Automatic tree planting mechanism and transplanting robot

Abstract

The utility model discloses an automatic tree planting mechanism which is installed on a transplanting robot and comprises a frame, a planting assembly is installed at the bottom of one side of the frame, and a seedling conveying assembly is arranged at the top of the frame and used for conveying saplings into the planting assembly. By arranging the planting assembly and the seedling feeding assembly, when saplings are planted, punching, seedling feeding, seedling releasing and backfilling can be completed at a time, the automation degree is high, manual operation is not needed, and the planting efficiency is high; furthermore, a planting assembly is arranged, a tool bit of the planting assembly can be pushed by a rotating disc to be unfolded downwards and is driven by a rotating pipe to rotate at the same time, so that when the tool bit digs a hole, the interior of the tool bit is blocked by the rotating pipe, loose soil is limited and blocked, collapse is avoided, and after a sapling is planted and the rotating pipe moves upwards to reset, the blocked soil can be prevented from falling off under the action of gravity. Automatic backfilling is achieved, human assistance is not needed in the whole process, and the planting efficiency is improved again.

Description

Technical Field

[0001] This utility model specifically relates to an automatic tree planting mechanism and a transplanting robot. Background Technology

[0002] Afforestation in deserts can curb desert expansion, improve the local ecological environment and climate conditions, and increase the productivity and ecological value of local land, thereby creating oases in the desert. Nowadays, desert afforestation is combined with under-forest economy, such as planting medicinal herbs and fungi, to create more income sources for local residents or provide sustainable timber resources. It is a complex, arduous and significant task. At present, in addition to manual tree planting, transplanting robots are also commonly used in desert afforestation. The difference between transplanting robots and manual planting is that they use automatic tree planting mechanisms. Specifically, they dig planting pits with a cutting head and then automatically deliver seedlings to complete the planting, thereby improving planting efficiency.

[0003] However, existing automated tree planting mechanisms mostly perform single functions when carrying out tree planting operations, and cannot achieve integrated operations of digging holes, delivering seedlings, and planting. Their level of automation is low and cannot meet the current operational requirements for desertification control. At the same time, when the drilling head is digging planting holes, loose soil can easily collapse back into the dug holes, requiring manual assistance to remove it, resulting in consistently low planting efficiency.

[0004] Therefore, it is necessary to invent an automatic tree planting mechanism and a transplanting robot to solve the above problems. Utility Model Content

[0005] (a) Purpose of the utility model

[0006] To address the technical problems existing in the background art, this utility model proposes an automatic tree planting mechanism and transplanting robot. By setting up a planting component and a seedling delivery component, it can complete drilling, seedling delivery, seedling placement, and backfilling in one go when planting seedlings. It has a high degree of automation, requires no manual operation, and has high planting efficiency. Furthermore, the planting component is equipped with a cutting head that can be pushed downward by a turntable and rotated by a rotating tube. This allows the cutting head to dig holes while the tube blocks the loose soil inside, preventing collapse. After the seedling is planted, when the tube moves upward and resets, the blocked soil will automatically backfill under the action of gravity. The entire process requires no human assistance, further improving planting efficiency.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, this utility model provides the following technical solution: an automatic tree planting mechanism, installed on a transplanting robot, including a frame, a planting component installed on the bottom side of the frame, and a seedling delivery component provided on the top of the frame for delivering seedlings into the planting component;

[0009] The planting assembly includes a platform, a ring extending through the top of the platform, a rotating tube connected to the bottom of the ring, a hoop plate sleeved on the outer side of the top and bottom of the rotating tube, three vertical rods installed between the two hoop plates, each vertical rod having a connecting rod connected to its top, and a guide post installed at the top of the connecting rod away from the vertical rod.

[0010] A turntable is installed on the outer side of the bottom of the ring body. The top of the turntable has three guide holes. Each guide post passes upward through the guide hole above it and is located outside the guide hole.

[0011] The base has three parts, which are respectively installed at the bottom of the three vertical rods, and the bottom of the base is equipped with a blade;

[0012] The seedling delivery assembly includes a frame-shaped tray connected to the frame. A feeding pipe is installed on the tray directly above the ring. Several transplanting cylinders are placed on the top of the tray. A first drive mechanism is installed on the frame to drive the transplanting cylinders to move along the extension direction of the tray.

[0013] Preferably, a spiral bar is connected to the outside of the rotating tube, and all three vertical rods are vertically arranged through the spiral bar.

[0014] Preferably, a second drive mechanism is installed on the platform to drive the ring to rotate around its own axis, so that the blade can rotate and unfold.

[0015] Preferably, the three guide holes are evenly distributed in a circular array on the top of the turntable, and each guide hole is arranged in a straight line facing the center of the turntable.

