CN115843503B - Plant planting auxiliary mechanical arm and plant planter thereof - Google Patents
Plant planting auxiliary mechanical arm and plant planter thereof Download PDFInfo
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- CN115843503B CN115843503B CN202211616452.3A CN202211616452A CN115843503B CN 115843503 B CN115843503 B CN 115843503B CN 202211616452 A CN202211616452 A CN 202211616452A CN 115843503 B CN115843503 B CN 115843503B
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Abstract
The application discloses an auxiliary manipulator for planting plants and a plant planter thereof, which comprise a seed metering device, a seed sowing device and a mechanical arm, wherein a plurality of intermittent seed metering ports are arranged on the seed sowing device, a seed metering hose of the seed metering device is connected with the end of each intermittent seed metering port, and a driving end of the mechanical arm is connected with the seed sowing device so as to intermittently seed the seeds after the intermittent seed metering ports are inserted into soil. According to the application, the mechanical arm is used for controlling the seeding hose to be inserted into the soil for seeding, so that the seeds are quickly planted into the soil, and the traditional three-step operations of ditching, seeding, earthing and the like are combined into one step, thereby remarkably improving the operation efficiency and also ensuring the seeding quality; meanwhile, through flexible operation of the mechanical arm, seeds can be sowed into the soil even if the mechanical arm is far away from a planting field, so that flexible adaptability of the planter is remarkably improved.
Description
Technical Field
The application relates to the field of agricultural machinery, in particular to a plant planting auxiliary manipulator and a plant planter thereof.
Background
The sowing of underground tuber plants such as garlic and the like is mostly performed manually, the efficiency is low, and the sowing consistency is poor. Furthermore, the existing underground tuber planter is in a rear suspension type or front suspension type layout, the planter needs to enter a planting field, and the planter has a large compaction effect on soil due to large weight and is unfavorable for sowing or growth of subsequent seeds; the planter cannot sow outside the planting field, so that the seeding flexibility is limited; furthermore, the planter is usually provided with a bit of height, and the space utilization of the upper layer of the planting field is limited when the planter enters the planting field, so that the planter is not easy to be planted in a large scale like greenhouse planting, factory planting and the like.
Chinese patent CN111630988A discloses a garlic planter with adjustable planting depth, a garlic planter height adjusting mechanism is arranged between a frame and a garlic planter, the garlic planter height adjusting mechanism comprises a garlic planter height adjusting structure and a first-stage transmission chain tensioning structure of the garlic planter; the garlic seeding device height adjusting structure comprises a garlic seeding device fixing part which is fixed with the garlic seeding device, and a garlic seeding device vertical distance adjusting structure is arranged between the garlic seeding device fixing part and the rack so as to adjust the vertical relative position between the garlic seeding device fixing part and the rack; the first-stage transmission chain tensioning structure of the garlic seeding device comprises a tensioning wheel meshed with the first-stage transmission chain of the garlic seeding device. However, the garlic seeder still has the above problems.
Disclosure of Invention
The application aims to provide a plant planting auxiliary manipulator and a plant planter thereof, so as to solve the problems.
In order to achieve the above purpose, the application firstly discloses an auxiliary manipulator for planting plants, which comprises a seed sowing device, a seed sowing device and a mechanical arm, wherein an intermittent seed sowing port is arranged on the seed sowing device, a seed sowing hose of the seed sowing device is connected with the intermittent seed sowing port, and a driving end of the mechanical arm is connected with the seed sowing device so as to intermittently seed the seeds after the intermittent seed sowing port is inserted into soil.
Further, the seed metering device comprises a hopper and a climbing conveyor, the climbing conveyor comprises a climbing conveyor belt with an output end connected with an input end of the seed metering hose, an output end of the hopper is connected with an input end of the climbing conveyor belt, and a partition plate is arranged on the climbing conveyor belt.
Further, a grid is arranged above the outlet of the hopper, a carding roller is arranged between the outlet of the hopper and the grid, and carding toothed plates with opposite rotation directions are arranged on the carding roller.
Further, the mechanical arm comprises a mounting base, a first arm, a first telescopic member, a second arm, a second telescopic member, a third arm, a third telescopic member and a fourth telescopic member, one end of the first arm is hinged to the mounting base, the other end of the first arm is hinged to one end of the second arm, the other end of the second arm is hinged to one end of the third arm, the other end of the third arm is connected with the sowing device, the fixed end of the first telescopic member is hinged to the mounting base, the telescopic end of the first telescopic member is hinged to the other end of the first arm, the fixed end of the second telescopic member is hinged to one end of the first arm, the telescopic end of the second telescopic member is hinged to one end of the second arm, the fixed end of the third telescopic member is hinged to one end of the second arm, the telescopic end of the fourth telescopic member is hinged to one end of the third arm, and the telescopic end of the fourth telescopic member is hinged to one end of the third arm.
