Tree planting robot applied to desert area

Abstract

The tree planting robot applied to the desert area comprises a chassis and a crawler walking device, and a drilling device, a seedling storage disc device, a mechanical arm device and a soil gathering device are sequentially arranged on the chassis; the drilling device is used for drilling planting pits, the seedling storage disc device is used for moving saplings to corresponding positions, the mechanical arm device is used for grabbing the saplings and placing the saplings into the drilled planting pits, and the soil gathering device is used for gathering soil tightly to fix the saplings. According to the technical scheme, the tree planting robot has the advantages of being simple in structure, high in automation degree and the like, can work on complex terrains, can reduce labor intensity of producers, and improves sand prevention and control efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of tree planting equipment, in particular to a tree planting robot applied to desert areas. Background Art

[0002] Sand control has always been an important topic, especially in the desert, where tools are needed to protect plants. In recent decades, the country has successively introduced corresponding control measures to save desertified land, and has controlled desertified land through sand control, afforestation, soil remediation and other means. In this process, the truth that sand control is not to "eliminate the desert" but to focus on scientific management is more clear in the minds of forestry workers and ecological protectionists. After so many years of practice, it has been realized that the desert is part of the earth's ecosystem, and sand control is not to "eliminate the desert", but to control the man-made desertified land on the basis of respecting science and abiding by the laws of nature.

[0003] Existing tree planting machines mostly require manual intervention for tasks such as taking seedlings and gathering soil. Most of the travel mechanisms use wheeled structures, which have the disadvantages of low manual control efficiency and high cost; the machinery has a single travel mode and is not convenient for operations in complex terrain. Utility Model Content

[0004] The purpose of the utility model is to provide a tree-planting robot for use in desert areas. The tree-planting robot has a simple overall structure, is easy to maintain, has low cost, a high degree of automation, causes little environmental pollution, has strong environmental adaptability, can work in complex terrain, and complies with ecological environmental restoration policies.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme: it comprises a chassis and a crawler walking device connected to the chassis, wherein the chassis is provided with a drilling device, a seedling storage tray device, a mechanical arm device and a soil gathering device in sequence; the drilling device comprises a drill assembly arranged in a vertical direction, the drill assembly is driven to rotate by a drill motor and is controlled to rise and fall by a first screw nut assembly; the seedling storage tray device comprises an opening box for placing seedlings, the opening box is fixed on a first turntable, and the first turntable is driven to rotate by a seedling storage tray motor; the mechanical arm device comprises a manipulator, the manipulator is controlled to open and close by a first spring cylinder and to rise and fall by a second screw nut assembly; the soil gathering device comprises a mudguard symmetrically arranged in the left and right directions, and the movable angle of the mudguard is controlled by a second spring cylinder; the drilling device is used to drill a planting pit, the seedling storage tray device is used to move the seedling to a corresponding position, the mechanical arm device is used to grab the seedling and put it into the drilled planting pit, and the soil gathering device is used to gather the soil tightly to fix the seedling.

[0006] The first screw nut assembly comprises a second metal shaft arranged in a vertical direction, a second screw sleeved on the second metal shaft and interference fit with the second metal shaft, the upper and lower ends of the second screw are respectively locked with the second metal shaft by a second fastening nut and a third fastening nut, the upper and lower ends of the second metal shaft are respectively provided with a first fixing block and a second fixing block transitionally matched with the second metal shaft, the second screw is provided with a first nut block matched with the screw nut formed therewith, and the first nut block is fixed to the drill motor;

[0007] The first screw nut assembly also includes a first motor, a first driving gear fixed on the output shaft of the first motor, and a first driven gear meshing with the first driving gear. The first driven gear is coaxial with the second metal shaft, and the first driven gear and the second metal shaft are locked by a first locking piece. The first locking piece includes a flat head hub clamp fixed to the upper end of the second metal shaft and meshing with the inner ring of the first driven gear, and a locking nut matched with the flat head hub clamp.

[0008] A first metal rod is arranged parallel to the side of the second metal shaft. The first metal rod, the first metal shaft and the second metal shaft are located in the same vertical plane. A third fixing block and a fourth fixing block which are transitionally matched with the first metal rod are respectively arranged at the upper and lower ends of the first metal rod, wherein: the third fixing block is connected to the first fixing block on the second metal shaft, and the fourth fixing block is connected to the second fixing block on the second metal shaft. The first metal rod is also provided with a first connecting block which is transitionally matched with the first metal rod, and the first connecting block is used to connect the first nut block and the drill motor.

[0009] The seedling storage tray device also includes an open box fixing seat arranged in parallel above the first turntable, and the open boxes are evenly arranged in three groups along the circumference of the open box fixing seat. The first turntable includes a turntable base fixedly connected to the chassis and a turntable gear rotatably connected to the turntable base, and the turntable gear is fixedly connected to the open box fixing seat through a column.

