CN112868318A - Agricultural robot seeder technology - Google Patents
Agricultural robot seeder technology Download PDFInfo
- Publication number
- CN112868318A CN112868318A CN202110028060.4A CN202110028060A CN112868318A CN 112868318 A CN112868318 A CN 112868318A CN 202110028060 A CN202110028060 A CN 202110028060A CN 112868318 A CN112868318 A CN 112868318A
- Authority
- CN
- China
- Prior art keywords
- sucker
- suction cup
- seeding
- suction
- port
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005516 engineering process Methods 0.000 title claims abstract description 12
- 238000010899 nucleation Methods 0.000 claims abstract description 48
- 239000000523 sample Substances 0.000 claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 241001170716 Garra gotyla Species 0.000 claims abstract description 17
- 230000000007 visual effect Effects 0.000 claims abstract description 16
- 238000007789 sealing Methods 0.000 claims description 20
- 239000000463 material Substances 0.000 claims description 16
- 238000009331 sowing Methods 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 11
- 238000013473 artificial intelligence Methods 0.000 abstract description 4
- 241000252254 Catostomidae Species 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000013013 elastic material Substances 0.000 abstract description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 13
- 235000017491 Bambusa tulda Nutrition 0.000 description 13
- 241001330002 Bambuseae Species 0.000 description 13
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 13
- 239000011425 bamboo Substances 0.000 description 13
- 230000008901 benefit Effects 0.000 description 3
- 238000009826 distribution Methods 0.000 description 3
- 241001465754 Metazoa Species 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008092 positive effect Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 210000003437 trachea Anatomy 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 229920000742 Cotton Polymers 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 240000008042 Zea mays Species 0.000 description 1
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 1
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 238000009360 aquaculture Methods 0.000 description 1
- 244000144974 aquaculture Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 235000013339 cereals Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 235000005822 corn Nutrition 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 244000144972 livestock Species 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/04—Single-grain seeders with or without suction devices
- A01C7/042—Single-grain seeders with or without suction devices using pneumatic means
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Sowing (AREA)
Abstract
The invention relates to the technical field of artificial intelligence of agricultural mechanical equipment, in particular to an agricultural robot seeder technology which comprises a working rack, a mechanical arm, a conveyor belt and a vision system, wherein the conveyor belt is fixedly arranged on the inner side of the working rack, and a seedling tray is placed on the upper surface of the conveyor belt. According to the seeding machine, the seeding mechanism and the visual system are arranged, after the position of the seedling tray is captured through the visual system, the two mechanical arms are matched with the sucker heads and are respectively responsible for seeding operation on half of the seeding quantity of the seedling tray, and meanwhile, the visual probe is used for detecting and feeding back the seed content before and after the seeding of the seedling tray, so that the seeding accuracy is ensured, the phenomenon of seed omission in the seeding operation is reduced, the seeding speed and the seeding accuracy of the seeding machine are further improved, meanwhile, the sucker heads are vacuum suckers and are made of elastic materials, the problem of blockage of the sucker heads can be effectively avoided, and the seeding machine is beneficial to practical use.
Description
Technical Field
The invention relates to the technical field of artificial intelligence of agricultural mechanical equipment, in particular to an agricultural robot seeder technology.
Background
Agriculture is an important industrial department in national economy, is a department taking land resources as production objects, is an industry for producing food and industrial raw materials by cultivating animal and plant products, belongs to the first industry, is planting industry which is a department for planting and producing by using land resources, is aquaculture industry which is called fishery and is a department for cultivating and cutting forest trees by using land resources, is forestry, is animal husbandry which is used for cultivating or directly using grasslands to develop livestock, is subsidiary industry which is used for processing or manufacturing products on a small scale, is an organic component of agriculture, is sightseeing agriculture or is also called leisure agriculture, is a novel agricultural form generated along with surplus time of people in a new period, and particularly needs to use a seeder when people cultivate in the planting industry, the seeding machine uses crop seeds as the planting machine of the seeding object, the seeding machine used for certain kind or certain crop, usually look up and name the crop kind, such as the drill seeder of the cereal, corn hill planter, cotton sower, pasture grass broadcaster, etc., with artificial intelligence and fast development of the computer technology, the intellectual agriculture concept is proposed step by step, the seeding has already been realized modernization at present, the agricultural machine layer is endless, the agriculture has already entered a new environment, new order, new world; people can continue to adopt the traditional method to engage in agricultural production, but the future agricultural direction is towards more intelligent direction, such as using big data, artificial intelligence, robots and the like;
present modernization seeder is at the in-process that uses, especially utilizes the robot to replace the seeder that the workman carried out the operation, at long-term operation's in-process, the assurance seeding accuracy that can not be fine causes the seeding rate error to appear, and then influences the seeding speed of seeder, and the seeder is when inhaling kind simultaneously, can cause the condition of inhaling kind of jam to appear, is unfavorable for in-service use.
