CN117178700B - Seeding cave fertilization robot - Google Patents
Seeding cave fertilization robot Download PDFInfo
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- CN117178700B CN117178700B CN202311364872.1A CN202311364872A CN117178700B CN 117178700 B CN117178700 B CN 117178700B CN 202311364872 A CN202311364872 A CN 202311364872A CN 117178700 B CN117178700 B CN 117178700B
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- 230000004720 fertilization Effects 0.000 title claims abstract description 18
- 238000010899 nucleation Methods 0.000 title claims abstract description 10
- 239000003337 fertilizer Substances 0.000 claims abstract description 184
- 238000007599 discharging Methods 0.000 claims abstract description 66
- 230000005540 biological transmission Effects 0.000 claims abstract description 42
- 230000001360 synchronised effect Effects 0.000 claims abstract description 15
- 230000027455 binding Effects 0.000 claims abstract description 14
- 239000002689 soil Substances 0.000 claims abstract description 12
- 241000405070 Percophidae Species 0.000 claims description 23
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 14
- 210000001503 joint Anatomy 0.000 claims description 12
- 229910052742 iron Inorganic materials 0.000 claims description 7
- 238000009331 sowing Methods 0.000 claims description 7
- 238000003860 storage Methods 0.000 claims description 6
- 108010016634 Seed Storage Proteins Proteins 0.000 claims description 3
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 abstract description 2
- 240000008042 Zea mays Species 0.000 description 5
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 5
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 5
- 235000005822 corn Nutrition 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 3
- 238000004080 punching Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- Fertilizing (AREA)
Abstract
The seeding hole fertilization robot comprises a control system and a power chassis, wherein a power driving system and four wheels are arranged on the power chassis, and the power driving system is used for driving the four wheels to travel; two groups of soil conductivity sensors are arranged on the front side of the power chassis, and seed and fertilizer synchronization holes Shi Zongcheng are also arranged on the power chassis, and each seed and fertilizer synchronization hole Shi Zong comprises a power transmission system, a fertilizer discharge device, a seed metering device and two groups of hole binding devices; in summary, the invention is driven by the power chassis to independently walk on the field, the sprocket drives the fertilizer discharging device and the seed discharging device to synchronously rotate to perform fertilizer discharging and seed discharging, and meanwhile, the sprocket drives the hole binding device to realize synchronous hole application of seed and fertilizer, and the fertilizer application amount of each hole is regulated in real time according to the soil conductivity information, so that the invention has the characteristics of simple structure, high working efficiency, labor saving and the like.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a seeding hole fertilization robot.
Background
At present, the related machines for synchronous hole application of corn seed fertilizer are fewer, the existing machines are poor in stability and variable fertilization effect, the corn planter mostly realizes fixed hole precision sowing, and the fertilizer application is still mainly performed by a strip, so that the corn crops have low absorption rate of the fertilizer, and a large amount of fertilizer is not fully utilized.
Disclosure of Invention
The invention aims to provide a seeding hole fertilization robot, which solves the technical problem that the existing corn planter cannot perform variable fertilization according to the corn crop environment.
In order to solve the technical problems, the invention adopts the following technical scheme:
the seeding hole fertilization robot comprises a control system and a power chassis, wherein a power driving system and four wheels are arranged on the power chassis, and the power driving system is used for driving the four wheels to travel;
two groups of soil conductivity sensors are arranged on the front side of the power chassis, and seed and fertilizer synchronization holes Shi Zongcheng are also arranged on the power chassis, and each seed and fertilizer synchronization hole Shi Zong comprises a power transmission system, a fertilizer discharge device, a seed metering device and two groups of hole binding devices;
the fertilizer device comprises a stepping motor and a circular fertilizer discharging shell, wherein the fertilizer discharging shell is fixed on a power chassis, a fertilizer discharging wheel and two fertilizer protecting plates are arranged in the fertilizer discharging shell, the two fertilizer protecting plates are fixed on the inner wall of the fertilizer discharging shell, the fertilizer discharging wheel is positioned between the two fertilizer protecting plates and comprises an outer wheel body and an inner wheel frame, the outer wheel body is of a circular structure, the inner wheel frame is fixed on the inner ring of the outer wheel body, a plurality of fertilizer cavities are formed in the outer edge of the outer wheel body, all the fertilizer cavities are arranged in a circular array around the center of the outer wheel body, a plurality of through holes are formed in the inner ring of the outer wheel body, and the through holes are arranged in one-to-one correspondence with the fertilizer cavities; the inner wheel frame is provided with a plurality of circular arc holes, each circular arc hole is internally provided with a pin, the pin can move along the circular arc hole, each fertilizer cavity is internally provided with a fertilizer amount adjusting plug, the fertilizer amount adjusting plugs can move in the fertilizer cavity, the circular arc holes are arranged in one-to-one correspondence with the fertilizer cavities, a sliding connecting rod is arranged between the pin in each circular arc hole and the corresponding fertilizer amount adjusting plug in each fertilizer cavity, one end of the sliding connecting rod is hinged on the pin, and the other end of the sliding connecting rod penetrates through the through hole to extend into each fertilizer cavity and is hinged on the fertilizer amount adjusting plug;