[0010] The seedling storage tray motor drives the turntable gear to rotate through the first worm gear mechanism. The first worm gear mechanism includes a worm meshing with the turntable gear. The two ends of the worm are respectively connected with the first plug shaft and the second plug shaft. The first plug shaft and the second plug shaft are respectively connected to the chassis through the plug shaft fixing block. The first plug shaft is connected to the second gear shaft in the second motor gear box through the second coupling. The second motor gear box is connected to the seedling storage tray motor.

[0011] The manipulator comprises a left manipulator arm and a right manipulator arm arranged in parallel on both sides of a first spring cylinder, the ends of the left manipulator arm and the right manipulator arm are respectively hinged with a left claw and a right claw, the left claw and the right claw respectively comprise a second connecting block, a fifth fixing block fixedly connected to the second connecting block, and a claw body fixedly connected to the fifth fixing block, the second connecting block in the left claw and the second connecting block in the right claw are respectively hinged with the left manipulator arm and the right manipulator arm;

[0012] The manipulator also includes a first axis body fixedly connected to the end of the piston rod of the first spring cylinder, the first axis body is arranged in a vertical direction and perpendicular to the piston rod of the first spring cylinder, and the fifth fixed block is fastened with a second axis body parallel to the first axis body, the first axis body and the second axis body in the left claw are hinged through a first connecting rod, and the first axis body and the second axis body in the right claw are hinged through a second connecting rod.

[0013] The second screw nut assembly comprises a third metal shaft arranged in a vertical direction, a third screw sleeved on the third metal shaft and interference fit with the third metal shaft, a sixth fixing block and a seventh fixing block transitionally fit with the third metal shaft are respectively provided at the upper and lower ends of the third metal shaft, the upper end of the third screw is locked with the position of the third metal shaft by a fourth fastening nut, the third screw is provided with a second nut block matched with the screw nut, and the second nut block is fixed to the cylinder end of the first spring cylinder;

[0014] The second screw nut assembly also includes a second motor, a second driving gear fixed on the output shaft of the second motor, and a second driven gear meshing with the second driving gear, wherein the second driven gear is coaxial with the third metal shaft, and the second driven gear and the third metal shaft are locked by a second locking member;

[0015] A second metal rod is arranged parallel to the side of the third metal shaft, the second metal rod and the third metal shaft are located in the same vertical plane, the upper and lower ends of the second metal rod are respectively provided with an eighth fixing block and a ninth fixing block which are transitionally matched with the second metal rod, wherein: the eighth fixing block is connected to the sixth fixing block on the third metal shaft, the ninth fixing block is connected to the seventh fixing block on the third metal shaft, the second metal rod is also provided with a third connecting block which is transitionally matched with the second metal rod, and the third connecting block is used to connect the second nut block and the first spring cylinder;

[0016] The robotic arm device is fixed on the chassis through a second turntable, and the second turntable is driven to rotate by the robotic arm motor through a second worm gear mechanism. The structure of the second turntable is the same as that of the first turntable, and the structure of the second worm gear mechanism is the same as that of the first worm gear mechanism.

[0017] The first spring cylinder is connected to the air compressor through the first solenoid valve. The first solenoid valve is a three-position two-way solenoid valve. When the first solenoid valve is energized, port a and port b of the first solenoid valve are connected. When the first solenoid valve is de-energized, port b and port c of the first solenoid valve are connected. Port a of the first solenoid valve is connected to the outlet of the air compressor, port b of the first solenoid valve is connected to one end of the first spring cylinder, and port c of the first solenoid valve is connected to the atmosphere.

[0018] The fender is fixed on the fender bracket, and the fender bracket includes a fourth connecting block fixed to the end of the chassis, a fifth connecting block hinged to the fourth connecting block, a tenth fixing block hinged to the fifth connecting block, an eleventh fixing block fixedly connected to the tenth fixing block, a twelfth fixing block fixedly connected to the eleventh fixing block, and a fender connecting block fixedly connected to the twelfth fixing block, the rotation axis between the fourth connecting block and the fifth connecting block is perpendicular to the rotation axis between the fifth connecting block and the tenth fixing block, the tenth fixing block, the eleventh fixing block and the twelfth fixing block are located in the same horizontal plane, the fender connecting block is vertically fixed to the lower end of the twelfth fixing block, and the fender is fixed to the fender connecting block through the eighth connecting block;

[0019] The piston rod end of the second spring cylinder is hinged to the sixth connecting block, the sixth connecting block is fixed to the eleventh fixing block, the cylinder body end of the second spring cylinder is hinged to the cylinder connecting block, and the cylinder connecting block is fixed to the chassis through the seventh connecting block.