[0016] Preferably, each base has two blades at its bottom, arranged in a V-shape on the inner side of the base, and the three outer sides of the base are all arc-shaped and adapted to the outer diameter of the rotating tube.

[0017] Preferably, the feeding tube is configured as a funnel shape, with its bottom end passing downward through the ring and extending into the interior of the rotating tube.

[0018] Preferably, a third drive mechanism is installed on the frame, the bottom of which is connected to the planting component to drive the planting component to move horizontally so that it can transplant seedlings.

[0019] Preferably, each of the transplanting tubes is equipped with a roller on the bottom outer side and a folded lug on the top inner side of each of the transplanting tubes.

[0020] A transplanting robot employs the automatic tree planting mechanism of this utility model.

[0021] Compared with the prior art, the beneficial effects of the above-mentioned technical solution of this utility model are:

[0022] This utility model, by setting up planting components and seedling delivery components, can complete drilling, seedling delivery, seedling placement, and backfilling in one go when planting seedlings. It has a high degree of automation, requires no manual operation, and has high planting efficiency.

[0023] This invention features a planting component. When the blade needs to dig a hole downwards, the turntable, guided by a guide rod, pushes the rotating tube to rotate, causing the blade to unfold and dig downwards. Simultaneously, the rotating tube rotates inside the blade, preventing the soil excavated by the blade from scattering and collapsing into the hole. After the sapling is planted, as the blade moves upwards, the soil blocked by the rotating tube will automatically roll back into the planting hole under the influence of gravity, completing the backfilling. The entire process requires no human assistance, further improving planting efficiency. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0025] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0026] Figure 2 This is a schematic diagram of the connection structure between the feed tube and the frame of this utility model;

[0027] Figure 3 This is a bottom view of the seedling delivery component of this utility model;

[0028] Figure 4 This is a partially enlarged view of the present invention;

[0029] Figure 5 This is a schematic diagram of the connection structure between the planting component and the seedling delivery component of this utility model;

[0030] Figure 6 This is a schematic diagram of the connection structure between the platform and the ring of this utility model;

[0031] Figure 7 This is a demonstration diagram of the blade of this utility model when it is closed;

[0032] Figure 8 This is a demonstration image showing the blade of this utility model unfolded.

[0033] Figure 9 This is a demonstration diagram of the blade closing from another perspective of this utility model;

[0034] Figure 10 This is a demonstration image showing the blade unfolded from another perspective of this utility model;

[0035] Figure 11 This is a schematic diagram of the installation of the present invention and the transplanting robot.

[0036] Explanation of reference numerals in the attached figures:

[0037] 1. Frame, 2. Planting components, 21. Platform, 22. Ring, 23. Rotary tube, 24. Hoop plate, 25. Vertical rod, 26. Connecting rod, 27. Guide column, 28. Turntable, 29. Guide hole, 210. Base, 211. Blade, 212. Spiral array;

[0038] 3. Seedling delivery assembly, 31. Tray, 32. Feeding pipe, 33. Transplanting cylinder, 34. First drive mechanism, 35. Roller, 36. Folding ear, 4. Second drive mechanism, 5. Third drive mechanism. Detailed Implementation

[0039] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings.

[0040] This utility model provides, for example Figure 1-10 An automatic tree planting mechanism is shown, which is installed on a transplanting robot. It includes a frame 1, a planting component 2 is installed on the bottom side of the frame 1, and a seedling delivery component 3 is provided on the top of the frame 1 for delivering seedlings into the planting component 2.

[0041] The planting component 2 includes a platform 21, a ring 22 passing through the top of the platform 21, a rotating tube 23 connected to the bottom of the ring 22, a hoop plate 24 sleeved on the outer side of the top and bottom of the rotating tube 23, three vertical rods 25 installed between the two hoop plates 24, and a connecting rod 26 connected to the top of each vertical rod 25. A guide post 27 is installed at the top of the end of the connecting rod 26 away from the vertical rod 25.

[0042] A turntable 28 is installed on the outer side of the bottom of the ring body 22. The top of the turntable 28 has three guide holes 29. Each guide post 27 passes upward through the guide hole 29 above it and is located outside the guide hole 29.

[0043] The base 210 has three parts, which are respectively installed at the bottom of the three vertical rods 25. The blade 211 is installed at the bottom of the base 210.

[0044] The seedling delivery assembly 3 includes a frame-shaped tray 31 connected to the frame 1. The tray 31 is located directly above the ring 22 and has a feeding pipe 32 installed on it. Several transplanting cylinders 33 are placed on the top of the tray 31. A first drive mechanism 34 is installed on the frame 1 to drive the transplanting cylinders 33 to move along the extension direction of the tray 31.

