CN113228862A - Ridged sowing robot - Google Patents
Ridged sowing robot Download PDFInfo
- Publication number
- CN113228862A CN113228862A CN202110581897.1A CN202110581897A CN113228862A CN 113228862 A CN113228862 A CN 113228862A CN 202110581897 A CN202110581897 A CN 202110581897A CN 113228862 A CN113228862 A CN 113228862A
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- motor
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- sowing
- walking
- linear guide
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- 238000009331 sowing Methods 0.000 title claims abstract description 54
- 238000010899 nucleation Methods 0.000 claims abstract description 43
- 239000002689 soil Substances 0.000 claims abstract description 33
- 238000003825 pressing Methods 0.000 claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims description 36
- 238000006073 displacement reaction Methods 0.000 claims description 31
- 238000005527 soil sampling Methods 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 8
- 239000003638 chemical reducing agent Substances 0.000 claims description 4
- 230000009467 reduction Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003153 chemical reaction reagent Substances 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B49/00—Combined machines
- A01B49/04—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
- A01B49/06—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising
- A01B49/065—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising the soil-working tools being actively driven
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Sowing (AREA)
Abstract
The invention relates to the field of seeding, in particular to a ridged seeding robot. The utility model provides a do rectangular pieces of land in a field and broadcast robot, includes the mounting bracket, locates the walking module on the mounting bracket, the front portion of mounting bracket is equipped with the module of fetching earth, and the rear of this module of fetching earth is equipped with and is fixed in the rectangular pieces of land in a field on the mounting bracket and broadcasts kind of module, the front portion of mounting bracket still is equipped with the controller, the controller links to each other with walking module, the module of fetching earth and is rectangular pieces of land in a field and broadcasts kind of module electrical property to control walking module, the module of fetching earth and be rectangular pieces of land in a field and broadcast kind of module mutual linkage work. The ridged sowing robot provided by the invention can realize operations of soil taking, ridged sowing, sowing and pressing at the same time, meets the integrated operation of sowing and improves the working efficiency of sowing and planting.
Description
Technical Field
The invention relates to the field of seeding, in particular to a ridged seeding robot.
Background
Sowing is one of crop cultivation measures. The seeding material is timely sowed into a soil layer with a certain depth according to a certain quantity and mode. Whether sowing is proper or not directly influences the growth and the yield of crops. In order to improve the seeding quality, seed treatment, preparation for labor, animal power, seeding machines and the like are required in addition to fine soil preparation before seeding.
The existing seeding robot cannot simultaneously realize the operations of soil taking, furrow making, seeding and pressing in the seeding process, so that the integrated operation of seeding cannot be met, the working efficiency of seeding and planting cannot be effectively improved, and therefore the furrow making seeding robot is provided.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the ridged sowing robot which can simultaneously realize the operations of soil taking, ridged sowing, sowing and pressing, meet the integrated operation of sowing and improve the working efficiency of sowing and planting.
In order to solve the technical problems, the invention provides the following technical scheme: a ridge-seeding robot comprises a mounting frame and a walking module arranged on the mounting frame, wherein a soil taking module is arranged at the front part of the mounting frame, a ridge-seeding module fixed on the mounting frame is arranged behind the soil taking module, a controller is also arranged at the front part of the mounting frame, and the controller is electrically connected with the walking module, the soil taking module and the ridge-seeding module so as to control the walking module, the soil taking module and the ridge-seeding module to work in a linkage manner;
the soil sampling module comprises a first lifting mechanism fixed with the mounting frame and a movable frame capable of moving up and down relative to the first lifting mechanism, a soil sampling disc is arranged below the front part of the movable frame, a guide plate is arranged below the rear part of the movable frame, and the front end of the guide plate is close to the outer side of the rear end of the soil sampling disc;
the furrow making and seeding module comprises a second lifting mechanism, a seeding box, a furrow making roller and a pressing wheel which are connected with the mounting frame, wherein the furrow making roller, the seeding box and the pressing wheel are sequentially arranged below the second lifting mechanism from front to back.
The walking module is equipped with four, the both sides of mounting bracket are equipped with two walking modules respectively, and two walking modules of homonymy locate the front and back both ends department of mounting bracket respectively.
