CN107710986B - Robot sowing method - Google Patents
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- CN107710986B CN107710986B CN201711252847.9A CN201711252847A CN107710986B CN 107710986 B CN107710986 B CN 107710986B CN 201711252847 A CN201711252847 A CN 201711252847A CN 107710986 B CN107710986 B CN 107710986B
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- 238000009331 sowing Methods 0.000 title claims abstract description 53
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000010899 nucleation Methods 0.000 claims abstract description 161
- 239000002689 soil Substances 0.000 claims abstract description 44
- 238000001125 extrusion Methods 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims 2
- 235000013311 vegetables Nutrition 0.000 description 19
- 230000001174 ascending effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 238000005580 one pot reaction Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
Abstract
The invention discloses a robot sowing method, which comprises the steps of firstly setting a controller, controlling the running speed of an electric hub and the rotating speed of a motor, and determining the sowing distance of two-nest seeds or seedlings by controlling the electric hub to advance in a pulse mode; seeding operation is carried out by controlling the rotation of the motor; then seeds or seedlings are put into a hopper, a rack is placed on a soil ridge, an electric hub is correspondingly placed in a furrow, a controller switch is started, the electric hub is driven to move forwards, a motor gear is arranged on a rotating shaft of a motor, the motor gear drives a rotating gear to rotate, the rotating gear drives a crankshaft to rotate, and the crankshaft drives a lifting seeding taper rod to reciprocate up and down through a connecting rod crank neck and a connecting rod; when the lifting seeding taper rod is lifted, the movable stop block on the lifting seeding taper rod pushes the inserting plate to plug the seeding inlet upwards, and when the seeding inlet on the lifting seeding taper rod is aligned with the through hole, seeds or seedlings cannot enter the seeding channel through the guide pipe; the seeding taper rod is lifted to the top.
Description
Technical Field
The invention relates to the field of agricultural planting, in particular to a robot sowing method.
Background
In recent years, vegetable planters have been reported in China, and the vegetable planters are only popularized in a small range due to factors such as unreliable performance and limitation of sowing conditions. At present, in rural vegetable planting, manual and simple labor tools are mainly used for both field planting and facility agricultural planting, so that the labor and the labor are wasted, the efficiency is low, the seeds are wasted, and vegetable growers are very bitter. The manual seeding mode has three kinds: namely broadcast sowing, drill sowing and hole sowing.
The existing vegetable planter has the following defects: firstly, the density of the sowed seeds is not uniform, the seeds are sparse and deficient, the seedlings are thinned and need thinning, the seeds are very troublesome to scatter, sometimes the seeds are scattered outside the ridge, the seed emergence rate is influenced, and secondly, the seeds are thinned and need thinning while overcoming some defects of the sowing, and the waste of the seeds is also caused. Scientific hole sowing, seed saving, good illumination and ventilation effects, uniform nutrition and low thinning labor intensity, but low sowing efficiency. In addition, at present, all the vegetable planting machines are large, some of the vegetable planting machines are provided with power, air is polluted during operation, the price of the whole machine is high, the movement is inconvenient, and the vegetable planting machines are difficult to apply to vegetable seeding in facility agriculture.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a robot sowing method, which solves the problems of low mechanization degree, complex equipment, high cost, seed waste during sowing and influence on the rate of emergence of the existing greenhouse vegetable sowing.
The invention is realized by the following technical scheme:
a robot sowing method comprises the following steps:
firstly, setting a controller, controlling the running speed of an electric hub and the rotating speed of a motor, and determining the seeding distance between two pits of seeds or seedlings by controlling the electric hub to move forwards in a pulse mode; seeding operation is carried out by controlling the rotation of the motor;
then seeds or seedlings are put into a hopper, a rack is placed on a soil ridge, an electric hub is correspondingly placed in a furrow, a controller switch is started, the electric hub is driven to move forwards, a motor gear is arranged on a rotating shaft of a motor, the motor gear drives a rotating gear to rotate, the rotating gear drives a crankshaft to rotate, and the crankshaft drives a lifting seeding taper rod to reciprocate up and down through a connecting rod crank neck and a connecting rod;
when the lifting seeding taper rod is lifted, the movable stop block on the lifting seeding taper rod pushes the inserting plate to plug the seeding inlet upwards, and when the seeding inlet on the lifting seeding taper rod is aligned with the through hole, seeds or seedlings cannot enter the seeding channel through the guide pipe;
when the lifting seeding taper rod reaches the top and is ready to descend, the movable stop block cannot stop the inserting plate due to the extrusion and the overturning of the inserting plate, and the inserting plate descends in advance, so that the plugging of a seeding inlet is opened;
when the lifting seeding taper rod moves downwards, the seeding inlet on the lifting seeding taper rod can align with the through hole, and seeds or seedlings can enter the seeding channel;
the lifting seeding taper rod continues to move downwards, the taper head of the lifting seeding taper rod is inserted into soil, and meanwhile, the rotating baffle plate seals the seeding outlet under the extrusion of the soil;
then the lifting seeding taper rod is lifted upwards, at the moment, the movable stop block is reset under the drive of the coil spring to open the plug of the seeding outlet, and seeds or seedlings fall into the soil.