Disclosure of Invention
The invention aims to provide an agricultural robot seeder technology, which is provided with a seeding mechanism and a visual system, wherein after the position of a seedling tray is captured by the visual system, two mechanical arms are matched with sucker heads and are respectively responsible for seeding half of the seeding amount of the seedling tray, and meanwhile, a visual probe is used for detecting and feeding back the seed content before and after seeding of the seedling tray, so that the seeding accuracy is ensured, the phenomenon of missing seeds in the seeding operation is reduced, the seeding speed and the seeding accuracy of the seeder are further improved, and meanwhile, as the sucker heads adopt vacuum suckers and are made of elastic materials, the problem of blockage of the sucker heads can be effectively avoided, so that the problems in the background technology are solved.
In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides an agricultural robot seeder technique, includes work frame, robotic arm, conveyer belt and visual system, conveyer belt fixed mounting is in the inboard of work frame, and the upper surface of conveyer belt has placed the seedling dish, the mount has been installed at the top of work frame, visual system sets up the top lower surface at the mount, robotic arm's quantity is two, and two robotic arm difference fixed mounting are in the both sides of work frame, robotic arm's execution end just in time is located visual system's oblique below, and robotic arm's execution end is provided with sowing mechanism.
Preferably, the vision system comprises vision probe, probe base and light, the quantity of vision probe and probe base all sets up to two, and the vertical central axis that is located the top internal surface of mount of vision probe, the top and the probe base fixed connection of vision probe, the top fixed connection of probe base and mount, the quantity of light sets up to a plurality ofly, and a plurality of lights are two bisymmetry distributions setting about the level of vision probe to the central axis.
Preferably, sowing mechanism is including the sucking disc platform, the square structure of cavity is seted up for inside to the sucking disc platform, and one side central point that the sucking disc platform is close to robotic arm puts department threaded connection and has a sucking disc base, the sucking disc base is kept away from the one end of sucking disc platform and robotic arm's execution end fixed connection, robotic arm's inside is equipped with the trachea and is gathered, the trachea is gathered and is communicated with each other through the inside through-hole of sucking disc base and the inner chamber of sucking disc platform, one side that robotic arm was kept away from to the sucking disc platform is provided with and inhales the material mechanism.
Preferably, inhale material mechanism and include a plurality of sucking disc internal diameter mouth, it is a plurality of sucking disc internal diameter mouth is rectangle array distribution setting in the side of sucking disc platform, and sucking disc internal diameter mouth communicates with each other with the inner chamber of sucking disc platform, sucking disc internal diameter mouth comprises first oral area portion, second oral area portion and third oral area portion, the internal diameter of first oral area portion is greater than the diameter of second oral area portion, the diameter of second oral area portion is greater than the diameter of third oral area portion, and the internal surface of first oral area portion, second oral area portion all is provided with screw thread one, one side that robotic arm was kept away from to the sucking disc platform, the position department that corresponds each sucking disc internal diameter mouth has all installed the sucking disc head, the sucking disc department of sucking disc head is made for rubber materials.
Preferably, the sucking disc head comprises a suction opening portion I, a straight cylinder portion I and a connecting cylinder portion I, the suction opening portion I is a round platform-shaped structure with a through hole formed inside, the suction opening portion I is communicated with the straight cylinder portion I, the connecting cylinder portion I is sleeved outside the straight cylinder portion I, a thread portion II is arranged outside the connecting cylinder portion I, a sealing ring portion I is installed at one end, far away from the suction opening portion I, of the straight cylinder portion I, the sealing ring portion I is of an O-shaped structure and made of rubber materials, the sucking disc head is inserted into an inner diameter opening of the sucking disc, and the sucking disc head is connected inside the first diameter portion through the connecting cylinder portion threads.