the stepping motor is arranged on the fertilizer discharging shell, a convex shaft is fixed at the center of one fertilizer protection plate, a floating connecting rod is sleeved on the convex shaft and can move along the convex shaft, three springs are connected between the floating connecting rod and the fertilizer protection plate, the end part of the floating connecting rod is hinged with a swinging connecting rod, a slotted hole and a butt joint hole are formed in the swinging connecting rod, a power rocker is rotatably arranged on the fertilizer protection plate, a butt joint block is arranged at the end part of the power rocker, the butt joint block is correspondingly positioned in the butt joint hole, a spindle of the stepping motor is connected with the power rocker through a coupler, a cylindrical bulge is further fixed at the end part of the floating connecting rod, and the cylindrical bulge is positioned at the opposite side of the springs; the circle center of the inner wheel frame is provided with a wavy curved surface, and under the elasticity of the spring, the end part of the cylindrical bulge is abutted against the wavy curved surface; the upper part of the fertilizer discharging shell is connected with a fertilizer storage box, and the bottom of the fertilizer discharging shell is provided with a fertilizer discharging opening;
the seed metering device comprises a seed metering shell, the seed metering shell is fixed on the side wall of the fertilizer metering shell, a seed metering wheel is arranged in the seed metering shell, a plurality of groups of nest grooves are formed in the outer edge of the seed metering wheel, the number of the nest grooves is the same as that of the fertilizer cavities, and the nest grooves correspond to the fertilizer cavities one by one; the upper part of the seed sowing shell is connected with a seed storage box, and the bottom of the seed sowing shell is provided with a seed sowing port;
the two groups of hole binding devices are respectively connected with the fertilizer discharging port and the seed discharging port, and the power transmission system is used for driving the seed discharging wheel and the fertilizer discharging wheel to synchronously rotate;
the control system is respectively connected with the power driving system, the stepping motor and the soil conductivity sensor in a control way.
Further, a front wheel shaft and a rear wheel shaft are respectively rotatably arranged on the front side and the rear side of the power chassis, wherein two wheels are arranged at two ends of the front wheel shaft, and the other two wheels are arranged at two ends of the rear wheel shaft; the power driving system comprises a driving motor and a belt transmission pair, and the driving motor is in transmission connection with the front wheel axle through the belt transmission pair.
Further, the hole-pricking device comprises a fixed pipe, the fixed pipe is arranged at the bottom of the power chassis, the lower part of the fixed pipe is sleeved with a movable pipe, the movable pipe can move up and down along the fixed pipe, the lower end of the movable pipe is provided with a hole-pricking duckbill, the hole-pricking duckbill comprises a fixed duckbill and a movable duckbill, the fixed duckbill is fixed at the lower end of the movable pipe, the movable duckbill is hinged at the lower end of the movable pipe, an iron wire is connected to the power chassis, and one end of the iron wire is connected to the movable duckbill;
the outer periphery of the movable pipe is sleeved with a depth adjusting sleeve, two bolts are connected to the depth adjusting sleeve in a threaded manner, the end parts of the two bolts are in jacking contact with the outer wall of the movable pipe, a cylinder is connected to the depth adjusting sleeve, a rotating shaft is rotatably arranged at the bottom of the power chassis, an eccentric driving part is arranged at the end part of the rotating shaft and comprises an eccentric wheel, the end part of the rotating shaft is arranged at the eccentric position of the eccentric wheel, an annular groove is formed in the end surface of the eccentric wheel, and the cylinder stretches into the annular groove; the power transmission system drives the rotating shaft to rotate;
the upper ends of the fixing pipes of the two groups of hole binding devices are respectively connected with the fertilizer discharging port and the seed discharging port;
further, the seed and fertilizer synchronous hole applying assembly is provided with two groups, and the two groups of seed and fertilizer synchronous holes Shi Zong are symmetrically arranged on the power chassis;
further, the power transmission system comprises a driving shaft and a transmission shaft, two ends of the driving shaft are respectively connected with two groups of seed and fertilizer synchronous hole application assemblies, wherein a fertilizer discharging wheel and a seed discharging wheel formed by seed and fertilizer synchronous holes Shi Zong are fixed at the end part of the driving shaft, the transmission shaft is rotatably arranged at the bottom of the power chassis, and a rear wheel shaft is respectively connected with the driving shaft and the transmission shaft through a group of chain wheel and chain transmission pairs;
the driving bevel gear is arranged on the transmission shaft, the driven bevel gear is arranged at the end part of the rotation shaft, and the driving bevel gear is meshed with the driven bevel gear.