Furthermore, four sets of electric hubs are arranged at the bottom of the rack and connected with a storage battery.
Furthermore, the electric hub and the motor are both connected with the controller, and the controller is used for controlling the electric hub and the motor to work.
Furthermore, be equipped with the rotating baffle that prevents soil entering lower extreme seeding export on the conical head of lift seeding awl pole bottom, rotating baffle installs on the conical head through the hinge, still is equipped with the wind spring on the hinge, and under the condition that does not pressurize rotating baffle, rotating baffle is in the open mode in real time.
Furthermore, the movable stop block is arranged on the mounting block through a pin shaft, the mounting block is arranged on the lifting seeding taper rod, a coil spring is further arranged on the pin shaft, and the movable stop block is in a propping state in real time under the condition that the movable stop block is not extruded by external force.
Further, the hopper is fixed on the frame.
Furthermore, the seeding channel is arranged on the rear side of the axis of the lifting seeding taper rod. The seeding channel is eccentrically arranged and is mainly designed for the hopper and close to the hopper.
Furthermore, the support column of frame is elevation structure. The support column of frame is elevation structure to can adjust the degree of depth in the soil of going out and going out of lift seeding awl pole according to the vegetable planting degree of depth of different types.
Compared with the prior art, the invention has the following advantages and beneficial effects:
according to the robot sowing method, the lifting sowing conical rod which moves up and down is arranged, the running speed of the electric hub and the rotating speed of the motor are controlled through the setting of the controller, so that the sowing distance of two pits of seeds or seedlings is determined, the seeds or the seedlings are accurately fed into soil, and the support columns of the rack are of a lifting structure, so that the depth of the lifting sowing conical rod in and out of the soil can be adjusted according to the planting depth of different types of vegetables.
In addition, the invention solves the problem that seeds or seedlings can not enter the sowing channel through the guide pipe when the lifting sowing tapered rod is lifted.
Still through be equipped with the rotating baffle that prevents that soil from getting into lower extreme seeding export on the conical head at lift seeding awl pole bottom, rotating baffle installs on the conical head through the hinge, still is equipped with the wind spring on the hinge, under the circumstances that does not pressurize rotating baffle, and rotating baffle is in the open mode in real time. When the in-process of soil is inserted to the seeding awl pole that goes up and down, under the extrusion of soil, rotating baffle rotates around the hinge and exports the shutoff with lower extreme seeding to prevent that soil from getting into the lower extreme and sowing the export, after the recess of seed or seedling is by extrusion, after the seeding awl pole that goes up and down promoted, rotating baffle opened under the effect of coil spring, opened the shutoff to lower extreme seeding export, seed or seedling in the seeding passageway get into in the soil recess.
By adopting the invention, automatic vegetable or crop planting can be realized in a planting space with a narrow space, such as a greenhouse, and the equipment is particularly suitable for planting vegetables or crops which need to be planted at intervals on ridge fields. Compared with the existing seeder which can sow the ridge soil after ploughing, the invention directly drills the hole on the soil, is convenient and fast, and greatly improves the planting efficiency and quality.