[0045] In one embodiment, a spiral bar 212 is connected to the outside of the rotating tube 23, and the three vertical rods 25 are all vertically inserted through the spiral bar 212. The spiral bar 212 can rotate with the rotating tube 23 when the rotating tube 23 rotates, and discharge the soil broken up by the blade 211 when digging the hole upwards, reducing the interference of the soil in the hole and providing a good space for planting seedlings.

[0046] In one embodiment, a second drive mechanism 4 is installed on the platform 21 to drive the ring body 22 to rotate around its own axis, so that the blade 211 can rotate and unfold, and move downward with the help of the second drive mechanism 4 to achieve digging and covering.

[0047] In one embodiment, the three guide holes 29 are evenly distributed in a circular array on the top of the turntable 28, and each guide hole 29 is arranged in a straight line facing the center of the turntable 28. This means that when the turntable 28 initially rotates, the vertical rod 25 will not immediately rotate with the turntable 28. That is, when the turntable 28 rotates, the guide rod will move indirectly by the distance of one guide hole 29, and then follow the turntable 28 to rotate. Thus, when the turntable 28 rotates forward or backward, the blade 211 can be unfolded or gathered.

[0048] In one embodiment, each base 210 has two blades 211 at its bottom, which are distributed in a V-shape on the inner side of the base 210. When the blades 211 rotate, they can quickly clear the soil in the pit, improving the planting efficiency of the seedlings. The outer sides of the three bases 210 are all arc-shaped and adapted to the outer diameter of the rotating tube 23. When the blades 211 are gathered together, their outer side is similar in size to the rotating tube 23, which is convenient for storage.

[0049] In one embodiment, the feed tube 32 is configured as a funnel shape, with its bottom end passing downward through the ring 22 and extending into the interior of the rotating tube 23.

[0050] In one embodiment, a third drive mechanism 5 is installed on the frame 1, the bottom end of which is connected to the planting component 2 for driving the planting component 2 to move horizontally so that it can transplant seedlings and allow the seedlings to fall accurately into the holes dug by the blade 211.

[0051] In one embodiment, each transplanting cylinder 33 is equipped with a roller 35 on its outer bottom, which makes the transplanting cylinder 33 move more stably on the tray 31 and ensures the normal delivery of the seedlings. Each transplanting cylinder 33 is equipped with a folded ear 36 on its inner top, which facilitates the connection between the transplanting cylinder 33 and the first drive mechanism 34.

[0052] A transplanting robot employs the automatic tree planting mechanism of this utility model.

[0053] The specific implementation method is as follows: When this utility model is used, as shown in the figure, it is installed on the transplanting robot. Specifically, the transplanting robot drives the automatic tree planting mechanism to move above the point where a hole needs to be dug, and then the third drive mechanism 5 drives the planting component 2 to move vertically downward on the frame 1.

[0054] At this time, the second drive mechanism 4 is activated, controlling the ring body 22 to rotate clockwise around its own axis, thereby driving the rotating tube 23 to rotate clockwise. At the same time, the turntable 28 rotates synchronously with the rotating tube 23, the initial position of the three guide holes 29 changes, and the position of the guide post 27 changes from the initial outer side to the inner side of the guide hole 29. At this time, as the turntable 28 continues to rotate, the guide post 27 will be pushed by the turntable 28 and begin to rotate clockwise, thereby causing the connecting rod 26 to rotate around the axis of the vertical rod 25 connected to it, and further driving the vertical rod 25 to rotate itself. Meanwhile, the three bases 210 located at the bottom of the vertical rod 25 begin to move outward synchronously, causing the blades 211 to unfold.

[0055] As the blade 211 comes into contact with the ground, a planting hole will be created by the blade 211. At this time, the first drive mechanism 34 is activated, driving the transplanting cylinder 33 on the tray 31 to move along the top of the tray 31. When a transplanting cylinder 33 moves directly above the feeding pipe 32, since there is no tray 31 to support it, the seedling inside will fall downwards under the action of gravity, and under the limit of the feeding pipe 32 and the rotating pipe 23, it will fall straight into the dug planting hole.

[0056] Furthermore, the soil swirling out of the pit will be automatically discharged upwards under the action of the spiral 212. After the sapling falls and stops, the planting drilling head is controlled to move upwards as a whole. During this process, due to the departure of the rotating tube 23, the soil it blocks and the soil discharged by the spiral 212 will roll towards the planting hole, completing the covering of the planting hole with soil. When the blade 211 is higher than the sapling, the second drive mechanism 4 drives the ring 22 to rotate counterclockwise. At this time, the turntable 28 will rotate counterclockwise in sync, and the position of the guide hole 29 will change again. The position of its internal guide column 27 will slide from the inside to the outside in a disguised way. Then it will be pushed by the turntable 28 to start rotating counterclockwise. Under the counterclockwise transmission of the connecting rod 26 and the vertical rod 25, the three bases 210 will start to converge inwards in sync, so that the blade 211 will move closer to each other and reset.

