1 to move up and down is arranged on the body. The body can be a movable trolley, and the fixing seat 1 drives the manipulator to move up and down to adjust the distance between the manipulator and the ground.

[0036] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A fruit tree transplanting manipulator, comprising a clamping component and a pulling component, characterized in that: Also includes a mount; The clamping assembly comprises two clamping rings and two hydraulic cylinders. The cross section of the clamping ring is arc-shaped. One side of the clamping ring is hinged to the fixing seat. One end of the hydraulic cylinder is hinged to the fixing seat. The other end of the hydraulic cylinder is hinged to the clamping ring. The extraction assembly comprises a shovel body and a second hydraulic cylinder. The second hydraulic cylinder is arranged on the outer side wall of the clamping ring, the shovel body is arranged on the lower side of the clamping ring, and the second hydraulic cylinder is used to drive the shovel body.

2. A fruit tree transplanting robot according to claim 1, characterized in that: The fixing seat is provided with an articulated arm corresponding to the clamping ring, one end of the articulated arm is fixedly connected to the fixing seat, and the other end of the articulated arm is articulated to the clamping ring.

3. The fruit tree transplanting robot according to claim 1, characterized in that: A connecting arm is arranged on the outer side wall of the clamping ring, and the other end of the hydraulic cylinder is hinged to the connecting arm.

4. The fruit tree transplanting robot according to claim 3, characterized in that: The connecting arm is arranged in the middle of the clamping ring, and is arranged along the radial direction of the clamping ring.

5. The fruit tree transplanting robot according to claim 4, characterized in that: Each clamping ring is provided with two extraction components, and the two extraction components are respectively located on both sides of the connecting arm.

6. The fruit tree transplanting robot according to claim 5, characterized in that: A protruding fixed beam is provided on the outer side wall of the clamping ring, the second hydraulic cylinder is connected to the fixed beam, and the piston rod of the second hydraulic cylinder is connected to the shovel body.

7. The fruit tree transplanting robot according to claim 6, characterized in that: The shovel body is in a tapered shape that is wide at the top and narrow at the bottom.

8. The fruit tree transplanting robot according to claim 2, characterized in that: An elastic clamping plate is arranged on the inner side wall of the clamping ring.

9. The fruit tree transplanting robot according to claim 8, characterized in that: The elastic clamping plate is provided with a connecting shaft, the clamping ring is provided with a hole for the connecting shaft to pass through, the connecting shaft is connected with a spring and a nut, the spring is located between the elastic clamping plate and the clamping ring, and the nut is located outside the clamping plate.

10. A fruit tree transplanting device, comprising a movable body, characterized in that: The manipulator as described in any one of claims 1 to 9 is arranged on the machine body, the fixed seat is connected to the machine body, and a driving device capable of driving the fixed seat to move up and down is provided on the machine body.

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