The invention is suitable for seeding and also suitable for seeding seedlings. The pot seedlings can be placed in a hopper for sowing.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a structural diagram of a state that a through hole is blocked by an inserting plate when a lifting seeding taper rod rises;
FIG. 2 is a structural diagram of the present invention showing the state that the lifting seeding taper rod is lifted to the high point inserting plate to extrude and turn over the movable stop block;
FIG. 3 is a schematic structural view of the state that the inserting plate is lowered in advance when the lifting seeding taper rod is ready to be lowered;
FIG. 4 is a structural diagram illustrating a state that seeds or seedlings enter a sowing channel when a sowing inlet is aligned with a through hole in a descending process of a lifting sowing tapered rod according to the present invention;
FIG. 5 is a structural diagram of the state that the falling conical head of the lifting seeding conical rod is inserted into soil;
FIG. 6 is a structural diagram of the state that the seeds or seedlings enter the soil after the falling conical head of the lifting seeding conical rod is inserted into the soil;
FIG. 7 is a schematic view of the control principle of the present invention;
FIG. 8 is a schematic structural view of the movable stop of the present invention;
reference numbers and corresponding part names in the drawings:
1-frame, 2-lifting seeding taper rod, 3-stop collar, 4-crankshaft, 5-motor, 6-accumulator, 7-connecting rod, 8-connecting rod bent neck, 9-rotating gear, 10-rotating shaft, 11-motor gear, 12-seeding channel, 13-seeding inlet, 14-seeding outlet, 15-taper head, 16-through hole, 17-conduit, 18-hopper, 19-slot, 20-plug board, 21-movable block, 22-electric hub, 23-controller, 24-rotating baffle, 25-hinge shaft, 26-pin shaft, 27-mounting block, 28-support column, 29-underframe and 30-L-type adjusting bracket.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Examples
As shown in fig. 1 to 8, a robot sowing method of the present invention includes the steps of:
firstly, setting a controller 23, controlling the running speed of the electric hub 22 and the rotating speed of the motor 5, and determining the sowing distance of two-nest seeds or seedlings by controlling the electric hub 22 to advance in a pulse mode; seeding operation is carried out by controlling the rotation of the motor 5;
then seeds or seedlings are placed into the hopper 18, the rack 1 is placed on a soil ridge, the electric wheel hub 22 is correspondingly placed in a furrow, the controller 23 is started to be switched on and switched off, the electric wheel hub 22 is driven to move forwards, the rotating shaft 10 of the motor 5 is provided with the motor gear 11, the motor gear 11 drives the rotating gear 9 to rotate, the rotating gear 9 drives the crankshaft 4 to rotate, and the crankshaft 4 drives the lifting seeding conical rod 2 to do up-and-down reciprocating motion through the connecting rod curved neck 8 and the connecting rod 7;
when the lifting seeding taper rod 2 is lifted, the movable stop block 21 on the lifting seeding taper rod 2 pushes the inserting plate 20 to upwards seal the seeding inlet 13, and when the seeding inlet 13 on the lifting seeding taper rod 2 is aligned with the through hole 16, seeds or seedlings cannot enter the seeding channel 12 through the guide pipe 17;
when the lifting seeding taper rod 2 reaches the top and is ready to descend, the movable stop 21 is overturned due to the extrusion of the inserting plate 20, so that the movable stop 21 cannot stop the inserting plate 20, the inserting plate 20 descends in advance, and the plug of the seeding inlet 13 is opened;
when the lifting seeding taper rod 2 moves downwards, the seeding inlet 13 on the lifting seeding taper rod 2 is aligned with the through hole 16, and seeds or seedlings enter the seeding channel 12;
the lifting seeding taper rod 2 continues to move downwards, the taper head 15 of the lifting seeding taper rod 2 is inserted into soil, and meanwhile, the rotating baffle plate 24 seals the seeding outlet 14 under the extrusion of the soil;
then the lifting seeding taper rod 2 is lifted upwards, at the moment, the movable stop block 21 is reset under the drive of the coil spring to open the plug of the seeding outlet 14, and the seeds or the seedlings fall into the soil.
The utility model provides a seeding robot, includes frame 1, lift seeding taper rod 2, stop collar 3, bent axle 4, motor 5 and battery 6, and 3 fixed settings in frame 1 of stop collar, lift seeding taper rod 2 inserts and establishes in stop collar 3, 2 upper ends of lift seeding taper rod are connected on bent neck 8 of connecting rod of bent axle 4 through connecting rod 7, be equipped with running gear 9 on the bent axle 4, be equipped with motor gear 11 on the pivot 10 of motor 5, motor gear 11 is connected with the transmission of running gear 9 meshing, motor 5 is connected with battery 6.
A seeding channel 12 is arranged in the lower part of the lifting seeding taper rod 2, a seeding inlet 13 at the upper end of the seeding channel 12 is arranged on the middle rod wall of the lifting seeding taper rod 2, a seeding outlet 14 at the lower end of the seeding channel 12 is arranged on a taper head 15 of the lifting seeding taper rod 2, a through hole 16 corresponding to the seeding inlet 13 is arranged on the limiting sleeve 3, and the outer side of the through hole 16 is connected with a hopper 18 through a conduit 17; the bottom of the hopper 18 is provided with an inclination for facilitating the automatic and orderly flow of seeds or seedlings into the guide pipe 17.