[0020] The beneficial effects of the utility model are:

[0021] 1) The tree planting robot provided by the utility model integrates a crawler walking device, a drilling device, a seedling storage tray device, a mechanical arm device and a soil gathering device on the chassis, which can realize automated tree planting, reduce the labor intensity of producers, and improve the efficiency of sand prevention and control, which is of great significance to reversing soil desertification.

[0022] 2) The tree-planting robot provided by the utility model adopts a crawler walking device, which can improve the adhesion between the robot and the ground, and can travel on the ground with poor road conditions. It is suitable for working in complex terrain and has strong environmental adaptability.

[0023] 3) The tree-planting robot provided by the utility model adopts a pneumatic transmission device, which has a simple structure and little pollution to the environment.

[0024] 4) The tree planting robot provided by the utility model adopts a modular structure, which is simple in structure, easy to maintain and low in cost.

[0025] 5) The tree planting robot provided by the utility model has a high positioning accuracy and self-locking effect by setting a screw nut mechanism, which provides a large force for drilling and can realize the self-locking of the mechanical arm to prevent up and down movement.

[0026] 6) The tree planting robot provided by the utility model produces a high transmission accuracy effect through a worm gear structure, thereby preventing large deviations. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a three-dimensional structural schematic diagram of the utility model.

[0028] Figure 2 It is a three-dimensional structural schematic diagram of the chassis and crawler walking device of the utility model.

[0029] Figure 3 It is a three-dimensional structural schematic diagram of the drilling device of the utility model.

[0030] Figure 4 It is a schematic diagram of the internal structure of the drilling device of the utility model.

[0031] Figure 5 It is a top view of the seedling storage tray device of the utility model.

[0032] Figure 6 It is a three-dimensional structural schematic diagram of the seedling storage tray device of the utility model.

[0033] Figure 7 It is a three-dimensional structural schematic diagram of the mechanical arm device of the utility model.

[0034] Figure 8 It is a schematic diagram of the internal structure of the mechanical arm device of the utility model.

[0035] Fig. 9 This is a schematic diagram of the three-dimensional structure of the soil gathering device of the utility model. Figure 1 .

[0036] Fig.10 This is a schematic diagram of the three-dimensional structure of the soil gathering device of the utility model. Figure 2 .

[0037] Fig.11 It is a structural schematic diagram of the first solenoid valve of the utility model.

[0038] Fig.12 It is a structural schematic diagram of a connecting block and a fixing block of the utility model.

[0039] The symbols in the above drawings are: chassis 1, crawler walking device 2, drilling device 3, drill motor 30, first motor gear box 312, first gear shaft 313, second metal shaft 321, second screw rod 322, second fastening nut 323, third fastening nut 324, first fixing block 325, second fixing block 326, first nut block 327, first motor 331, first driving gear 332, first driven gear 333, flat head hub clamp 334, locking nut 335 , first metal rod 341, third fixing block 342, fourth fixing block 343, first connecting block 344, seedling storage tray device 4, open box 41, first turntable 42, seedling storage tray motor 43, open box fixing seat 44, turntable gear 45, worm 461, second plug shaft 463, plug shaft fixing block 464, second coupling 465, second motor gear box 466, second gear shaft 467, mechanical arm device 5, second turntable 50, second metal rod 501, eighth fixing block 502 , the ninth fixing block 503, the third connecting block 504, the mechanical arm motor 505, the first spring cylinder 51, the left mechanical arm 52, the right mechanical arm 53, the left claw 54, the second connecting block 541, the fifth fixing block 542, the claw body 543, the second shaft body 544, the right claw 55, the first shaft body 56, the first connecting rod 57, the second connecting rod 58, the third metal shaft 591, the third screw rod 592, the sixth fixing block 593, the seventh fixing block 594, the fourth fastening nut 595, the second screw Mother block 596, second motor 597, second driving gear 598, second driven gear 599, soil gathering device 6, mud guard 61, eighth connecting block 611, second spring cylinder 62, air inlet 621, fourth connecting block 631, fifth connecting block 632, tenth fixing block 633, eleventh fixing block 634, twelfth fixing block 635, mud guard connecting block 636, sixth connecting block 64, cylinder connecting block 65, seventh connecting block 66, first solenoid valve 7, air compressor 8. DETAILED DESCRIPTION

[0040] The utility model is further described below in conjunction with the accompanying drawings:

[0041] like Figure 1 The tree planting robot shown is used in desert areas, including a chassis 1 and a crawler walking device 2 connected to the chassis 1, and a drilling device 3, a seedling storage tray device 4, a mechanical arm device 5 and a soil gathering device 6 are sequentially arranged on the chassis 1; the drilling device 3 is used to drill a planting pit, the seedling storage tray device 4 is used to move the seedlings to the corresponding position, the mechanical arm device 5 is used to grab the seedlings and put them into the drilled planting pit, and the soil gathering device 6 is used to gather the soil tightly to fix the seedlings.