Preferably, the sucking disc head comprises suction port portion two, straight section of thick bamboo two and connecting cylinder two, suction port portion two is the round platform column structure of the through-hole seted up to inside, straight section of thick bamboo second communicates with each other with suction port portion two, connecting cylinder two comprises for two hollow cylinders of big or small bore difference, and the outside of connecting cylinder two is provided with screw thread three, the sucking disc head inserts sucking disc inner diameter mouth, and the sucking disc head passes through the inside of connecting cylinder two threaded connection at first bore portion and second bore portion, straight section of thick bamboo two one end of keeping away from suction port portion two has been installed sealing washer two, sealing washer two is O type structure.
Preferably, the sucking disc head comprises suction port portion three, straight section of thick bamboo three and connecting cylinder three, the external diameter of straight section of thick bamboo three equals the internal diameter of third mouth of thick bamboo portion, the surface of connecting cylinder three is provided with the screw thread three, sucking disc head inserts sucking disc internal diameter mouth, and sucking disc head passes through connecting cylinder three threaded connection in the inside of first mouth of thick bamboo portion and second mouth of thick bamboo portion, straight section of thick bamboo three extends to the inside of third mouth of thick bamboo portion, and the surface of straight section of thick bamboo three is laminated with the internal surface of third mouth of thick bamboo portion mutually.
Preferably, the seedling tray is of a square structure, a plurality of accommodating grooves are formed in the upper surface of the seedling tray, and the accommodating grooves are distributed on the upper surface of the seedling tray in a rectangular array mode.
The invention has at least the following beneficial effects:
1. through being provided with sowing mechanism and visual system, catch the position back of seedling tray through visual system, two robotic arm collocation sucking disc heads respectively are responsible for sowing the operation to half a seeding quantity of seedling tray, utilize visual probe to detect the feedback to the seed content around the seedling tray seeding simultaneously, thereby ensure the accuracy of seeding, reduce the phenomenon of omitting the seed in the seeding operation, and then the seeding speed and the rate of accuracy of seeder have been improved, simultaneously because sucking disc head adopts vacuum chuck, and its material possesses the elasticity speciality, can effectually avoid the problem that sucking disc head blockked up, do benefit to in-service use.
2. The suction mechanism is arranged, the sucker heads are inserted into the inner diameter openings of the suckers and connected in a threaded connection mode, the sucker heads of different specifications can be replaced and used conveniently, the application range of the equipment is widened, the replacement modes of the sucker heads of three different specifications are provided, the problem that corresponding sucker platforms need to be replaced when the sucker heads of different specifications are replaced is solved, the operation is simple and convenient, positive effects are achieved on the application range and the working efficiency of the equipment, and the practicability is high.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an enlarged view of portion A of FIG. 1 in accordance with the present invention;
FIG. 3 is an isometric schematic view of the present invention;
FIG. 4 is an enlarged view of portion B of FIG. 3 according to the present invention;
FIG. 5 is a schematic view of the inner diameter of the chuck of the present invention;
FIG. 6 is a schematic view of a chuck head according to the present invention;
FIG. 7 is a schematic view of a chuck head according to a second embodiment of the present invention;
fig. 8 is a schematic view of a chuck head structure according to a third embodiment of the present invention.