Compared with the prior art, the invention has the beneficial effects that: the invention is driven by the power chassis to independently walk on the field, the sprocket drives the fertilizer discharging device and the seed discharging device to synchronously rotate to perform fertilizer discharging and seed discharging, meanwhile, the sprocket drives the hole pricking device to realize synchronous hole fertilization of seed and fertilizer, and the fertilizing amount of each hole is regulated in real time according to the soil conductivity information, so that the invention has the characteristics of simple structure, high working efficiency, labor saving and the like.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic structural view of a seeding and hole fertilization robot of the present invention;
fig. 2 is an exploded view of the fertilizer apparatus;
FIG. 3 is a schematic structural view of a fertilizer wheel;
FIG. 4 is a schematic view of the docking of the fertilizer plate with the fertilizer wheel;
FIG. 5 is an exploded view of the seed metering device;
FIG. 6 is a side view of a planting hole fertilizer robot of the present invention;
FIG. 7 is an enlarged view of FIG. 6 at A;
FIG. 8 is an enlarged view of FIG. 1 at B;
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The present invention is described in further detail below with reference to examples.
As shown in fig. 1-8, the specific embodiment of the seeding hole fertilization robot provided by the invention is as follows:
the seeding hole fertilization robot comprises a control system and a power chassis 1, wherein a power driving system and four wheels are arranged on the power chassis 1, and the power driving system is used for driving the four wheels to travel; for example, the power driving system comprises a driving motor 2 and a belt transmission pair 3, a front wheel shaft 4 and a rear wheel shaft 5 are respectively rotatably arranged on the front side and the rear side of the power chassis 1, wherein two wheels are front wheels 6, two front wheels 6 are arranged at two ends of the front wheel shaft 4, the other two wheels are rear wheels 7, and two rear wheels 7 are arranged at two ends of the rear wheel shaft 5; the driving motor 2 is in transmission connection with the front wheel shaft 4 through the belt transmission pair 3, the driving motor 2 drives the front wheel shaft 4 to rotate through the belt transmission pair 3, the front wheel shaft 4 can drive the two front wheels 6 to rotate, and the power chassis 1 can advance under the drive of the two front wheels 6.
Two groups of soil conductivity sensors 9 are arranged on the front side of the power chassis 1, a power transmission system and two groups of seed and fertilizer synchronization holes Shi Zong are also arranged on the power chassis 1, the two groups of seed and fertilizer synchronization holes Shi Zong are symmetrically arranged on the power chassis 1, and the power transmission system is used for transmitting power to the two groups of seed and fertilizer synchronization holes Shi Zong, so that the two groups of seed and fertilizer synchronization holes can work synchronously.
Each group of seed and fertilizer synchronous hole application assembly comprises a fertilizer device 11, a seed metering device 12 and two groups of hole binding devices, wherein the fertilizer device 11 and the seed metering device 12 synchronously work, the two groups of hole binding devices respectively work in cooperation with the fertilizer device 11 and the seed metering device 12, the hole binding devices complete hole binding actions, and the fertilizer and seeds discharged by the fertilizer device 11 and the seed metering device 12 fall into the bound holes.