A slot 19 is formed in the sleeve wall of the limiting sleeve 3 from the lower end to correspond to the through hole 16, the slot 19 is arc-shaped, an inserting plate 20 capable of moving up and down is inserted into the slot 19, the inserting plate 20 is also arc-shaped, the inserting plate 20 can fall on the rack 1 when not pushed by a movable stop 21, and the movable stop 21 is arranged at the position, corresponding to the inserting plate 20, of the lower end of the lifting seeding conical rod 2; when the lifting seeding taper rod 2 is lifted, the movable stop block 21 on the lifting seeding taper rod 2 pushes the inserting plate 20 to plug the seeding inlet 13 upwards, so that seeds or seedlings cannot enter the seeding channel 12 through the guide pipe 17; at the top is reachd in lift seeding awl pole 2, when preparing to descend, movable stop 21 is because picture peg 20's extrusion upset to movable stop 21 can't block picture peg 20, and picture peg 20 will descend, thereby opens the shutoff to seeding entry 13, when lift seeding awl pole 2 moves down, when seeding entry 13 on the lift seeding awl pole 2 aligns with through-hole 16, seed or seedling will get into seeding passageway 12. The amount of seeds or seedlings flowing into the sowing channel 12 is related to the running speed of the lifting sowing conical rod 2 and the size of the through holes 16, and if the amount of seeds in each vegetable needs to be adjusted, the seeds or seedlings can be obtained by adjusting the running speed of the lifting sowing conical rod 2 or adjusting the size of the through holes 16.
When in use, as shown in fig. 7, firstly, the running speed of the electric hub and the rotating speed of the motor are controlled through the setting of the controller, the electric hub is controlled to move forward in a pulse mode, and the sowing distance of two pits of seeds or seedlings is determined when the electric hub moves forward for a certain distance; the motor rotates to drive the crankshaft to reciprocate for a circle to perform seeding once.
Then, seeds or seedlings are placed into the hopper 18, the sowing robot is placed on a soil ridge, the electric hub 22 of the sowing robot is placed in a furrow, the controller switch is started, the electric hub drives the sowing robot to move forward, the motor gear 11 is arranged on the rotating shaft 10 of the motor, the motor gear 11 drives the rotating gear 9 to rotate, the rotating gear 9 drives the crankshaft 4 to rotate, so that the crankshaft 4 drives the lifting sowing tapered rod 2 to do up-and-down reciprocating motion through the connecting rod bent neck 8 and the connecting rod 7, as shown in fig. 1, in the lifting process of the lifting sowing tapered rod 2, the inserting plate 20 is pushed upwards by the movable stop block 21 on the lifting sowing tapered rod 2 to block the sowing inlet 13, and when the sowing inlet 13 on the lifting sowing tapered rod 2 is aligned with the through hole 16, seeds or seedlings cannot enter the sowing channel 12 through the guide pipe 17; as shown in fig. 2, when the ascending and descending seeding taper rod 2 reaches the top, as shown in fig. 3, and ready to descend, the movable stopper 21 is turned over by the extrusion of the inserting plate 20, so that the movable stopper 21 cannot block the inserting plate 20, the inserting plate 20 descends in advance, and the blocking of the seeding inlet 13 is opened, as shown in fig. 4, when the ascending and descending seeding taper rod 2 moves downwards, the seeding inlet 13 on the ascending and descending seeding taper rod 2 is aligned with the through hole 16, and seeds or seedlings enter the seeding channel 12. As shown in fig. 6, the ascending and descending seeding taper rod 2 continues to move downwards, and the taper head 15 of the ascending and descending seeding taper rod 2 is inserted into the soil.
When the in-process of soil is inserted to the seeding awl pole that goes up and down, under the extrusion of soil, rotating baffle rotates around the hinge and exports the shutoff with lower extreme seeding to prevent that soil from getting into the lower extreme and sowing the export, after the recess of seed or seedling is by extrusion, after the seeding awl pole that goes up and down promoted, rotating baffle opened under the effect of coil spring, opened the shutoff to lower extreme seeding export, seed or seedling in the seeding passageway get into in the soil recess.
As shown in fig. 6, the lifting seeding taper rod 2 is lifted upwards, at this time, the movable stopper 21 is reset under the driving of the coil spring to open the plug of the seeding outlet 14, the seeds or seedlings fall into the soil, and the one-pot planting is completed.