In the figure: 1 working rack, 2 mechanical arms, 3 conveyor belts, 4 vision systems, 5 seedling trays, 6 fixing frames, 7 sowing mechanisms, 41 vision probes, 42 probe bases, 43 illuminating lamps, 71 sucker platforms, 72 sucker bases, 73 air pipes for collection, 74 material suction mechanisms, 741 sucker inner diameter openings, 7411 first opening portions, 7412 second opening portions, 7413 third opening portions, sucker heads, 7421 suction opening portions I, 7422 straight cylinder portions I, 7423 connecting cylinders I, 7424 sealing rings I, 7425 suction opening portions II, 7426 straight cylinder portions II, 7427 connecting cylinders II, 7428 sealing rings II, 7429 suction opening portions III, 74210 straight cylinder portions III, 74211 connecting cylinders III and 51 accommodating grooves.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1-6, an agricultural robot seeding machine technology according to an embodiment of the present invention includes an agricultural robot seeding machine technology, including a working frame 1, two mechanical arms 2, a conveyor belt 3 and a vision system 4, the conveyor belt 3 is fixedly installed inside the working frame 1, a seedling tray 5 is placed on the upper surface of the conveyor belt 3, the conveyor belt 3 is installed to realize the transmission operation of the seedling tray 5, so as to facilitate feeding, a fixing frame 6 is installed on the top of the working frame 1, the vision system 4 is installed on the lower surface of the top of the fixing frame 6, the mechanical arms 2 are two, the two mechanical arms 2 are respectively and fixedly installed on two sides of the working frame 1, the two mechanical arms 2 are respectively responsible for seeding operation for half of the seeding amount of the seedling tray 5 with a suction cup head 742, the executing end of the mechanical arm 2 is just below the vision system 4, and the executing end of the mechanical arm 2 is provided with a seeding mechanism 7.
The vision system 4 is composed of a vision probe 41, a probe base 42 and a lighting lamp 43, the number of the vision probe 41 and the probe base 42 is two, the vision probe 41 is positioned on the vertical central axis of the inner surface of the top of the fixed frame 6, the top of the vision probe 41 is fixedly connected with the probe base 42, the top of the probe base 42 is fixedly connected with the top of the fixed frame 6, the number of the lighting lamps 43 is multiple, the lighting lamps 43 are symmetrically distributed in pairs about the horizontal central axis of the vision probe 41, the vision system 41 is divided into a positioning photographing system before sowing and a sowing rate detecting system, when the seedling tray 5 is driven by the conveyor belt 3 to move under the vision system 41, the conveyor belt 3 stops moving at this time, one of the vision probes 41 is responsible for photographing the seed state of the seedling tray 5 at this time, then the sowing operation is carried out by driving the sowing mechanism 7 through the mechanical arm 2, after the seeding is completed, another visual probe 41 takes a picture of the seeded seedling tray 5 again for feedback, and the picture is compared by the processor, so that the difference of the seed content of the seedling tray 5 before and after seeding is judged, the accuracy of seeding is ensured, the phenomenon of missing seeds in the seeding operation is reduced, and the seeding speed and accuracy of the seeding machine are improved.
The sowing mechanism 7 comprises a sucker platform 71, the sucker platform 71 is a square structure with a cavity formed inside, a sucker base 72 is in threaded connection with the central position of one side of the sucker platform 71 close to the mechanical arm 2, one end of the sucker base 72 far away from the sucker platform 71 is fixedly connected with an execution end of the mechanical arm 2, an air pipe collection 73 is arranged inside the mechanical arm 2, the air pipe collection 73 is communicated with the inner cavity of the sucker platform 71 through an inner through hole of the sucker base 72, a material sucking mechanism 74 is arranged on one side of the sucker platform 71 far away from the mechanical arm 2, the sucker platform 71 is driven by the mechanical arm 2 to move, so that the material sucking mechanism 74 is driven to suck seeds on the seedling tray 5, the mechanical arm 2 drives the seeds to sow after sucking, the air pipe collection 73 is arranged to give a suction force to the material sucking mechanism 74, namely give a suction force to the sucker head 742, thereby enabling the seeds to be smoothly sucked.