[0042] Further, such as Figure 3 , Figure 4As shown, the drilling device 3 includes a drill assembly arranged in a vertical direction, which is driven to rotate by a drill motor 30 and is controlled to rise and fall by a first screw nut assembly. The drill motor 30 is connected to a first motor gear box 312. When working, the power output by the drill motor 30 is transmitted to the first motor gear box 312, which drives the first gear shaft 313 to rotate after deceleration and torque increase.

[0043] Specifically, the first screw nut assembly includes a second metal shaft 321 arranged in a vertical direction, a second screw 322 sleeved on the second metal shaft 321 and interference fit with the second metal shaft 321, the upper and lower ends of the second screw 322 are respectively locked with the second metal shaft 321 through a second fastening nut 323 and a third fastening nut 324, the upper and lower ends of the second metal shaft 321 are respectively provided with a first fixing block 325 and a second fixing block 326 that transitionally fit with the second metal shaft 321, the second screw 322 is provided with a first nut block 327 that cooperates with it to form a screw nut, and the first nut block 327 is fixed to the drill motor 30 The first screw nut assembly also includes a first motor 331, a first driving gear 332 fixed on the output shaft of the first motor 331, and a first driven gear 333 meshing with the first driving gear 332. The diameter of the first driving gear 332 is smaller than that of the first driven gear 333. The first driven gear 333 is coaxial with the second metal shaft 321, and the first driven gear 333 and the second metal shaft 321 are locked by a first locking member. The first locking member includes a flat head hub clamp 334 fixed to the upper end of the second metal shaft 321 and meshing with the inner ring of the first driven gear 333, and a locking nut 335 matched with the flat head hub clamp 334.

[0044] Specifically, a first metal rod 341 is provided parallel to the side of the second metal shaft 321, and the first metal rod 341, the first metal shaft, and the second metal shaft 321 are located in the same vertical plane. The upper and lower ends of the first metal rod 341 are respectively provided with a third fixing block 342 and a fourth fixing block 343 which are transitionally matched with the first metal rod 341, wherein: the third fixing block 342 is connected to the first fixing block 325 on the second metal shaft 321, and the fourth fixing block 343 is connected to the second fixing block 326 on the second metal shaft 321. The first metal rod 341 is also provided with a first connecting block 344 which is transitionally matched with the first metal rod 341, and the first connecting block 344 is used to connect the first nut block 327 and the drill motor 30.

[0045] During operation, the first motor 331 drives the first driving gear 332 to rotate, thereby driving the first driven gear 333 and the flat-head hub clamp 334 to rotate, and the flat-head hub clamp 334 drives the second metal shaft 321 and the second screw rod 322 to rotate synchronously, so that the first nut block 327 moves up and down, realizing the lifting and lowering of the drill assembly.

[0046] Further, such as Figure 5 , Figure 6 As shown, the seedling storage tray device 4 includes an open box 41 for placing seedlings, and the open box 41 is fixed on a first turntable 42, and the first turntable 42 is driven to rotate by a seedling storage tray motor 43.

[0047] Specifically, the seedling storage tray device 4 also includes an open box fixing seat 44 arranged in parallel above the first turntable 42, and the open boxes 41 are evenly arranged in three groups along the circumference of the open box fixing seat 44, that is, every two open boxes 41 are spaced 120 degrees apart, and the first turntable 42 includes a turntable base fixedly connected to the chassis 1 and a turntable gear 45 rotatably connected to the turntable base, and the turntable gear 45 is fixedly connected to the open box fixing seat 44 through a column. When the turntable gear 45 rotates one circle, the open box 41 can be switched three times.

[0048] Specifically, the seedling storage tray motor 43 drives the turntable gear 45 to rotate through the first worm mechanism, the first worm mechanism includes a worm 461 meshing with the turntable gear 45, and the two ends of the worm 461 are respectively connected to the first plug shaft and the second plug shaft 463, the first plug shaft and the second plug shaft 463 are respectively connected to the chassis 1 through the plug shaft fixing block 464, the first plug shaft is connected to the second gear shaft 467 in the second motor gear box 466 through the second coupling 465, and the second motor gear box 466 is connected to the seedling storage tray motor 43. The second plug shaft 463 and the plug shaft fixing block play the role of positioning the worm 461 to ensure that the rotation position of the entire worm 461 is not offset.

[0049] During operation, when the tree planting machine switches the seedling storage tray, the seedling storage tray motor 43 is energized and rotates, transmitting power to the second motor gear box 464, and the output rotational motion drives the second gear shaft 467 to rotate, thereby driving the second coupling 465 to rotate synchronously, and transmitting the rotational power to the first plug shaft, which drives the worm 461 to rotate, and then drives the opening box fixing seat 44 to rotate through the turntable gear 45, completing the rotation and switching of the opening box 41.

[0050] Further, such as Figure 7 , Figure 8 As shown, the robot arm device 5 includes a robot arm, the robot arm is controlled by a first spring cylinder 51 to open and close, and is controlled by a second screw nut assembly to lift and lower.