[0057] The intelligent transplanting robot continues to move forward and reaches the next preset point, where it can complete the batch planting of seedlings until all preset planting operations are completed.

[0058] The first drive mechanism 34, the second drive mechanism 4, and the third drive mechanism 5 can be horizontally driven by screw drive, belt drive, or cylinder drive. They will not be described in detail here. That is, the first drive mechanism 34, the second drive mechanism 4, and the third drive mechanism 5 are not specifically described. Those skilled in the art can fully understand the specific implementation of the first drive mechanism 34 driving the transplanting cylinder 33 to move on the tray 31, the second drive mechanism 4 driving the ring body 22 to rotate, and the third drive mechanism 5 driving the platform 21 to move on the frame 1. Therefore, for the sake of space and to avoid redundancy, the specific detailed description of the first drive mechanism 34, the second drive mechanism 4, and the third drive mechanism 5 is omitted and only mentioned in a functional manner.

[0059] This utility model of automatic tree planting mechanism can be used in various types of transplanting robots. It can solve the problem that most existing automatic tree planting mechanisms are mainly single-function when performing tree planting operations, and cannot achieve integrated operation of digging holes, delivering seedlings, and planting. The degree of automation is low and cannot meet the current operational requirements of desertification control. At the same time, when the drilling head is digging planting holes, loose soil is easy to collapse back into the dug holes, requiring manual assistance to remove it, resulting in consistently low planting efficiency.

[0060] The foregoing description only illustrates certain exemplary embodiments of the present invention. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An automatic tree planting mechanism installed on a transplanting robot, characterized by: The utility model relates to an automatic tree planting mechanism, comprising: a frame (1) having a planting assembly (2) mounted on one side of the bottom of the frame (1) and a seedling feeding assembly (3) provided on the top of the frame (1) for feeding seedlings into the planting assembly (2); the planting assembly (2) comprises a platform (21), a ring body (22) penetrating through the top of the platform (21), a rotating tube (23) connected to the bottom of the ring body (22), a clamping plate (24) sleeved on the outside of the top end and the bottom end of the rotating tube (23), three vertical rods (25) mounted between the two clamping plates (24), a connecting rod (26) connected to the top end of each vertical rod (25), and a guide column (27) mounted on the top end of the connecting rod (26) away from the vertical rod (25); a rotating disc (28) is mounted on the outside of the bottom of the ring body (22), and the top of the rotating disc (28) is provided with three guide holes (29), each guide column (27) penetrates through the guide hole (29) above it and is located outside the guide hole (29); three bases (210) are provided and mounted on the bottom end of each vertical rod (25), and each base (210) is provided with a blade (211) mounted on the bottom of the base (210); the seedling feeding assembly (3) comprises a tray (31) connected to the frame (1) and in the shape of a frame, a feeding pipe (32) mounted on the tray (31) directly above the ring body (22), a plurality of transplanting cylinders (33) placed on the top of the tray (31), and a first driving mechanism (34) mounted on the frame (1) for driving the transplanting cylinders (33) to move along the extension direction of the tray (31).

2. The automatic tree planting mechanism according to claim 1, wherein: The outside of the rotating tube (23) is connected with a spiral row (212), and each vertical rod (25) penetrates through the spiral row (212) vertically.

3. The automatic tree planting mechanism of claim 1, wherein: A second driving mechanism (4) is mounted on the platform (21) for driving the ring body (22) to rotate about its axis, so that the blade (211) can be unfolded.

4. The automatic tree planting mechanism of claim 1, wherein: The three guide holes (29) are circularly arranged and uniformly distributed on the top of the rotating disc (28), and each guide hole (29) is arranged in a linear shape towards the center of the rotating disc (28).

5. The automatic tree planting mechanism of claim 1, wherein: The blade (211) on the bottom of each base (210) is provided with two blades (211) arranged in a V shape on the inner side of the base (210), and the outer side of each base (210) is provided in an arc shape and matched with the outer diameter of the rotating tube (23).

6. The automatic tree planting mechanism of claim 1, wherein: The feeding pipe (32) is provided in a funnel shape, and the bottom end penetrates through the ring body (22) downward and extends into the rotating tube (23).

7. The automatic tree planting mechanism of claim 1, wherein: A third driving mechanism (5) is mounted on the frame (1) and connected to the planting assembly (2) at the bottom end of the frame (1) for driving the planting assembly (2) to translate so that the planting assembly (2) can transplant seedlings.

8. The automatic tree planting mechanism of claim 1, wherein: Each transplanting cylinder (33) is provided with a roller (35) mounted on the outside of the bottom of the transplanting cylinder (33), and a folding ear (36) mounted on the inside of the top of the transplanting cylinder (33).

9. A transplanting robot, characterized by: The automatic tree planting mechanism of any one of claims 1-8 is adopted.

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