The material sucking mechanism 74 includes a plurality of suction cup inner diameter ports 741, the suction cup inner diameter ports 741 are distributed in a rectangular array on the side of the suction cup platform 71, the suction cup inner diameter ports 741 are communicated with the inner cavity of the suction cup platform 71, the suction cup inner diameter ports 741 are composed of a first caliber portion 7411, a second caliber portion 7412 and a third caliber portion 7413, the inner diameter of the first caliber portion 7411 is larger than the diameter of the second caliber portion 7412, the diameter of the second caliber portion 7412 is larger than the diameter of the third caliber portion 7413, the inner surfaces of the first caliber portion 7411 and the second caliber portion 7412 are respectively provided with a first thread, the suction cup head 742 is arranged on the side of the suction cup platform 71 far from the mechanical arm 2 and at the position corresponding to each suction cup inner diameter port 741, the suction cup head 742 is made of rubber material, the suction cup inner diameter ports 741 is divided into three parts with different inner diameters, so as to support the space for fixedly connecting three different suction cup heads 742, and then make under the different demands of seeding, when needs change sucking disc head 742, need not get off sucking disc platform 71 is whole dismantles, only need with the connection section of thick bamboo portion of corresponding sucking disc head 742 rotatory to suitable bore portion can, convenient and fast all plays positive effect to improving work efficiency and easy and simple to handle nature, the practicality is stronger.
The suction cup head 742 comprises a suction port portion I7421, a straight cylinder portion I7422 and a connecting cylinder I7423, the suction port portion I7421 is a round platform-shaped structure with a through hole formed therein, the suction port portion I7421 is communicated with the straight cylinder portion I7422, the connecting cylinder I7423 is sleeved outside the straight cylinder portion I7422, a thread II is arranged outside the connecting cylinder I7423, a sealing ring I7424 is arranged at one end of the straight cylinder portion I7422 far away from the suction port portion I7421, the sealing ring I7424 is of an O-type structure, the sealing ring I7424 is made of rubber materials, the suction cup head 742 is inserted into the suction cup inner diameter port 741, the suction cup head 742 is in threaded connection with the first port 7411 through the connecting cylinder portion I7423, when the suction cup head 742 is installed inside the suction cup inner diameter port 741, the straight cylinder portion I7422 of the suction cup head 742 is rotatably inserted into the suction cup inner diameter port 741, the suction cup head 742 continuously rotates, the suction cup head 7423 and simultaneously, so that the connection between the suction cup head 742 and the suction cup inner diameter port 741 has better sealing performance.
Seedling tray 5 is square structure, and a plurality of storage tanks 51 have been seted up to the upper surface of seedling tray 5, and a plurality of storage tanks 51 are rectangular array distribution at the upper surface of seedling tray 5, so set up in order to give the space that the seed was placed, also make the suction disc head 742 the absorption seed that can be smooth simultaneously and sow the operation.
Referring to fig. 1-5 and 7, a suction cup head 742 of the second embodiment of the present invention comprises a suction port portion two 7425, a straight cylinder portion two 7426 and a connecting cylinder portion two 7427, the suction port portion two 7425 is a circular truncated cone-shaped structure with a through hole formed therein, the straight cylinder portion two 7426 is communicated with the suction port portion two 7425, the connecting cylinder portion two 7427 is two hollow cylinders with different sizes and calibers, a thread three is disposed outside the connecting cylinder portion two 7427, the suction cup head 742 is inserted into the suction cup inner diameter port 741, the suction cup head 742 is screwed into the first caliber portion 7411 and the second caliber portion 7412 through the connecting cylinder portion two 7427, a sealing ring two 7428 is disposed at one end of the straight cylinder portion two 7426 far from the suction port portion two 7425, the sealing ring two 7428 is an O-shaped structure, when the suction cup head 742 is installed, the connecting cylinder portion two 7427 is screwed into the first caliber portion 7411 and the second caliber portion 7412, the sealing ring two 7428 is correspondingly pressed to enhance the sealing performance of the suction cup, and finishing the assembly operation.
Referring to fig. 1 to 5 and 8, the suction cup head 742 is composed of a suction port portion three 7429, a straight cylinder portion three 74210 and a connecting cylinder portion three 74211, the outer diameter of the straight cylinder portion three 74210 is equal to the inner diameter of the third caliber portion 7413, the outer surface of the connecting cylinder portion three 74211 is provided with a thread three, the suction cup head 742 is inserted into the suction cup inner diameter port 741, the suction cup head 742 is connected to the inside of the first caliber portion 7411 and the second caliber portion 7412 through the connecting cylinder portion three 74211 by threads, the straight cylinder portion three 74210 extends to the inside of the third caliber portion 7413, the outer surface of the straight cylinder portion three 74210 is attached to the inner surface of the third caliber portion 7413, the mounting procedure of the second embodiment is the same, meanwhile, the straight cylinder portion three 74210 extends to the inside of the third caliber portion 7413, and the sealing effect of the suction cup head 742 is enhanced by the rubber elasticity of.