The walking module includes the link fixed mutually with the mounting bracket, locate the walking wheel in the link lower part outside, locate the link on and with the motor that walking wheel electric property links to each other, the motor includes steering motor that the driving walking wheel turned to and the walking motor that the driving walking wheel rotated the walking, steering motor locates the upper portion of link, and this steering motor's lower extreme still is equipped with the steering motor reduction gear, the inboard of link is located to the walking motor, and this walking motor's lower extreme still is equipped with the walking motor reduction gear.
The first lifting mechanism comprises a first lifting motor and a first ball screw arranged at the lower part of the first lifting motor, the first ball screw is fixedly connected with the movable frame, a first displacement piece is arranged on the movable frame and is slidably connected with a linear guide rail, and when the first lifting motor drives the first ball screw to stretch, the first ball screw drives the movable frame and the first displacement piece on the movable frame to enable the first displacement piece to move up or down at the linear guide rail.
The first displacement pieces are two, the linear guide rails comprise a first linear guide rail and a second linear guide rail, and the first linear guide rail and the second linear guide rail are respectively arranged on two sides of the first ball screw.
And a second displacement sheet is arranged above the front part of the second lifting mechanism, the second displacement sheet is connected with a linear guide rail in a sliding manner, and the linear guide rail is fixedly connected with the mounting frame.
The number of the second displacement pieces is two, the linear guide rails comprise a third linear guide rail and a fourth linear guide rail, a second ball screw is further arranged between the third linear guide rail and the fourth linear guide rail, a second lifting motor is arranged at the top end of the second ball screw, and when the second lifting motor drives the second ball screw to stretch, the second ball screw drives a second lifting mechanism and the second displacement pieces to enable the second displacement pieces to move up or down at the linear guide rails.
The lateral part of the second lifting mechanism is also provided with a transmission mechanism and a furrow making motor, wherein the transmission mechanism is electrically connected with the furrow making roller, the seeding box and the pinch roller, and the transmission mechanism is electrically connected with the seeding motor.
And the mounting rack is also provided with an RTK antenna electrically connected with the controller.
The ridging motor is a direct current motor, and the seeding motor is a direct current motor.
Compared with the prior art, the invention can achieve the following beneficial effects:
the walking module is arranged through the mounting frame, the soil taking module and the furrow making and sowing module are arranged, when the furrow making and sowing robot is used, the soil taking module can be driven by the lifting mechanism arranged on the soil taking module to take soil and guide the taken soil, after the soil is taken, the furrow making roller is driven by the furrow making motor of the furrow making and sowing module to work to make furrows, the sowing box is driven to sow after the furrows are made, and the pressing wheels are used for pressing after the sowing, so that the soil taking, furrow making, sowing and pressing operations are realized simultaneously, the integrated operation of the sowing is met, and the working efficiency of the sowing and planting is improved;
the soil sampling amount of the seeding robot, the height of the bedding surface of the bedding and the flatness are controlled by arranging the height sensor. The real-time position of the sowing robot is acquired through the binocular camera and the RTK, and a pose basis is provided for automatic driving and automatic operation. Meanwhile, the controller intelligently controls the walking module, the soil sampling module and the furrow sowing module according to the information detected by the height sensor, so that the automatic sowing operation is realized.
Drawings
FIG. 1 is a schematic structural view of a bedding and seeding robot;
FIG. 2 is a schematic structural view of a furrow sowing module in the furrow sowing robot;
FIG. 3 is a schematic structural diagram of a soil sampling module in the furrow making sowing robot;
fig. 4 is a schematic structural diagram of a walking module in the furrow making robot.
Wherein: 1. an RTK antenna; 2. a walking module; 3. a soil taking module; 4. a binocular camera; 5. a controller; 6. sowing boxes; 7. a ridge making and seeding module; 8. a mounting frame; 9. a ball screw; 10. a first linear guide rail; 11. a lifting motor; 12. a lifting mechanism; 13. a second linear guide; 14. a bedding making motor; 15. a pinch roller; 16. a transmission mechanism; 17. a sowing motor; 18. making a bedding roller; 19. a soil taking disc; 20. a steering motor reducer; 21. a baffle; 22. a steering motor; 23. a traveling wheel; 24. a walking motor reducer; 25. a traveling motor; 26. a third linear guide rail; 27. a fourth linear guide; 28. a second lift motor; 29. a second lifting mechanism; 30. a second ball screw; 31. a connecting frame; 32. a movable frame; 33. a first displacement plate; 34. a second displacement tab.