Further, the first arm, the second arm and the third arm comprise an articulated arm seat and a plurality of connecting rods, and the articulated arm seat is fixedly connected to two ends of the connecting rods.
Further, a seeding vibration reduction mechanism is further installed on the third arm, the seeding vibration reduction mechanism comprises a seeding vibration reduction cylinder and a vibration reduction rod, one end of the seeding vibration reduction cylinder is hinged to the seeding device, the other end of the seeding vibration reduction cylinder is hinged to one end of the vibration reduction rod, the other end of the vibration reduction rod is hinged to the other end of the third arm, and the telescopic end of the fourth telescopic piece is hinged to the two ends of the vibration reduction rod.
Further, the seeding device comprises a seeding base, an opening and closing finger assembly, a seeding rotating piece, an intermittent transmission wheel set and a pulling piece wheel, wherein the opening and closing finger assembly, the seeding rotating piece, the intermittent transmission wheel set and the pulling piece wheel are arranged on the seeding base, the output end of the seeding hose is connected with the input end of the opening and closing finger assembly, the input end of the seeding rotating piece is connected with the input shaft of the intermittent transmission wheel set, the output shaft of the intermittent transmission wheel set is connected with the pulling piece wheel, the pulling piece of the pulling piece wheel is intermittently inserted into the output end of the seeding hose to control intermittent seeding of the seeding hose, and a plurality of V-shaped fingers which form intermittent seeding openings through opening and closing are hinged to the output end of the opening and closing finger assembly.
Further, the finger opening and closing assembly further comprises a fixing sleeve, a worm gear shaft, a driving sleeve and an opening and closing driving piece, wherein the input end of the fixing sleeve is connected with the seed discharging hose, the V-shaped finger is hinged to the output end of the fixing sleeve, the worm gear shaft is pivoted with the outer wall of the fixing sleeve, a turbine at one end of the worm gear shaft is in transmission connection with an output shaft of the intermittent transmission wheel set, a gear at the other end of the worm gear shaft is meshed with a gear ring at the upper side of the driving sleeve, the lower side of the driving sleeve is pivoted outside the fixing sleeve, the opening and closing driving piece is fixedly connected to the driving sleeve, the opening and closing driving piece drives the V-shaped finger to fold through forward rotation of one side of the V-shaped finger, and the opening and closing driving piece drives the V-shaped finger to unfold through reverse rotation of the other side of the V-shaped finger.
Then, the application discloses a plant planter, which comprises the plant planting auxiliary manipulator and a crawler chassis, wherein the seed metering device and the mechanical arm are both arranged on the crawler chassis, a battery for driving the seed metering device, the seed metering device and the mechanical arm is arranged on the crawler chassis, and a remote controller and a camera which are connected with the battery are arranged on the crawler chassis.
Further, the crawler travel chassis comprises mounting frames, travel tracks, driving wheels, tensioning wheels, a swing arm and chassis damping cylinders, wherein the mounting frames are mounted on two sides of the crawler travel chassis, the driving wheels and the tensioning wheels are sleeved in the travel tracks, the upper ends of the chassis damping cylinders are hinged to the mounting frames, the lower ends of the chassis damping cylinders are hinged to the lower ends of the swing arms, the upper ends of the swing arms are hinged to the mounting frames, and the tensioning wheels are hinged to the lower ends of the swing arms.
Compared with the prior art, the application has the advantages that:
according to the application, the mechanical arm is used for controlling the seeding hose to be inserted into the soil for seeding, so that the seeds are quickly planted into the soil, and the traditional three-step operations of ditching, seeding, earthing and the like are combined into one step, thereby remarkably improving the operation efficiency and also ensuring the seeding quality; meanwhile, through flexible operation of the mechanical arm, even if the planting field is far away, the seeding equipment is prevented from influencing germination and growth of large particle seeds such as garlic and the like caused by compaction of the planting field during walking and seeding, the upper space of the planting field can be saved, the multilayer planting field is convenient to set in the vertical direction, the space utilization rate during planting is improved, and the flexible adaptability of the planter is remarkably improved.