The scheme has the following working processes: when sowing the operation, at first when conveyer belt 3 drives seedling tray 5 and moves under vision system 41, conveyer belt 3 stop operation this time, one of them vision probe 41 is responsible for shooing the seed state of seedling tray 5 this moment, then drive sowing mechanism 7 via robotic arm 2 and carry out the seeding operation, after the seeding is accomplished, another vision probe 41 shoots again and feeds back to seedling tray 5 after sowing, judge the seeding rate with this, during the seeding simultaneously, drive sucking disc platform 71 through robotic arm 2 and remove, thereby drive and inhale the seed that material mechanism 74 took place to seedling tray 5, robotic arm 2 drives the seed and sows after absorbing.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides an agricultural robot seeder technique, includes work frame (1), robotic arm (2), conveyer belt (3) and visual system (4), its characterized in that, conveyer belt (3) fixed mounting is in the inboard of work frame (1), and the upper surface of conveyer belt (3) has placed seedling tray (5), mount (6) have been installed at the top of work frame (1), visual system (4) set up the top lower surface at mount (6), the quantity of robotic arm (2) is two, and two robotic arm (2) respectively fixed mounting in the both sides of work frame (1), the execution end of robotic arm (2) just in time is located the oblique below of visual system (4), and the execution end of robotic arm (2) is provided with sowing mechanism (7).
2. The agricultural robot seeder technology as claimed in claim 1, wherein the vision system (4) is composed of two vision probes (41), probe bases (42) and illuminating lamps (43), the number of the vision probes (41) and the number of the probe bases (42) are both two, the vision probes (41) are positioned on a vertical central axis of the inner surface of the top of the fixed frame (6), the top of the vision probes (41) is fixedly connected with the probe bases (42), the top of the probe bases (42) is fixedly connected with the top of the fixed frame (6), the number of the illuminating lamps (43) is multiple, and the illuminating lamps (43) are symmetrically distributed in pairs with respect to the horizontal central axis of the vision probes (41).
3. The agricultural robot seeder technology as claimed in claim 1, wherein the seeding mechanism (7) comprises a sucker platform (71), the sucker platform (71) is a square structure with a cavity formed therein, a sucker base (72) is in threaded connection with the central position of one side of the sucker platform (71) close to the mechanical arm (2), one end of the sucker base (72) far away from the sucker platform (71) is fixedly connected with the execution end of the mechanical arm (2), an air pipe summary (73) is arranged inside the mechanical arm (2), the air pipe summary (73) is communicated with the cavity of the sucker platform (71) through an internal through hole of the sucker base (72), and a material sucking mechanism (74) is arranged on one side of the sucker platform (71) far away from the mechanical arm (2).
4. The agricultural robot seeder technique as claimed in claim 3, wherein the suction mechanism (74) comprises a plurality of suction cup inner diameter ports (741), the suction cup inner diameter ports (741) are arranged in a rectangular array on the side of the suction cup platform (71), the suction cup inner diameter ports (741) communicate with the inner cavity of the suction cup platform (71), the suction cup inner diameter ports (741) are composed of a first port portion (7411), a second port portion (7412) and a third port portion (7413), the inner diameter of the first port portion (7411) is larger than that of the second port portion (7412), the diameter of the second port portion (7412) is larger than that of the third port portion (7413), the inner surfaces of the first port portion (7411) and the second port portion (7412) are provided with a screw thread, and suction cup heads (742) are provided on the side of the suction cup platform (71) far away from the robot arm (2) at positions corresponding to the suction cup inner diameter ports (741), the suction port of the sucker head (742) is made of rubber materials.