The fertilizer device 11 comprises a stepping motor 14 and a circular fertilizer discharging shell 15, wherein the fertilizer discharging shell 15 is fixed on a power chassis 1, a fertilizer discharging wheel 16 and two fertilizer protecting plates 17 are arranged in the fertilizer discharging shell 15, the two fertilizer protecting plates 17 are fixed on the inner wall of the fertilizer discharging shell 15, the fertilizer discharging wheel 16 is positioned between the two fertilizer protecting plates 17, the fertilizer discharging wheel 16 comprises an outer wheel body 18 and an inner wheel frame 19, the outer wheel body 18 is of a circular ring structure, the inner wheel frame 19 is fixed on the inner ring of the outer wheel body 18, eight fertilizer cavities 20 are formed in the outer edge of the outer wheel body 18, all the fertilizer cavities 20 are arranged in a circular array around the center of the outer wheel body 18, eight through holes 13 are formed in the inner ring of the outer wheel body 18, and the through holes 13 are arranged in one-to-one correspondence with the fertilizer cavities 20; eight circular arc holes 21 are formed in the inner wheel frame 19, a pin 22 is arranged in each circular arc hole 21, the pin 22 can move along the circular arc holes 21, a fertilizer amount adjusting plug 23 is arranged in each fertilizer cavity 20, the fertilizer amount adjusting plugs 23 can move in the fertilizer cavities 20, the circular arc holes 21 and the fertilizer cavities 20 are arranged in a one-to-one correspondence, a sliding connecting rod 24 is arranged between the pins 22 in the circular arc holes 21 and the corresponding fertilizer amount adjusting plugs 23 in the fertilizer cavities 20, one end of the sliding connecting rod 24 is hinged to the pins 22, the other end of the sliding connecting rod 24 penetrates through the through holes 13 to extend into the fertilizer cavities 20 and is hinged to the fertilizer amount adjusting plugs 23, when one end of the sliding connecting rod 24 moves along with the pins 22 in the circular arc holes 21, the sliding connecting rod 24 can pull the fertilizer amount adjusting plugs 23 to move in the fertilizer cavities 20, and accordingly the fertilizer storage amount in the fertilizer cavities 20, namely the fertilizer storage amount in the fertilizer cavities 20, is changed.
In this embodiment, the pin 22 is moved in an electric manner to change the fertilizer storage amount in the fertilizer cavity 20, specifically as follows: the stepping motor 14 is arranged on the fertilizer discharging shell 15, a convex shaft 25 is fixed at the center of one fertilizer protecting plate 17, a floating connecting rod 26 is sleeved on the convex shaft 25, the floating connecting rod 26 can move along the axial direction of the convex shaft 25, three springs 27 are connected between the floating connecting rod 26 and the fertilizer protecting plate 17, the end part of the floating connecting rod 26 is hinged with a swinging connecting rod 28, a slotted hole 29 and a butt joint hole 30 are arranged on the swinging connecting rod 28, a power rocker 31 is rotatably arranged on the fertilizer protecting plate 17, a butt joint block 32 is arranged at the end part of the power rocker 31, the butt joint block 32 is correspondingly positioned in the butt joint hole 30, a spindle of the stepping motor 14 is connected with the power rocker 31 through a coupler, a cylindrical protrusion 33 is also fixed at the end part of the floating connecting rod 26, and the cylindrical protrusion 33 is positioned at the opposite side of the springs 27; the circle center of the inner wheel frame 19 is provided with a wave-shaped curved surface 34, and under the elasticity of the spring 27, the end part of the cylindrical bulge 33 always abuts against the wave-shaped curved surface 34; the upper part of the fertilizer discharging shell 15 is connected with a fertilizer storage box 35, and the bottom of the fertilizer discharging shell 15 is provided with a fertilizer discharging opening 36;
when the inner wheel frame 19 rotates, the cylindrical bulge 33 on the floating connecting rod 26 moves along the wavy curved surface 34, so that the floating connecting rod 26 is connected with the swinging connecting rod 28 to swing left and right between the fertilizer protecting plate 17 and the fertilizer discharging wheel 16, when the swinging is close to the fertilizer discharging wheel 16, the oblong hole 29 on the swinging connecting rod 28 is sleeved on the pin 22, at the moment, the stepping motor 14 is started (can rotate positively and negatively), the stepping motor 14 drives the power rocker 31 to rotate, the power rocker 31 drives the swinging connecting rod 28, the swinging connecting rod 28 can drive the pin 22 to move in the circular arc hole 21, and then the fertilizer quantity adjusting plug 23 is pulled by the sliding connecting rod 24, so that the fertilizer quantity of the single fertilizer cavity 20 is finally changed.