The application will be described in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 is an isometric view of a plant growing assist robot disclosed in a preferred embodiment of the application;
FIG. 2 is an isometric schematic view of a seed planting device according to a preferred embodiment of the present application;
FIG. 3 is an isometric view of an openable finger assembly according to a preferred embodiment of the present application;
FIG. 4 is a schematic front view of a chime apparatus disclosed in a preferred embodiment of the present application;
FIG. 5 is an isometric view of a planting device according to the present disclosure;
FIG. 6 is an isometric view of a crawler chassis disclosed in a preferred embodiment of the present application;
fig. 7 is a schematic front view of a crawler chassis disclosed in a preferred embodiment of the present application.
Legend description:
1. a seed metering device; 101. a seeding hose; 102. a hopper; 103. climbing conveyor; 104. climbing a conveyer belt; 105. a partition plate; 106. a grille; 107. a carding roller; 108. carding toothed plates; 109. a carding roller motor;
2. a sowing device; 201. sowing a base; 203. an opening and closing finger assembly; 204. sowing the rotating member; 205. intermittent transmission wheel sets; 206. a bevel gear set; 207. a plectrum wheel; 208. v-shaped fingers; 209. a fixed sleeve; 210. a worm gear shaft; 211. a drive sleeve; 212. opening and closing the driving piece; 213. a gear ring; 214. a stop block; 215. a pulling piece;
3. a mechanical arm; 301. a mounting base; 302. a first arm; 303. a first telescopic member; 304. a second arm; 305. a second telescopic member; 306. a third arm; 307. a third telescopic member; 308. a fourth expansion piece; 309. an articulated arm seat; 310. a connecting rod; 311. seeding vibration reduction cylinder; 312. a vibration damping rod;
4. a crawler chassis; 401. a mounting frame; 402. a walking track; 403. a driving wheel; 404. a tensioning wheel; 405. a swing arm; 406. a chassis vibration reduction cylinder; 407. a walking driving motor;
5. a battery;
6. a remote controller;
7. a camera is provided.
Detailed Description
Embodiments of the application are described in detail below with reference to the attached drawings, but the application can be implemented in a number of different ways, which are defined and covered by the claims.
As shown in fig. 1-7, the embodiment of the application firstly discloses an auxiliary manipulator for planting plants, which comprises a seed sowing device 1, a seed sowing device 2 and a mechanical arm 3, wherein an intermittent seed sowing port is arranged on the seed sowing device 2, a seed sowing hose 101 of the seed sowing device 1 is connected with the intermittent seed sowing port, the seed sowing hose 101 has stronger flexibility, and a driving end of the mechanical arm 3 is connected with the seed sowing device 2 to enable the intermittent seed sowing port to be inserted into soil and then intermittently sowing, so that the mechanical arm 3 controls the intermittent seed sowing port to be inserted into soil and then sowing, thereby realizing rapid seed sowing into the soil, combining three step-by-step operations of traditional ditching, sowing, earthing and the like, further remarkably improving the operation efficiency and guaranteeing the sowing quality; meanwhile, through flexible operation of the mechanical arm 3, seeds can be sowed into the soil as well even if the mechanical arm is far away from a planting field, so that the situation that the seeding equipment can bring about germination and growth of large-particle seeds such as garlic to compaction of the planting field during walking seeding is avoided, the upper space of the planting field can be saved, the multilayer planting field is conveniently arranged in the vertical direction, the utilization rate of the planting space is improved, and the flexible adaptability of seeding is remarkably improved.
In this embodiment, the seed metering device 1 includes a hopper 102 and a climbing conveyor 103, the climbing conveyor 103 includes a climbing conveyor 104 (including a motor, a driving roller, a gear set, etc. for driving the climbing conveyor 104) with an output end connected to an input end of the seed metering hose 101, and the seeds are lifted to a certain height by the climbing conveyor 104, so that the seeds can fall along the seed metering hose 101 without jamming due to enough gravitational potential energy, an output end of the hopper 102 is connected to an input end of the climbing conveyor 104, and a partition 105 is disposed on the climbing conveyor 104, and the partition 105 can play a role in preventing the seeds from sliding down along the climbing conveyor 104.
In this embodiment, for better dispersing seeds, a grid 106 is disposed above the output port of the hopper 102, a plurality of grid holes are disposed on the grid 106, a carding roller 107 is disposed between the output port of the hopper 102 and the grid 106, gaps for passing seeds are disposed between the carding rollers 107, carding toothed plates 108 (similar to the relative motion of gears) with opposite rotation directions are disposed on the carding roller 107, the carding roller 107 is driven in a synchronous reverse direction through the carding roller motor 109, preliminary screening of seeds is realized through the grid 106, the carding roller 107 can orderly and uniformly discharge the seeds, the seeds are prevented from being accumulated on the climbing conveyor belt 104, and the subsequent blockage when entering the seed sowing hose 101 is avoided.