Four sets of electric hubs 22 are arranged at the bottom of the frame 1, and the electric hubs 22 are also connected with the storage battery 6. The electric hub 22 and the motor 5 are both connected with the controller 23, and the controller 23 is used for setting and controlling the electric hub 22 and the motor 5 to work.
Be equipped with the rotating baffle 24 that prevents soil entering seeding export 14 on the conical head 15 of lift seeding conical rod 2 bottom, rotating baffle 24 installs on conical head 15 through the hinge 25, still is equipped with the coil spring (not shown in the attached drawing) on the hinge 25, and under the condition that does not extrude rotating baffle 24, rotating baffle 24 is in opening in real time, and seeding export 14 is open state this moment.
As shown in fig. 8, the movable stopper 21 is mounted on a mounting block 27 through a pin 26, the mounting block 27 is mounted on the lifting seeding taper rod 2, a coil spring (not shown in the figure) is further arranged on the pin 26, and when the movable stopper 21 is not pressed by an external force, the movable stopper 21 is in a stretching state in real time to push the inserting plate 20 to move upwards.
The hopper 18 is fixed to the frame 1. The seeding channel 12 is arranged at the rear side of the axle center of the lifting seeding taper rod 2.
The support column 28 of the frame 1 is a lifting structure. One embodiment is that four support columns 28 and the chassis 29 are suspended, an L-shaped adjusting frame 30 is arranged at the corresponding position of the chassis 29 and the support columns 28, the height of the rack 1 is adjusted by adjusting the distance between the support columns 28 and the chassis 29 through the L-shaped adjusting frame 30, and then the depth of the lifting seeding taper rod in and out of the soil can be adjusted according to the planting depth of different types of vegetables.
According to the robot sowing method, the lifting sowing conical rod which moves up and down is arranged, the running speed of the electric hub and the rotating speed of the motor are controlled through the setting of the controller, so that the sowing distance of two pits of seeds or seedlings is determined, the seeds or the seedlings are accurately fed into soil, and the support columns of the rack are of a lifting structure, so that the depth of the lifting sowing conical rod in and out of the soil can be adjusted according to the planting depth of different types of vegetables.
In addition, the invention solves the problem that seeds or seedlings can not enter the sowing channel through the guide pipe when the lifting sowing tapered rod is lifted.
Still through be equipped with the rotating baffle that prevents that soil from getting into lower extreme seeding export on the conical head at lift seeding awl pole bottom, rotating baffle installs on the conical head through the hinge, still is equipped with the wind spring on the hinge, under the circumstances that does not pressurize rotating baffle, and rotating baffle is in the open mode in real time. When the in-process of soil is inserted to the seeding awl pole that goes up and down, under the extrusion of soil, rotating baffle rotates around the hinge and exports the shutoff with lower extreme seeding to prevent that soil from getting into the lower extreme and sowing the export, after the recess of seed or seedling is by extrusion, after the seeding awl pole that goes up and down promoted, rotating baffle opened under the effect of coil spring, opened the shutoff to lower extreme seeding export, seed or seedling in the seeding passageway get into in the soil recess.
By adopting the invention, automatic vegetable or crop planting can be realized in a planting space with a narrow space, such as a greenhouse, and the equipment is particularly suitable for planting vegetables or crops which need to be planted at intervals on ridge fields.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A robot sowing method is characterized by comprising the following steps:
firstly, setting a controller (23), controlling the running speed of an electric hub (22) and the rotating speed of a motor (5), and determining the sowing distance between two pits of seeds or seedlings by controlling the electric hub (22) to advance in a pulse mode; seeding operation is carried out by controlling the rotation of the motor (5);
then, seeds or seedlings are placed into a hopper (18), a rack (1) is placed on a soil ridge, an electric hub (22) is correspondingly placed in a furrow, a controller (23) is started to be switched on and off, the electric hub (22) is driven to move forward, a motor gear (11) is arranged on a rotating shaft (10) of a motor (5), the motor gear (11) drives a rotating gear (9) to rotate, the rotating gear (9) drives a crankshaft (4) to rotate, and the crankshaft (4) drives a lifting seeding taper rod (2) to do up-and-down reciprocating motion through a connecting rod crank neck (8) and a connecting rod (7);
when the lifting seeding taper rod (2) is lifted, the movable stop block (21) on the lifting seeding taper rod (2) pushes the inserting plate (20) to plug the seeding inlet (13) upwards, and when the seeding inlet (13) on the lifting seeding taper rod (2) is aligned with the through hole (16), seeds or seedlings cannot enter the seeding channel (12) through the guide pipe (17);
when the lifting seeding taper rod (2) reaches the top and is ready to descend, the movable stop block (21) is overturned due to the extrusion of the inserting plate (20), so that the movable stop block (21) cannot stop the inserting plate (20), the inserting plate (20) descends in advance, and the plugging of the seeding inlet (13) is opened;
when the lifting seeding taper rod (2) moves downwards, the seeding inlet (13) on the lifting seeding taper rod (2) is aligned with the through hole (16), and seeds or seedlings enter the seeding channel (12);
the lifting seeding taper rod (2) continues to move downwards, a taper head (15) of the lifting seeding taper rod (2) is inserted into soil, and meanwhile, a rotating baffle (24) plugs a seeding outlet (14) under the extrusion of the soil;
then the lifting seeding taper rod (2) is lifted upwards, at the moment, the movable stop block (21) is reset under the drive of the coil spring to open the plug of the seeding outlet (14), and seeds or seedlings fall into the soil.