[0051] Specifically, the manipulator includes a left manipulator arm 52 and a right manipulator arm 53 arranged in parallel on both sides of a first spring cylinder 51, and the ends of the left manipulator arm 52 and the right manipulator arm 53 are respectively hinged with a left claw 54 and a right claw 55, and the left claw 54 and the right claw 55 respectively include a second connecting block 541, a fifth fixed block 542 fixedly connected to the second connecting block 541, and a claw body 543 fixedly connected to the fifth fixed block 542, and the second connecting block 541 in the left claw 54 and the second connecting block 541 in the right claw 55 are respectively hinged to the left manipulator arm 52 and the right manipulator arm 53. The manipulator also includes a first shaft 56 fixedly connected to the end of the piston rod of the first spring cylinder 51. The first shaft 56 is arranged in a vertical direction and is perpendicular to the piston rod of the first spring cylinder 51. A second shaft 544 parallel to the first shaft 56 is fastened to the fifth fixed block 542. The first shaft 56 and the second shaft 544 in the left claw 54 are hinged by a first connecting rod 57, and the first shaft 56 and the second shaft 544 in the right claw 55 are hinged by a second connecting rod 58.

[0052] During operation, the expansion and contraction of the piston rod of the first spring cylinder 51 drives the first shaft 56 to move forward or backward, thereby enabling the left clamping claw 54 and the right clamping claw 55 to open and close to grab or release the sapling.

[0053] Specifically, the second screw nut assembly includes a third metal shaft 591 arranged in a vertical direction, a third screw 592 sleeved on the third metal shaft 591 and interference fit with the third metal shaft 591, the upper and lower ends of the third metal shaft 591 are respectively provided with a sixth fixing block 593 and a seventh fixing block 594 transitionally fitted with the third metal shaft 591, the upper end of the third screw 592 is locked with the position of the third metal shaft 591 by a fourth fastening nut 595, the third screw 592 is provided with a second nut block 596 matched with the screw nut formed therewith, and the second nut block 596 is fixed to the cylinder end of the first spring cylinder 51; the second screw nut assembly also includes a second motor 597, a second driving gear 598 fixed on the output shaft of the second motor 597, and a second driven gear 599 meshing with the second driving gear 598, the second driven gear 599 is coaxial with the third metal shaft 591, and the second driven gear 599 and the third metal shaft 591 are locked by a second locking member.

[0054] Specifically, a second metal rod 501 is provided parallel to the side of the third metal shaft 591, and the second metal rod 501 and the third metal shaft 591 are located in the same vertical plane. An eighth fixing block 502 and a ninth fixing block 503 which are transitionally matched with the second metal rod 501 are provided at the upper and lower ends of the second metal rod 501, respectively, wherein: the eighth fixing block 502 is connected to the sixth fixing block 593 on the third metal shaft 591, and the ninth fixing block 503 is connected to the seventh fixing block 594 on the third metal shaft 591. The second metal rod 501 is also provided with a third connecting block 504 which is transitionally matched with the second metal rod 501, and the third connecting block 504 is used to connect the second nut block 596 and the first spring cylinder 51.

[0055] Specifically, the robot arm device 5 is fixed on the chassis 1 through the second turntable 50, and the second turntable 50 is driven to rotate by the robot arm motor 505 through the second worm gear mechanism. The structure of the second turntable 50 is the same as that of the first turntable 42, and the structure of the second worm gear mechanism is the same as that of the first worm gear mechanism.

[0056] During operation, the mechanical arm motor 505 drives the second turntable 50 to rotate through the second worm mechanism, thereby rotating the mechanical arm device 5 as a whole. The structure and principle of the second worm mechanism are the same as those of the first worm mechanism, and will not be described in detail here.

[0057] Specifically, the first spring cylinder 51 is connected to the air compressor 8 through the first solenoid valve 7, and the first solenoid valve 7 is a three-position two-way solenoid valve. Fig.11 As shown, when the first solenoid valve 7 is energized, port a and port b of the first solenoid valve 7 are connected, and when the first solenoid valve 7 is de-energized, port b and port c of the first solenoid valve 7 are connected, port a of the first solenoid valve 7 is connected to the outlet of the air compressor 8, port b of the first solenoid valve 7 is connected to one end of the first spring cylinder 51, and port c of the first solenoid valve 7 is connected to the atmosphere.

[0058] During operation, when the first solenoid valve 7 is energized, port a and port b of the first solenoid valve 7 are connected, the compressed air in the air compressor 8 enters the first spring cylinder 51, the piston rod is pushed out, and the manipulator is opened; when the first solenoid valve 7 is de-energized, port b and port c of the first solenoid valve 7 are connected, the compressed air in the first spring cylinder 51 is discharged into the atmosphere, the piston rod is retracted, and the manipulator is closed, thereby completing the grasping and placing tasks.