The seed metering device 12 comprises a seed metering shell 37, the seed metering shell 37 is fixed on the side wall of the fertilizer metering shell 15, the seed metering shell 37 is overlapped with the axis of the fertilizer metering shell 15, a seed metering wheel 38 is arranged in the seed metering shell 37, eight groups of nest grooves 39 are arranged on the outer edge of the seed metering wheel 38, the nest grooves 39 are in one-to-one correspondence with the fertilizer cavities 20, and the nest grooves 39 are used for storing seeds; the upper part of the seed discharging shell 37 is connected with a seed storage box 40, and the bottom of the seed discharging shell 37 is provided with a seed discharging port 41;
the two groups of hole binding devices are respectively connected with the fertilizer discharging port 36 and the seed discharging port 41, and the power transmission system is used for driving the seed discharging wheel 38 and the fertilizer discharging wheel 16 to synchronously rotate;
the control system is respectively in control connection with the power driving system, the stepping motor 14 and the soil conductivity sensor 9.
In the embodiment, the soil conductivity sensor 9 is arranged at the front end of the power chassis 1 and is used for detecting soil conductivity information in real time, and the control system is used for processing the information into the fertilizer amount required by soil so as to control the stepping motor 14 to adjust the fertilizer amount of each hole in real time;
the hole punching device comprises a fixed pipe 42, the fixed pipe 42 is arranged at the bottom of the power chassis 1, a movable pipe 43 is sleeved at the lower part of the fixed pipe 42, the movable pipe 43 can move up and down along the fixed pipe 42, a hole punching duckbill 44 is arranged at the lower end of the movable pipe 43, the hole punching duckbill 44 comprises a fixed duckbill 45 and a movable duckbill 46, the fixed duckbill 45 is fixed at the lower end of the movable pipe 43, the movable duckbill 46 is hinged at the lower end of the movable pipe 43, an iron wire 47 is connected to the power chassis 1, and one end of the iron wire 47 is connected to the movable duckbill 46;
the outer periphery of the movable pipe 43 is sleeved with a depth adjusting sleeve 48, two bolts 49 are connected to the depth adjusting sleeve 48 in a threaded manner, the ends of the two bolts 49 are in pressing contact with the outer wall of the movable pipe 43, the downward moving distance of the movable pipe 43 can be changed by changing the position of the depth adjusting sleeve 48 on the movable pipe 43, namely the depth of a pricking hole is changed, the depth adjusting sleeve 48 is connected with a cylinder 50, the bottom of the power chassis 1 is rotatably provided with a rotating shaft 51, the end part of the rotating shaft 51 is provided with an eccentric driving part, the eccentric driving part comprises an eccentric wheel 52, the end part of the rotating shaft 51 is arranged at the eccentric part of the eccentric wheel 52, an annular groove 53 is formed in the end surface of the eccentric wheel 52, and the cylinder 50 stretches into the annular groove 53; the power transmission system drives the rotating shaft 51 to rotate;
the upper ends of the fixed pipes 42 of the two groups of hole binding devices are respectively connected with the fertilizer discharging port 36 and the seed discharging port 41.
The power transmission system comprises a driving shaft 54 and a transmission shaft 55, two ends of the driving shaft 54 are respectively connected with two groups of seed and fertilizer synchronous hole application assemblies, wherein a fertilizer discharging wheel 16 and a seed discharging wheel 38 formed by seed and fertilizer synchronous holes Shi Zong are fixed at the end part of the driving shaft 54, the transmission shaft 55 is rotatably arranged at the bottom of the power chassis 1, and a rear wheel shaft 5 is respectively connected with the driving shaft 54 and the transmission shaft 55 through a group of chain wheel and chain transmission pairs 56;
a drive bevel gear 57 is arranged on the transmission shaft 55, a driven bevel gear 58 is arranged at the end part of the rotation shaft 51, and the drive bevel gear 57 is meshed with the driven bevel gear 58.