2. A robotic seeding method according to claim 1, characterised in that: four sets of electric hubs (22) are arranged at the bottom of the rack (1), and the electric hubs (22) are also connected with the storage battery (6).
3. A robotic seeding method according to claim 2, characterised in that: the electric hub (22) and the motor (5) are connected with the controller (23), and the controller (23) is used for setting and controlling the electric hub (22) and the motor (5) to work.
4. A robotic seeding method according to claim 1, characterised in that: be equipped with rotation baffle (24) that prevents soil entering seeding export (14) on conical head (15) of lift seeding awl pole (2) bottom, rotation baffle (24) are installed on conical head (15) through hinge (25), still are equipped with the coil spring on hinge (25), do not carry out under the extruded condition to rotation baffle (24), and rotation baffle (24) are in real time and open, and seeding export (14) are uncovered state this moment.
5. A robotic seeding method according to claim 1, characterised in that: the movable stopper (21) is installed on an installation block (27) through a pin shaft (26), the installation block (27) is installed on the lifting seeding taper rod (2), a coil spring is further arranged on the pin shaft (26), and when the movable stopper (21) is not extruded by external force, the movable stopper (21) is in a stretching state in real time to push the inserting plate (20) to move upwards.
6. A robotic seeding method according to claim 1, characterised in that: the hopper (18) is fixed on the frame (1).
7. A robotic seeding method according to claim 1, characterised in that: the seeding channel (12) is arranged at the rear side of the axis of the lifting seeding taper rod (2).
8. A robotic seeding method according to claim 1, characterised in that: the support column (28) of the frame (1) is of a lifting structure.
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| CN201711252847.9A CN107710986B (en) | 2017-12-01 | 2017-12-01 | Robot sowing method |
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| CN201711252847.9A CN107710986B (en) | 2017-12-01 | 2017-12-01 | Robot sowing method |
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| CN109220020A (en) * | 2018-08-21 | 2019-01-18 | 安徽有余跨越瓜蒌食品开发有限公司 | A kind of small-sized seeding apparatus for Snakegourd Fruit plantation |
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| CN109220088A (en) * | 2018-08-17 | 2019-01-18 | 安徽有余跨越瓜蒌食品开发有限公司 | A kind of efficient seeding apparatus for Snakegourd Fruit plantation |
| CN109348788B (en) * | 2018-11-23 | 2020-11-13 | 北京博创联动科技有限公司 | Automatic seeding device and seeding method based on big data |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5457223B2 (en) * | 2010-02-19 | 2014-04-02 | 株式会社樋原製作所 | Drilling and sowing device |
| CN101971730B (en) * | 2010-10-15 | 2011-12-14 | 叶华 | Hole sowing machine |
| CN206302726U (en) * | 2016-11-03 | 2017-07-07 | 盱眙正泰永生物环境科技有限公司 | It is a kind of to automate the uniform agriculture running gear sowed seeds |
| CN107018726B (en) * | 2017-06-06 | 2019-07-05 | 广东省中药研究所 | A kind of agricultural automatic sowing device |
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2017
- 2017-12-01 CN CN201711252847.9A patent/CN107710986B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109220020A (en) * | 2018-08-21 | 2019-01-18 | 安徽有余跨越瓜蒌食品开发有限公司 | A kind of small-sized seeding apparatus for Snakegourd Fruit plantation |
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