[0059] Further, such as Fig. 9 , Fig.10 As shown, the soil gathering device 6 includes a mudguard 61 symmetrically arranged in the left and right directions, and the movable angle of the mudguard 61 is controlled by a second spring cylinder 62 .

[0060] Specifically, the fender 61 is fixed on the fender bracket, and the fender bracket includes a fourth connecting block 631 fixed to the end of the chassis 1, a fifth connecting block 632 hinged to the fourth connecting block 631, a tenth fixing block 633 hinged to the fifth connecting block 632, an eleventh fixing block 634 fixedly connected to the tenth fixing block 633, a twelfth fixing block 635 fixedly connected to the eleventh fixing block 634, and a fender connecting block 636 fixedly connected to the twelfth fixing block 635. The rotation axis between the fourth connecting block 631 and the fifth connecting block 632 is perpendicular to the rotation axis between the fifth connecting block 632 and the tenth fixing block 633. The tenth fixing block 633, the eleventh fixing block 634 and the twelfth fixing block 635 are located in the same horizontal plane. The fender connecting block 636 is vertically fixed to the lower end of the twelfth fixing block 635, and the fender 61 is fixed to the fender connecting block 636 through the eighth connecting block 611.

[0061] The piston rod end of the second spring cylinder 62 is hinged to the sixth connecting block 64, the sixth connecting block 64 is fixed to the eleventh fixing block 634, the cylinder body end of the second spring cylinder 62 is hinged to the cylinder connecting block 65, and the cylinder connecting block 65 is fixed to the chassis 1 through the seventh connecting block 66. The second spring cylinder 62 is connected to the air compressor 8 through the second solenoid valve, and its specific structure and principle are the same as those of the first spring cylinder 51, which will not be repeated here.

[0062] During operation, when the tree planting robot performs soil gathering operation, gas is filled into the second spring cylinder 62 through the air inlet 621 of the second spring cylinder 62, thereby pushing the piston rod, causing the sixth connecting block 64 to rotate a certain angle around the axial direction of the hinge axis, thereby causing the eleventh fixed block 634 and the twelfth fixed block 635 to rotate a certain angle synchronously; the fourth connecting block 631, the fifth connecting block 632 and the tenth fixed block 633 form a mechanical mechanism with a function of limiting the degree of freedom, and the mechanical structure is fixedly connected to the eleventh fixed block 634 through the tenth fixed block 633, so that under the push of the sixth connecting block 64, the eleventh fixed block 634, the twelfth fixed block 635 and the mudguard connecting block 636 as a whole have a determined motion trajectory, and the eighth connecting block 611 changes the motion direction of the mudguard 61, so that the motion trajectory determined by the mudguard 61 is more suitable for soil gathering.

[0063] Further, such as Figure 2 As shown, the crawler walking device 2 is respectively arranged on the left and right sides of the chassis 1, and the specific structure of the crawler walking device 2 can refer to the prior art.

[0064] Furthermore, the chassis 1 in the utility model adopts a modular structure, in which a plurality of square modules are spliced ​​together to form a frame, and the connection between adjacent modules is fixed by a mortise and tenon structure; each connecting block and fixing block in the utility model also adopts a modular structure, and each motor in the utility model also adopts a structure embedded in the module. Fig.12 The partial structure of the module is shown schematically. Different module structures can be adopted according to specific circumstances in actual use.

[0065] The working principle and working process of the utility model are as follows:

[0066] When drilling, first adjust the drill bit to the target position through the first screw nut assembly, and then drive the drill bit to rotate through the drill motor to drill the hole. After drilling, the tree planting robot moves forward one machine position so that the drilled hole is directly opposite the bottom of the manipulator. At this time, the motor of the manipulator arm drives the second turntable to rotate 180° through the second worm mechanism, so that the manipulator is directly opposite the sapling on the opening box. Then adjust the position of the manipulator through the second screw nut assembly so that the manipulator can just surround the sapling, and then the first solenoid valve is energized, the piston rod of the first spring cylinder is pushed out, and the manipulator closes and grabs the sapling. Then, the manipulator rises to lift the sapling, and the seedling storage tray motor drives the opening box fixing seat to rotate 120° to facilitate the next grab. Then the second turntable rotates 180°, and the sapling is just above the drilled hole. The third screw drives the manipulator to descend until the sapling enters the hole, the first solenoid valve is powered off, and the manipulator releases the sapling. Then the robot arm is lifted, and the second spring cylinder of the soil-collecting device is filled with gas, which in turn pushes the piston rod. The mudguard determines the specific movement trajectory and pushes the soil around the pit into the pit. This is repeated several times to fix the saplings and complete the planting of the saplings.