Detailed Description
The present invention will be further described with reference to specific embodiments for the purpose of facilitating an understanding of technical means, characteristics of creation, objectives and functions realized by the present invention, but the following embodiments are only preferred embodiments of the present invention, and are not intended to be exhaustive. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative efforts belong to the protection scope of the present invention. The experimental methods in the following examples are conventional methods unless otherwise specified, and materials, reagents and the like used in the following examples are commercially available unless otherwise specified.
Example (b):
as shown in fig. 1-4, the furrow sowing robot provided by the invention comprises a mounting frame 8, wherein the mounting frame 8 is provided with a walking module 2, a soil sampling module 3 and a furrow sowing module 7. The ridging and seeding module 7 is positioned at the rear end of the soil taking module 3, and the four walking modules 2 are symmetrically arranged on the outer side of the mounting frame 8.
The soil sampling module 3 comprises a first lifting mechanism 12 fixed with the mounting frame 8 and a movable frame 32 capable of moving up and down relative to the first lifting mechanism 12, a soil sampling disc 19 is arranged below the front part of the movable frame 32, the first lifting mechanism 12 is used for driving the soil sampling disc 19 to do longitudinal linear motion, a guide plate 21 is arranged below the rear part of the movable frame 32, and the front end of the guide plate 21 is close to the outer side of the rear end of the soil sampling disc 19.
Further, the first lifting mechanism 12 includes a first lifting motor 11, and a first ball screw 9 disposed at a lower portion of the first lifting motor 11, the first ball screw 9 is connected and fixed with a movable frame 32, a first displacement plate 33 is disposed on the movable frame 32, the first displacement plate 33 is slidably connected to a linear guide, when the first lifting motor 11 drives the first ball screw 9 to extend and retract, the first ball screw 9 drives the movable frame 32 and the first displacement plate 33 on the movable frame 32, so that the first displacement plate 33 moves up or down at the linear guide.
Further, two first displacement pieces 33 are provided, the linear guide rails include a first linear guide rail 10 and a second linear guide rail 13, and the first linear guide rail 10 and the second linear guide rail 13 are respectively provided at two sides of the first ball screw 9.
The furrow making and seeding module 7 comprises a second lifting mechanism 29 connected with the mounting frame 8, a seeding box 6, a furrow making roller 18 and a pressing wheel 15, wherein the furrow making roller 18, the seeding box 6 and the pressing wheel 15 are sequentially arranged below the second lifting mechanism 29 from front to back.
Further, a second displacement piece 34 is arranged above the front part of the second lifting mechanism 29, and the second displacement piece 34 is connected with a linear guide rail in a sliding manner, and the linear guide rail is fixedly connected with the mounting frame 8.
Further, two second displacement pieces 34 are provided, the linear guide rails include a third linear guide rail 26 and a fourth linear guide rail 27, a second ball screw 30 is further provided between the third linear guide rail 26 and the fourth linear guide rail 27, a second lifting motor 28 is provided at the top end of the second ball screw 30, and when the second lifting motor 28 drives the second ball screw 30 to extend and retract, the second ball screw 30 drives the second lifting mechanism 29 and the second displacement pieces 34 to move the second displacement pieces 34 up or down at the linear guide rails.
Furthermore, the side part of the second lifting mechanism 29 is also provided with a transmission mechanism 16 and a bed making motor 14 which are electrically connected with the bed making roller 18, the seeding box 6 and the pressing wheel 15, and the transmission mechanism 16 is electrically connected with a seeding motor 17.
The walking modules 2 are four in number, two walking modules 2 are arranged on two sides of the mounting frame 8 respectively, and the two walking modules 2 on the same side are arranged at the front end and the rear end of the mounting frame 8 respectively.
Further, walking module 2 includes the link 31 of fixing mutually with mounting bracket 8, locate the walking wheel 23 in the link 31 lower part outside, locate on link 31 and with the motor that walking wheel 23 electric property links to each other, the motor includes steering motor 22 that driving walking wheel 23 turned to, and walking motor 25 that driving walking wheel 23 rotated the walking, steering motor 22 locates the upper portion of link 31, this steering motor 22's lower extreme still is equipped with steering motor reduction gear 20, walking motor 25 locates the inboard of link 31, this walking motor 25's lower extreme still is equipped with walking motor reduction gear 24.