5. An agricultural robot seeder technique according to claim 4, the sucker head (742) consists of a first suction port part (7421), a first straight cylinder part (7422) and a first connecting cylinder (7423), the first suction port part (7421) is a circular truncated cone-shaped structure with a through hole formed inside, the first suction port part (7421) is communicated with the first straight cylinder part (7422), the first connecting cylinder (7423) is sleeved outside the first straight cylinder part (7422), and the outside of the connecting cylinder I (7423) is provided with a thread II, one end of the straight cylinder part I (7422) far away from the suction port part I (7421) is provided with a sealing ring I (7424), the sealing ring I (7424) is of an O-shaped structure, and the first sealing ring (7424) is made of rubber material, the sucker head (742) is inserted into the sucker inner diameter opening (741), and the suction cup head (742) is screwed inside the first port portion (7411) through the first connecting cylinder (7423).
6. An agricultural robot seeder technique according to claim 4, the sucker head (742) consists of a second suction port part (7425), a second straight cylinder part (7426) and a second connecting cylinder (7427), the second suction port part (7425) is a circular truncated cone-shaped structure with a through hole formed inside, the second straight cylinder part (7426) is communicated with the second suction port part (7425), the second connecting cylinder (7427) is composed of two hollow cylinders with different calibers, a third thread is arranged outside the connecting cylinder II (7427), the sucker head (742) is inserted into the sucker inner diameter opening (741), and the suction cup head (742) is connected with the inner parts of the first port part (7411) and the second port part (7412) through the second connecting cylinder (7427) by screw thread, and a second sealing ring (7428) is arranged at one end of the second straight cylinder part (7426) far away from the second suction port part (7425), and the second sealing ring (7428) is of an O-shaped structure.
7. The agricultural robot seeder technique as claimed in claim 4, wherein the suction cup head (742) is composed of a suction port part three (7429), a straight cylinder part three (74210) and a connecting cylinder three (74211), the outer diameter of the straight cylinder part three (74210) is equal to the inner diameter of the third port part (7413), the outer surface of the connecting cylinder three (74211) is provided with a thread three, the suction cup head (742) is inserted into the suction cup inner diameter port (741), and the suction cup head (742) is screwed into the interiors of the first port part (7411) and the second port part (7412) through the connecting cylinder three (74211), the straight cylinder part three (74210) extends into the interior of the third port part (7413), and the outer surface of the straight cylinder part three (74210) is attached to the inner surface of the third port part (7413).
8. The agricultural robot seeder technology as claimed in claim 1, wherein the seedling tray (5) has a square structure, and the upper surface of the seedling tray (5) is provided with a plurality of accommodating grooves (51), and the accommodating grooves (51) are distributed on the upper surface of the seedling tray (5) in a rectangular array.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110028060.4A CN112868318A (en) | 2021-01-11 | 2021-01-11 | Agricultural robot seeder technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110028060.4A CN112868318A (en) | 2021-01-11 | 2021-01-11 | Agricultural robot seeder technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112868318A true CN112868318A (en) | 2021-06-01 |
Family
ID=76047585
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110028060.4A Pending CN112868318A (en) | 2021-01-11 | 2021-01-11 | Agricultural robot seeder technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112868318A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040144021A1 (en) * | 2000-08-25 | 2004-07-29 | Agrinomics Llc | Robotic seed-planting apparatus and methods |
| CN101358905A (en) * | 2008-09-08 | 2009-02-04 | 南京农业大学 | System for detecting sowing quality of rice seedling raising disk and application thereof for detecting |