The hole-pricking fertilization process is as follows: the rear wheel shaft 5 drives the driving shaft 54 and the transmission shaft 55 to rotate through two groups of chain wheel and chain transmission pairs 56, and the fertilizer wheel 16 and the seed metering wheel 38 can be driven to synchronously rotate through the driving shaft 54; the transmission shaft 55 drives the rotation shaft 51 to rotate through the driving bevel gear 57 and the driven bevel gear 58, the rotation shaft 51 drives the eccentric wheel 52 to rotate, the eccentric wheel 52 rotates to drive the cylinder 50 to circularly move up and down due to the special structure of the eccentric wheel 52, when the cylinder 50 moves downwards, the cylinder 50 drives the movable tube 43 to move downwards, and the movable duckbill 46 is pulled by the iron wire 47, so that when the movable tube 43 moves downwards, the movable duckbill 46 is opened to complete the hole opening action, fertilizer from the fertilizer discharge port 36 falls into the fixed tube 42, falls into the holes through the fixed tube 42 and the movable tube 43, and simultaneously, seeds from the seed discharge port 41 also synchronously fall into the holes to complete synchronous hole application of the seeds and the fertilizer.
It should be noted that in this document, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a seeding cave fertilization robot which characterized in that: the device comprises a control system and a power chassis, wherein a power driving system and four wheels are arranged on the power chassis, and the power driving system is used for driving the four wheels to travel;
two groups of soil conductivity sensors are arranged on the front side of the power chassis, and seed and fertilizer synchronization holes Shi Zongcheng are also arranged on the power chassis, and each seed and fertilizer synchronization hole Shi Zong comprises a power transmission system, a fertilizer discharge device, a seed metering device and two groups of hole binding devices;
the fertilizer device comprises a stepping motor and a circular fertilizer discharging shell, wherein the fertilizer discharging shell is fixed on a power chassis, a fertilizer discharging wheel and two fertilizer protecting plates are arranged in the fertilizer discharging shell, the two fertilizer protecting plates are fixed on the inner wall of the fertilizer discharging shell, the fertilizer discharging wheel is positioned between the two fertilizer protecting plates and comprises an outer wheel body and an inner wheel frame, the outer wheel body is of a circular structure, the inner wheel frame is fixed on the inner ring of the outer wheel body, a plurality of fertilizer cavities are formed in the outer edge of the outer wheel body, all the fertilizer cavities are arranged in a circular array around the center of the outer wheel body, a plurality of through holes are formed in the inner ring of the outer wheel body, and the through holes are arranged in one-to-one correspondence with the fertilizer cavities; the inner wheel frame is provided with a plurality of circular arc holes, each circular arc hole is internally provided with a pin, the pin can move along the circular arc hole, each fertilizer cavity is internally provided with a fertilizer amount adjusting plug, the fertilizer amount adjusting plugs can move in the fertilizer cavity, the circular arc holes are arranged in one-to-one correspondence with the fertilizer cavities, a sliding connecting rod is arranged between the pin in each circular arc hole and the corresponding fertilizer amount adjusting plug in each fertilizer cavity, one end of the sliding connecting rod is hinged on the pin, and the other end of the sliding connecting rod penetrates through the through hole to extend into each fertilizer cavity and is hinged on the fertilizer amount adjusting plug;
the stepping motor is arranged on the fertilizer discharging shell, a convex shaft is fixed at the center of one fertilizer protection plate, a floating connecting rod is sleeved on the convex shaft and can move along the convex shaft, three springs are connected between the floating connecting rod and the fertilizer protection plate, the end part of the floating connecting rod is hinged with a swinging connecting rod, a slotted hole and a butt joint hole are formed in the swinging connecting rod, a power rocker is rotatably arranged on the fertilizer protection plate, a butt joint block is arranged at the end part of the power rocker, the butt joint block is correspondingly positioned in the butt joint hole, a spindle of the stepping motor is connected with the power rocker through a coupler, a cylindrical bulge is further fixed at the end part of the floating connecting rod, and the cylindrical bulge is positioned at the opposite side of the springs; the circle center of the inner wheel frame is provided with a wavy curved surface, and under the elasticity of the spring, the end part of the cylindrical bulge is abutted against the wavy curved surface; the upper part of the fertilizer discharging shell is connected with a fertilizer storage box, and the bottom of the fertilizer discharging shell is provided with a fertilizer discharging opening;
when the inner wheel frame rotates, the cylindrical bulge on the floating connecting rod moves along the wavy curved surface, so that the floating connecting rod is connected with the swinging connecting rod to swing left and right between the fertilizer protecting plate and the fertilizer wheel, when the swinging connecting rod is close to the fertilizer wheel, the oblong hole on the swinging connecting rod is sleeved on the pin, at the moment, the stepping motor can rotate positively and negatively, the stepping motor drives the power rocker to rotate, the power rocker drives the swinging connecting rod, the swinging connecting rod can drive the pin to move in the circular arc hole, and then the fertilizer quantity adjusting plug is pulled by the sliding connecting rod, so that the fertilizer quantity of a single fertilizer cavity is finally changed;
the seed metering device comprises a seed metering shell, the seed metering shell is fixed on the side wall of the fertilizer metering shell, a seed metering wheel is arranged in the seed metering shell, a plurality of groups of nest grooves are formed in the outer edge of the seed metering wheel, the number of the nest grooves is the same as that of the fertilizer cavities, and the nest grooves correspond to the fertilizer cavities one by one; the upper part of the seed sowing shell is connected with a seed storage box, and the bottom of the seed sowing shell is provided with a seed sowing port;
the two groups of hole binding devices are respectively connected with the fertilizer discharging port and the seed discharging port, and the power transmission system is used for driving the seed discharging wheel and the fertilizer discharging wheel to synchronously rotate;
the control system is respectively connected with the power driving system, the stepping motor and the soil conductivity sensor in a control way.