The front end of mounting bracket 8 is provided with two mesh cameras 4, controller 5 and with controller 5 electric connection's height sensor.
The control input end of the controller 5 is electrically connected with the height sensor, and the control output end of the controller 5 is respectively electrically connected with the lifting motor 11, the bed making motor 14 and the sowing motor 17.
The mounting rack 8 is further provided with an RTK antenna 1 electrically connected with the controller 5.
The ridging motor 14 is a direct current motor, and the seeding motor 17 is a direct current motor.
The working principle of the invention is as follows:
when the working process is started, the ridging and seeding robot acquires position information according to the RTK antenna 1 and the binocular camera 4 to perform positioning, controls the walking module 2 to walk through the controller 5 to start automatic driving, acquires height information according to the height sensor when walking to a target position, and transmits the acquired information into the controller 5, the controller 5 drives the lifting motor 11 to work to drive the soil taking module 3 to descend, pushes the soil taking disc 19 to advance when the vehicle advances, and rotates forwards by receiving the friction force of soil, scrapes the soil towards the middle of the vehicle body, controls the soil taking disc 19 to take the soil and take the soil amount by utilizing preset data information in the controller 5, and simultaneously uniformly guides the soil taken by the soil taking disc 19 into the middle of two walking wheels through the guide plate 21;
then, the controller 5 drives the lifting motor 11 to work, drives the bed making and seeding module 7 to descend, simultaneously drives the bed making motor 14 to start, starts bed making, and controls the bed making height and the bed making flatness by utilizing preset data information in the controller 5 according to the height information obtained by the height sensor;
and finally, starting a sowing motor, starting sowing, enabling the sowing box to be highly fixed relative to the furrow surface, enabling the sowing motor to drive the sowing box to be taken out for sowing, enabling the sowing speed to be automatically adjusted in real time according to the required density and the advancing speed, enabling a pressing wheel to naturally fall and press the soil surface after sowing, and enabling the pressing wheel to rotate along with the movement of the vehicle body by means of friction force.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
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, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A ridge-seeding robot comprises a mounting frame and a walking module arranged on the mounting frame, and is characterized in that a soil taking module is arranged at the front part of the mounting frame, a ridge-seeding module fixed on the mounting frame is arranged behind the soil taking module, a controller is also arranged at the front part of the mounting frame, and the controller is electrically connected with the walking module, the soil taking module and the ridge-seeding module so as to control the walking module, the soil taking module and the ridge-seeding module to work in a linkage manner;
the soil sampling module comprises a first lifting mechanism fixed with the mounting frame and a movable frame capable of moving up and down relative to the first lifting mechanism, a soil sampling disc is arranged below the front part of the movable frame, a guide plate is arranged below the rear part of the movable frame, and the front end of the guide plate is close to the outer side of the rear end of the soil sampling disc;
the furrow making and seeding module comprises a second lifting mechanism, a seeding box, a furrow making roller and a pressing wheel which are connected with the mounting frame, wherein the furrow making roller, the seeding box and the pressing wheel are sequentially arranged below the second lifting mechanism from front to back.
2. A bedding sowing robot as claimed in claim 1, wherein there are four walking modules, two walking modules are respectively provided on both sides of the mounting frame, and two walking modules on the same side are respectively provided at the front and rear ends of the mounting frame.
3. The ridged sowing robot as claimed in claim 2, wherein the walking module comprises a connecting frame fixed to the mounting frame, a walking wheel arranged on the outer side of the lower portion of the connecting frame, and a motor arranged on the connecting frame and electrically connected with the walking wheel, the motor comprises a steering motor for driving the walking wheel to steer and a walking motor for driving the walking wheel to walk in a rotating manner, the steering motor is arranged on the upper portion of the connecting frame, a steering motor reducer is further arranged at the lower end of the steering motor, the walking motor is arranged on the inner side of the connecting frame, and a walking motor reducer is further arranged at the lower end of the walking motor.