| CN101392530A (en) * | 2007-09-04 | 2009-03-25 | 简恩马股份有限公司 | End coupling for a rock bolt |
| WO2012102903A2 (en) * | 2011-01-25 | 2012-08-02 | Pioneer Hi-Bred International, Inc. | Automated seed package identification apparatus, system, and method |
| CN102918959A (en) * | 2012-12-04 | 2013-02-13 | 西北农林科技大学 | Large-seed directional seeding device |
| CN204003899U (en) * | 2014-07-16 | 2014-12-10 | 长春富维—江森自控汽车饰件系统有限公司 | Changeable footpath coupling sleeve |
| CN209601336U (en) * | 2018-12-29 | 2019-11-08 | 天津凡柯尔科技有限公司 | Storage facilities is put in a kind of stacking |
| CN210664863U (en) * | 2019-10-14 | 2020-06-02 | 红旗仪表有限公司 | Pressure gauge convenient to install |
| CN212020816U (en) * | 2020-05-02 | 2020-11-27 | 苏州祥利威电子科技有限公司 | Vacuum chuck for picking and placing element by independent manipulator |
-
2021
- 2021-01-11 CN CN202110028060.4A patent/CN112868318A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040144021A1 (en) * | 2000-08-25 | 2004-07-29 | Agrinomics Llc | Robotic seed-planting apparatus and methods |
| CN101392530A (en) * | 2007-09-04 | 2009-03-25 | 简恩马股份有限公司 | End coupling for a rock bolt |
| CN101358905A (en) * | 2008-09-08 | 2009-02-04 | 南京农业大学 | System for detecting sowing quality of rice seedling raising disk and application thereof for detecting |
| WO2012102903A2 (en) * | 2011-01-25 | 2012-08-02 | Pioneer Hi-Bred International, Inc. | Automated seed package identification apparatus, system, and method |
| CN102918959A (en) * | 2012-12-04 | 2013-02-13 | 西北农林科技大学 | Large-seed directional seeding device |
| CN204003899U (en) * | 2014-07-16 | 2014-12-10 | 长春富维—江森自控汽车饰件系统有限公司 | Changeable footpath coupling sleeve |
| CN209601336U (en) * | 2018-12-29 | 2019-11-08 | 天津凡柯尔科技有限公司 | Storage facilities is put in a kind of stacking |
| CN210664863U (en) * | 2019-10-14 | 2020-06-02 | 红旗仪表有限公司 | Pressure gauge convenient to install |
| CN212020816U (en) * | 2020-05-02 | 2020-11-27 | 苏州祥利威电子科技有限公司 | Vacuum chuck for picking and placing element by independent manipulator |
Non-Patent Citations (1)
| Title |
|---|
| （日）近藤直，（日）门田充司，（日）野口伸共著，乔军，陈兵旗译: "《农业机器人 1 基础与理论》", 北京：中国农业大学出版社, pages: 103 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102668784B (en) | Roller type tray seedling planter capable of supplying seeds based on airflow suspension | |
| CN104756651B (en) | Precise seeder that a kind of small-sized seed is live and precise seeder group | |
| CN103503616B (en) | Be applicable to the pneumatic drum type precise seeder of Multiple Shape small-sized seed | |
| CN111886970B (en) | Pneumatic type small-particle-size seed intelligent plug seedling seeder | |
| CN109644593B (en) | Vegetable transplanting and ridging integrated machine | |
| CN104885659B (en) | A kind of novel precision seeder machine | |
| CN207612847U (en) | It is a kind of without native rice experimental cultivation device | |
| CN112868318A (en) | Agricultural robot seeder technology | |
| Li et al. | Design and experiment of intelligent sorting and transplanting system for healthy vegetable seedlings | |
| CN103416141B (en) | Seedling separation and seedling taking assembly of artemisia selengensis cutting machine | |
| CN201369918Y (en) | Centralized pneumatic precise seeding device applicable to test-tube potato seeds | |
| CN2717189Y (en) | Seedling flower nursery precision planter | |
| CN211702965U (en) | Corn planter with adjustable interval | |
| CN207626066U (en) | A kind of efficient Seeding box of seeder | |
| CN105230382A (en) | Nursery seedling plate | |
| CN104663400A (en) | Naked seed water sowing method for tobacco seedling culture | |
| CN213662442U (en) | Gold roxburgh rose nursing is with portable fertilizer injection unit | |
| CN212993489U (en) | Edible mushroom is planted and is put with culture liquid drip irrigation | |
| CN219981941U (en) | Forestry insect repellent ware | |
| CN216558698U (en) | Measuring tool for breeding lodging-resistant corn varieties | |
| CN109463073A (en) | Rice In Drought Rice Nursery ground bunch planting precision planter | |
| Maokai et al. | Design of Movable Plug Seedling Seeder for Greenhouse Vegetables | |
| CN219296198U (en) | Enclosed vertical multi-layer feed box | |
| CN215270120U (en) | Aquatic product breeding and transporting device | |
| CN210112578U (en) | Full-automatic corn threshing equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210601 |