[0067] The embodiments described above are merely descriptions of preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A tree planting robot used in desert areas, characterized by: The invention comprises a chassis (1) and a crawler walking device (2) connected to the chassis (1); the chassis (1) is provided with a drilling device (3), a seedling storage tray device (4), a mechanical arm device (5) and a soil gathering device (6) in sequence; the drilling device (3) comprises a drill assembly arranged in a vertical direction, the drill assembly is driven to rotate by a drill motor (30) and is controlled to rise and fall by a first screw nut assembly; the seedling storage tray device (4) comprises an open box (41) for placing seedlings, the open box (41) is fixed on a first turntable (42), and the first turntable (42) is driven by a seedling storage tray motor (43) The mechanical arm device (5) comprises a mechanical hand, the mechanical hand is controlled to be opened and closed by a first spring cylinder (51) and to be raised and lowered by a second screw nut assembly; the soil-collecting device (6) comprises a fender (61) symmetrically arranged in the left and right directions, the fender (61) having a movable angle controlled by a second spring cylinder (62); the drilling device (3) is used to drill a planting hole, the seedling storage tray device (4) is used to move the seedling to a corresponding position, the mechanical arm device (5) is used to grab the seedling and place it into the drilled planting hole, and the soil-collecting device (6) is used to collect the soil to fix the seedling.

2. The tree planting robot used in desert areas according to claim 1 is characterized in that: The first screw-nut assembly comprises a second metal shaft (321) arranged in a vertical direction, a second screw (322) sleeved on the second metal shaft (321) and interference-fitted with the second metal shaft (321), the upper and lower ends of the second screw (322) are respectively locked with the second metal shaft (321) by a second fastening nut (323) and a third fastening nut (324), the upper and lower ends of the second metal shaft (321) are respectively provided with a first fixing block (325) and a second fixing block (326) transitionally matched with the second metal shaft (321), the second screw (322) is provided with a first nut block (327) matched with the screw-nut formed therewith, the first nut block (32 7) is fixed to the drill motor (30); the first screw nut assembly also includes a first motor (331), a first driving gear (332) fixed to the output shaft of the first motor (331), and a first driven gear (333) meshing with the first driving gear (332), the first driven gear (333) is coaxial with the second metal shaft (321), and the first driven gear (333) and the second metal shaft (321) are locked by a first locking member, the first locking member includes a flat head hub clamp (334) fixed to the upper end of the second metal shaft (321) and meshing with the inner ring of the first driven gear (333), and a locking nut (335) matched with the flat head hub clamp (334).

3. The tree planting robot used in desert areas according to claim 2 is characterized in that: A first metal rod (341) is arranged parallel to the side of the second metal shaft (321); the first metal rod (341), the first metal shaft and the second metal shaft (321) are located in the same vertical plane; the upper and lower ends of the first metal rod (341) are respectively provided with a third fixing block (342) and a fourth fixing block (343) which are transitionally matched with the first metal rod (341); wherein the third fixing block (342) is connected to the first fixing block (325) on the second metal shaft (321); the fourth fixing block (343) is connected to the second fixing block (326) on the second metal shaft (321); the first metal rod (341) is also provided with a first connecting block (344) which is transitionally matched with the first metal rod (341); the first connecting block (344) is used to connect the first nut block (327) and the drill motor (30).

4. The tree planting robot for use in desert areas according to claim 1 is characterized in that: The seedling storage tray device (4) further comprises an open box fixing seat (44) arranged in parallel above the first turntable (42); the open boxes (41) are evenly arranged in three groups along the circumference of the open box fixing seat (44); the first turntable (42) comprises a turntable base fixedly connected to the chassis (1) and a turntable gear (45) rotatably connected to the turntable base; the turntable gear (45) is fixedly connected to the open box fixing seat (44) via a column.

5. The tree planting robot used in desert areas according to claim 4 is characterized in that: The seedling storage tray motor (43) drives the turntable gear (45) to rotate via a first worm gear mechanism. The first worm gear mechanism comprises a worm (461) meshing with the turntable gear (45). The two ends of the worm (461) are respectively connected to a first plug shaft and a second plug shaft (463). The first plug shaft and the second plug shaft (463) are respectively connected to the chassis (1) via a plug shaft fixing block (464). The first plug shaft is connected to a second gear shaft (467) in a second motor gear box (466) via a second coupling (465). The second motor gear box (466) is connected to the seedling storage tray motor (43).