In this embodiment, the mechanical arm 3 includes a mounting base 301, a first arm 302, a first telescopic member 303, a second arm 304, a second telescopic member 305, a third arm 306, a third telescopic member 307, and a fourth telescopic member 308, where the mounting base 301 may be mounted on a slewing support base, so as to expand the working range of the mechanical arm 3, one end of the first arm 302 is hinged to the mounting base 301, the other end is hinged to one end of the second arm 304, the other end of the second arm 304 is hinged to one end of the third arm 306, the other end of the third arm 306 is connected to the sowing device 2, the fixed end of the first telescopic member 303 is hinged to the mounting base 301, the telescopic end is hinged to the other end of the first arm 302, the fixed end of the second telescopic member 305 is hinged to one end of the first arm 302, the telescopic end is hinged to one end of the second arm 304, the fixed end of the telescopic member 307 is hinged to one end of the third arm 306, the fixed end of the fourth telescopic member 308 is hinged to one end of the third arm 306, and the telescopic end is hinged to one end of the sowing device 2. Specifically, the first telescopic member 303, the second telescopic member 305, the third telescopic member 307 and the fourth telescopic member 308 are all electric push rods, and are driven to stretch and retract by electric power. In order to reduce the weight of the mechanical arm 3, the first arm 302, the second arm 304 and the third arm 306 each comprise an articulated arm seat 309 and a plurality of connecting rods 310, four articulated arm seats 309 are circumferentially arranged, and the articulated arm seats 309 are fixedly connected to two ends of the connecting rods 310, so that the sowing range of the intermittent seed sowing port is enlarged through the mechanical arm 3, long-distance sowing of garlic can be realized even if the garlic is not planted in a field, and interference to the planted field is avoided.
In this embodiment, in order to reduce the vibration of the seeding device 2 during downward plugging and seeding, the electric push rod and other parts on the energy absorption protection mechanical arm are buffered, and the third arm 306 is further provided with a seeding vibration damping mechanism, where the seeding vibration damping mechanism includes a seeding vibration damping cylinder 311 and a vibration damping rod 312, one end of the seeding vibration damping cylinder 311 is hinged to the seeding device 2, the other end is hinged to one end of the vibration damping rod 312, the other end of the vibration damping rod 312 is hinged to the other end of the third arm 306, and the telescopic end of the fourth telescopic member 308 is hinged to two ends of the vibration damping rod 312, where the seeding vibration damping cylinder 311 can realize vibration damping by adopting a gas spring or adopting a hinged spring.
In this embodiment, the seeding device 2 includes a seeding base 201, an opening and closing finger assembly 203 mounted on the seeding base 201, a seeding rotating member 204, an intermittent transmission wheel set 205, a bevel gear set 206 and a pulling piece wheel 207, wherein the output end of the seeding hose 101 is connected with the input end of the opening and closing finger assembly 203, the input end of the seeding rotating member 204 is connected with the input shaft of the intermittent transmission wheel set 205, the output shaft of the intermittent transmission wheel set 205 is connected with the input shaft of the bevel gear set 206, the output shaft of the bevel gear set 206 is connected with the pulling piece wheel 207, the pulling piece 215 of the pulling piece wheel 207 is intermittently inserted into the output end of the seeding hose 101, and the output end of the opening and closing finger assembly 203 is hinged with a plurality of V-shaped fingers 208 which can be opened and closed, and a plurality of V-shaped fingers 208 are formed into the intermittent seeding outlet. Thus, intermittent seeding of the seeding hose 101 is realized through the intermittent transmission wheel set 205, and the influence of seed accumulation on growth is avoided; spatially commutated output of power is achieved through bevel gear set 206. The opening and closing finger assembly 203 further comprises a fixing sleeve 209, a worm gear shaft 210, a driving sleeve 211 and an opening and closing driving piece 212, wherein the input end of the fixing sleeve 209 is connected with the output end of the seed sowing hose 101, the V-shaped finger 208 is hinged to the output end of the fixing sleeve 209, the middle part of the worm gear shaft 210 is pivoted with a hole on the outer wall of the fixing sleeve 209, a turbine at one end of the worm gear shaft 210 is in transmission connection with an output shaft of the intermittent transmission wheel set 205, a gear at the other end of the worm gear shaft is meshed with a gear ring 213 on the upper side of the driving sleeve 211, the lower side of the driving sleeve 211 is pivoted outside the fixing sleeve 209, the opening and closing driving piece 212 is fixedly connected to the driving sleeve 211, driving arc pieces at the bottom of the opening and closing driving piece 212 respectively drive two side surfaces of the V-shaped finger 208 when the opening and closing driving piece 212 positively rotates to drive one side of the V-shaped finger 208, the opening and closing driving piece 212 is folded to close the intermittent seed sowing port by reversely driving the other side of the