4. The ridged sowing robot as claimed in claim 1, wherein the first lifting mechanism comprises a first lifting motor, a first ball screw disposed at a lower portion of the first lifting motor, the first ball screw is connected and fixed to the movable frame, the movable frame is provided with a first displacement plate, the first displacement plate is slidably connected to the linear guide, and when the first lifting motor drives the first ball screw to extend and retract, the first ball screw drives the movable frame and the first displacement plate on the movable frame to move the first displacement plate up or down at the linear guide.
5. A bedding sowing robot as claimed in claim 4, wherein the number of the first displacement pieces is two, the linear guide comprises a first linear guide and a second linear guide, and the first linear guide and the second linear guide are respectively arranged on two sides of the first ball screw.
6. A bedding sowing robot as claimed in claim 1, wherein a second displacement plate is provided above the front part of the second lifting mechanism, the second displacement plate is slidably connected with a linear guide rail, and the linear guide rail is fixedly connected with the mounting frame.
7. A bedding sowing robot as claimed in claim 6, wherein there are two second displacement pieces, the linear guide comprises a third linear guide and a fourth linear guide, a second ball screw is further provided between the third linear guide and the fourth linear guide, a second lifting motor is provided on the top of the second ball screw, and when the second lifting motor drives the second ball screw to extend and retract, the second ball screw drives the second lifting mechanism and the second displacement piece to move the second displacement piece up or down at the linear guide.
8. A bedding sowing robot as claimed in claim 6, wherein the side of the second lifting mechanism is further provided with a transmission mechanism and a bedding sowing motor which are electrically connected with the bedding making roller, the sowing box and the pinch roller, and the transmission mechanism is electrically connected with a sowing motor.
9. The ridged sowing robot of claim 1, wherein said mounting frame further comprises an RTK antenna electrically connected to said controller.
10. The bedding sowing robot of claim 8, wherein the bedding motor is a DC motor and the sowing motor is a DC motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110581897.1A CN113228862A (en) | 2021-05-27 | 2021-05-27 | Ridged sowing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110581897.1A CN113228862A (en) | 2021-05-27 | 2021-05-27 | Ridged sowing robot |
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| Publication Number | Publication Date |
|---|---|
| CN113228862A true CN113228862A (en) | 2021-08-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110581897.1A Pending CN113228862A (en) | 2021-05-27 | 2021-05-27 | Ridged sowing robot |
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| Country | Link |
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| CN (1) | CN113228862A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114223339A (en) * | 2021-12-14 | 2022-03-25 | 华南农业大学 | A robot chassis and agricultural robot for paddy field multifunctional operation |
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| CN209824388U (en) * | 2019-04-16 | 2019-12-24 | 上海市农业机械研究所 | Vegetable planter for bedding after soil leveling |
| CN112166713A (en) * | 2020-07-06 | 2021-01-05 | 宁夏农林科学院种质资源研究所（宁夏设施农业工程技术研究中心） | Rotary tillage bedding and paving drip irrigation film covering and hole planting integrated device |
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- 2021-05-27 CN CN202110581897.1A patent/CN113228862A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN207692354U (en) * | 2017-10-26 | 2018-08-07 | 云南省烟草公司楚雄州公司 | A kind of automatic rupture of membranes banking machine |
| CN108391490A (en) * | 2018-04-25 | 2018-08-14 | 江苏大学 | A kind of small-sized pot seedling automatic transplanting electric chassis |
| CN109367636A (en) * | 2018-11-21 | 2019-02-22 | 湖北工业大学 | A kind of paddy field sowing Agricultural Robot |
| CN209824388U (en) * | 2019-04-16 | 2019-12-24 | 上海市农业机械研究所 | Vegetable planter for bedding after soil leveling |
| CN112166713A (en) * | 2020-07-06 | 2021-01-05 | 宁夏农林科学院种质资源研究所（宁夏设施农业工程技术研究中心） | Rotary tillage bedding and paving drip irrigation film covering and hole planting integrated device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114223339A (en) * | 2021-12-14 | 2022-03-25 | 华南农业大学 | A robot chassis and agricultural robot for paddy field multifunctional operation |
| CN114223339B (en) * | 2021-12-14 | 2023-10-20 | 华南农业大学 | Robot chassis for multifunctional operation of paddy field and agricultural robot |
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Application publication date: 20210810 |