6. The tree planting robot for use in desert areas according to claim 1 is characterized in that: The manipulator comprises a left manipulator arm (52) and a right manipulator arm (53) arranged in parallel on both sides of a first spring cylinder (51); the ends of the left manipulator arm (52) and the right manipulator arm (53) are respectively hinged with a left clamping claw (54) and a right clamping claw (55); the left clamping claw (54) and the right clamping claw (55) respectively comprise a second connecting block (541), a fifth fixing block (542) fixedly connected to the second connecting block (541), and a claw body (543) fixedly connected to the fifth fixing block (542); the second connecting block (541) in the left clamping claw (54) and the second connecting block (541) in the right clamping claw (55) are respectively hinged with the left manipulator arm (52) and the right manipulator arm (53); The manipulator further comprises a first shaft (56) fixedly connected to the end of the piston rod of the first spring cylinder (51); the first shaft (56) is arranged in a vertical direction and is perpendicular to the piston rod of the first spring cylinder (51); a second shaft (544) parallel to the first shaft (56) is fastened to the fifth fixed block (542); the first shaft (56) and the second shaft (544) in the left clamping claw (54) are hingedly connected via a first connecting rod (57); the first shaft (56) and the second shaft (544) in the right clamping claw (55) are hingedly connected via a second connecting rod (58).

7. The tree planting robot used in desert areas according to claim 1 is characterized in that: The second screw rod and nut assembly comprises a third metal shaft (591) arranged in a vertical direction, a third screw rod (592) sleeved on the third metal shaft (591) and interference-fitted with the third metal shaft (591), a sixth fixing block (593) and a seventh fixing block (594) transitionally matched with the third metal shaft (591) are respectively provided at the upper and lower ends of the third metal shaft (591), the upper end of the third screw rod (592) is locked with the third metal shaft (591) by a fourth fastening nut (595), the third screw rod (592) is provided with a second nut block (596) matched with the screw rod nut, and the second nut block (596) is fixed to the cylinder end of the first spring cylinder (51); The second screw nut assembly further comprises a second motor (597), a second driving gear (598) fixed on the output shaft of the second motor (597), and a second driven gear (599) meshing with the second driving gear (598), wherein the second driven gear (599) is coaxial with the third metal shaft (591), and the second driven gear (599) and the third metal shaft (591) are locked by a second locking member; A second metal rod (501) is arranged parallel to the side of the third metal shaft (591); the second metal rod (501) and the third metal shaft (591) are located in the same vertical plane; an eighth fixing block (502) and a ninth fixing block (503) are respectively arranged at the upper and lower ends of the second metal rod (501) for transitional fit with the second metal rod (501); wherein: the eighth fixing block (502) is connected to the sixth fixing block (593) on the third metal shaft (591); the ninth fixing block (503) is connected to the seventh fixing block (594) on the third metal shaft (591); the second metal rod (501) is also provided with a third connecting block (504) for transitional fit with the second metal rod (501); the third connecting block (504) is used to connect the second nut block (596) and the first spring cylinder (51); The robotic arm device (5) is fixed to the chassis (1) via a second turntable (50); the second turntable (50) is driven to rotate by a robotic arm motor (505) via a second worm gear mechanism; the structure of the second turntable (50) is the same as that of the first turntable (42); and the structure of the second worm gear mechanism is the same as that of the first worm gear mechanism.

8. The tree planting robot used in desert areas according to claim 1 is characterized in that: The first spring cylinder (51) is connected to the air compressor (8) via a first solenoid valve (7). The first solenoid valve (7) is a three-position two-way solenoid valve. When the first solenoid valve (7) is powered on, port a and port b of the first solenoid valve (7) are connected. When the first solenoid valve (7) is powered off, port b and port c of the first solenoid valve (7) are connected. Port a of the first solenoid valve (7) is connected to the outlet of the air compressor (8), port b of the first solenoid valve (7) is connected to one end of the first spring cylinder (51), and port c of the first solenoid valve (7) is connected to the atmosphere.

9. The tree planting robot used in desert areas according to claim 1, characterized in that: The fender (61) is fixed to the fender bracket, and the fender bracket comprises a fourth connecting block (631) fixed to the end of the chassis (1), a fifth connecting block (632) hinged to the fourth connecting block (631), a tenth fixing block (633) hinged to the fifth connecting block (632), an eleventh fixing block (634) fixedly connected to the tenth fixing block (633), a twelfth fixing block (635) fixedly connected to the eleventh fixing block (634), and a fender connecting block (636) fixedly connected to the twelfth fixing block (636). ), the rotation axis between the fourth connecting block (631) and the fifth connecting block (632) and the rotation axis between the fifth connecting block (632) and the tenth fixing block (633) are perpendicular, the tenth fixing block (633), the eleventh fixing block (634) and the twelfth fixing block (635) are located in the same horizontal plane, the fender connecting block (636) is vertically fixed to the lower end of the twelfth fixing block (635), and the fender (61) is fixed to the fender connecting block (636) via the eighth connecting block (611); The piston rod end of the second spring cylinder (62) is hinged to the sixth connecting block (64), the sixth connecting block (64) is fixed to the eleventh fixing block (634), the cylinder body end of the second spring cylinder (62) is hinged to the cylinder connecting block (65), and the cylinder connecting block (65) is fixed to the chassis (1) via the seventh connecting block (66).

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