V-shaped finger 208, when the V-shaped finger 208 is folded by controlling the mechanical arm 3, the opening and closing piece 203 is inserted into soil assembly 203, then the soil 203 is pulled into the soil, the soil sowing wheel is opened, and the sowing end is opened, and the seed sowing end is pulled by the sowing end 215 after the sowing wheel is opened, and the sowing end is opened. Alternatively, the opening and closing finger assembly 203 may be moved upward a distance to then drive the V-shaped fingers 208 together, thereby grasping the surrounding soil as a sowing location. In this embodiment, the seeding base 201 has a U-shaped structure, and the opening and closing finger assemblies 203 are arranged in two groups relative to the seeding rotating member 204, so that the seeding device 2 can seed two rows of garlic seeds at a time, and the seeding efficiency is doubled.
Then, the application discloses a plant planter, which comprises two plant planting auxiliary manipulators arranged left and right in the scheme, so that four rows of synchronous sowing can be realized, and further comprises a crawler travel chassis 4, wherein the seed metering device 1 and the manipulator 3 are both arranged on the crawler travel chassis 4, a rotary supporting structure is arranged on the crawler travel chassis 4, so that 360-degree sowing of the manipulator is realized, a battery 5 for driving the seed metering device 1, the sowing device 2 and the manipulator 3 is arranged on the crawler travel chassis 4, the battery 5 adopts a rechargeable battery, and a remote controller 6 and a camera 7 are arranged on the crawler travel chassis 4, so that remote control sowing can be realized, unmanned sowing can be realized, and a large amount of manpower is saved.
In this embodiment, in order to reduce the vibration of the crawler chassis 4 during walking, thereby adapting to uneven road conditions, further improve the passing performance, the crawler chassis 4 comprises a mounting frame 401 mounted on two sides, a walking crawler 402, a driving wheel 403, a tensioning wheel 404, a swinging arm 405 and a chassis damping cylinder 406, the driving wheel 403 is driven by a walking driving motor 407 on the mounting frame 401, the driving wheel 403 and the tensioning wheel 404 are sleeved in the walking crawler 402, the upper end of the chassis damping cylinder 406 is hinged with the mounting frame 401, the lower end is hinged with the lower end of the swinging arm 405, the upper end of the swinging arm 405 is hinged with the mounting frame 401, the tensioning wheel 404 is hinged with the lower end of the swinging arm 405, so that when the bottom of the walking crawler 402 is vibrated, the tensioning wheel 404 can be transmitted to the chassis damping cylinder 406, and then the vibration is reduced by a spring in the chassis damping cylinder 406.
The above is only a preferred embodiment of the present application, and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (8)
1. The auxiliary manipulator for planting the plants is characterized by comprising a seed metering device, a seed metering device and a mechanical arm, wherein an intermittent seed metering port is arranged on the seed metering device, a seed metering hose of the seed metering device is connected with the intermittent seed metering port, and a driving end of the mechanical arm is connected with the seed metering device so as to intermittently seed the seed metering device after the intermittent seed metering port is inserted into soil; the seeding device comprises a seeding base, an opening and closing finger assembly, a seeding rotating piece, an intermittent transmission wheel set and a pulling piece wheel, wherein the opening and closing finger assembly, the seeding rotating piece, the intermittent transmission wheel set and the pulling piece wheel are arranged on the seeding base, the output end of the seeding hose is connected with the input end of the opening and closing finger assembly, the input end of the seeding rotating piece is connected with the input shaft of the intermittent transmission wheel set, the output shaft of the intermittent transmission wheel set is connected with the pulling piece wheel, the pulling piece of the pulling piece wheel is intermittently inserted into the output end of the seeding hose to control the intermittent seeding of the seeding hose, and a plurality of V-shaped fingers which form an intermittent seeding opening through opening and closing are hinged to the output end of the opening and closing finger assembly; the finger opening and closing assembly further comprises a fixing sleeve, a worm gear shaft, a driving sleeve and an opening and closing driving piece, wherein the input end of the fixing sleeve is connected with the seed sowing hose, the V-shaped finger is hinged to the output end of the fixing sleeve, the worm gear shaft is pivoted with the outer wall of the fixing sleeve, a turbine at one end of the worm gear shaft is in transmission connection with an output shaft of the intermittent transmission wheel set, a gear at the other end of the worm gear shaft is meshed with a gear ring at the upper side of the driving sleeve, the lower side of the driving sleeve is pivoted outside the fixing sleeve, the opening and closing driving piece is fixedly connected to the driving sleeve, the opening and closing driving piece drives the V-shaped finger to fold through forward rotation of one side of the V-shaped finger, and the opening and closing driving piece drives the V-shaped finger to unfold through reverse rotation of the other side of the V-shaped finger.
2. The plant growing auxiliary manipulator according to claim 1, wherein the seed metering device comprises a hopper and a climbing conveyor, the climbing conveyor comprises a climbing conveyor belt with an output end connected with an input end of the seed metering hose, an output end of the hopper is connected with an input end of the climbing conveyor belt, and a partition plate is arranged on the climbing conveyor belt.
3. The plant growing auxiliary manipulator according to claim 2, wherein a grid is arranged above the outlet of the hopper, a carding roller is arranged between the outlet of the hopper and the grid, and carding toothed plates with opposite rotation directions are arranged on the carding roller.
4. The plant growing auxiliary manipulator according to claim 3, wherein the mechanical arm includes a mounting base, a first arm, a first telescopic member, a second arm, a second telescopic member, a third arm, a third telescopic member, and a fourth telescopic member, one end of the first arm is hinged to the mounting base, the other end is hinged to one end of the second arm, the other end of the second arm is hinged to one end of the third arm, the other end of the third arm is connected to the sowing device, the fixed end of the first telescopic member is hinged to the mounting base, the fixed end of the first telescopic member is hinged to the other end of the first arm, the fixed end of the second telescopic member is hinged to one end of the first arm, the telescopic end of the second telescopic member is hinged to one end of the second arm, the fixed end of the third telescopic member is hinged to one end of the second arm, the telescopic member is hinged to one end of the third arm, the fixed end of the fourth telescopic member is hinged to one end of the third arm, and the telescopic member is hinged to one end of the fourth telescopic member.
5. The plant growing auxiliary manipulator according to claim 4, wherein the first arm, the second arm and the third arm each comprise an articulated arm seat and a plurality of connecting rods, and the articulated arm seats are fixedly connected to two ends of the connecting rods.
6. The plant growing auxiliary manipulator according to claim 4, wherein the third arm is further provided with a sowing vibration damping mechanism, the sowing vibration damping mechanism comprises a sowing vibration damping cylinder and a vibration damping rod, one end of the sowing vibration damping cylinder is hinged to the sowing device, the other end of the sowing vibration damping cylinder is hinged to one end of the vibration damping rod, the other end of the vibration damping rod is hinged to the other end of the third arm, and a telescopic end of the fourth telescopic member is hinged to two ends of the vibration damping rod.
7. The plant planter is characterized by comprising at least one plant planting auxiliary manipulator according to any one of claims 1-6, and further comprising a crawler chassis, wherein the seed metering device and the mechanical arm are both arranged on the crawler chassis, a battery for driving the seed metering device, the seed sowing device and the mechanical arm is arranged on the crawler chassis, and a remote controller and a camera which are connected with the battery are arranged on the crawler chassis.
8. The plant growing machine of claim 7 wherein the crawler traveling chassis includes a mounting frame, a traveling crawler, a driving wheel, a tensioning wheel, a swing arm and a chassis damping cylinder mounted on both sides, the driving wheel and the tensioning wheel are sleeved in the traveling crawler, the upper end of the chassis damping cylinder is hinged with the mounting frame, the lower end is hinged with the lower end of the swing arm, the upper end of the swing arm is hinged with the mounting frame, and the tensioning wheel is hinged with the lower end of the swing arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211616452.3A CN115843503B (en) | 2022-12-15 | 2022-12-15 | Plant planting auxiliary mechanical arm and plant planter thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211616452.3A CN115843503B (en) | 2022-12-15 | 2022-12-15 | Plant planting auxiliary mechanical arm and plant planter thereof |
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| CN115843503A CN115843503A (en) | 2023-03-28 |
| CN115843503B true CN115843503B (en) | 2023-08-11 |
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