2. The seed and hole fertilization robot of claim 1, wherein: the front side and the rear side of the power chassis are respectively rotatably provided with a front wheel shaft and a rear wheel shaft, wherein two wheels are arranged at two ends of the front wheel shaft, and the other two wheels are arranged at two ends of the rear wheel shaft; the power driving system comprises a driving motor and a belt transmission pair, and the driving motor is in transmission connection with the front wheel axle through the belt transmission pair.
3. The seed and hole fertilization robot of claim 1, wherein: the hole-pricking device comprises a fixed pipe, the fixed pipe is arranged at the bottom of the power chassis, a movable pipe is sleeved at the lower part of the fixed pipe, the movable pipe can move up and down along the fixed pipe, the lower end of the movable pipe is provided with a hole-pricking duckbill, the hole-pricking duckbill comprises a fixed duckbill and a movable duckbill, the fixed duckbill is fixed at the lower end of the movable pipe, the movable duckbill is hinged at the lower end of the movable pipe, an iron wire is connected to the power chassis, and one end of the iron wire is connected to the movable duckbill;
the outer periphery of the movable pipe is sleeved with a depth adjusting sleeve, two bolts are connected to the depth adjusting sleeve in a threaded manner, the end parts of the two bolts are in jacking contact with the outer wall of the movable pipe, a cylinder is connected to the depth adjusting sleeve, a rotating shaft is rotatably arranged at the bottom of the power chassis, an eccentric driving part is arranged at the end part of the rotating shaft and comprises an eccentric wheel, the end part of the rotating shaft is arranged at the eccentric position of the eccentric wheel, an annular groove is formed in the end surface of the eccentric wheel, and the cylinder stretches into the annular groove; the power transmission system drives the rotating shaft to rotate;
the upper ends of the fixing pipes of the two groups of hole binding devices are respectively connected with the fertilizer discharging port and the seed discharging port.
4. A seed and hole fertilization robot according to claim 3, wherein: the seed and fertilizer synchronous hole application assembly is provided with two groups, and the two groups of seed and fertilizer synchronous holes Shi Zong are symmetrically arranged on the power chassis.
5. The seed and hole fertilization robot of claim 4, wherein: the power transmission system comprises a driving shaft and a transmission shaft, two ends of the driving shaft are respectively connected with two groups of seed and fertilizer synchronous hole application assemblies, wherein a fertilizer wheel and a seed and fertilizer wheel formed by seed and fertilizer synchronous holes Shi Zong are fixed at the end part of the driving shaft, the transmission shaft is rotatably arranged at the bottom of the power chassis, and a rear wheel shaft is respectively connected with the driving shaft and the transmission shaft through a group of sprocket chain transmission pairs;
the driving bevel gear is arranged on the transmission shaft, the driven bevel gear is arranged at the end part of the rotation shaft, and the driving bevel gear is meshed with the driven bevel gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311364872.1A CN117178700B (en) | 2023-10-20 | 2023-10-20 | Seeding cave fertilization robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311364872.1A CN117178700B (en) | 2023-10-20 | 2023-10-20 | Seeding cave fertilization robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117178700A CN117178700A (en) | 2023-12-08 |
| CN117178700B true CN117178700B (en) | 2024-03-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311364872.1A Active CN117178700B (en) | 2023-10-20 | 2023-10-20 | Seeding cave fertilization robot |
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| Country | Link |
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| CN (1) | CN117178700B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2919820Y (en) * | 2006-06-22 | 2007-07-11 | 高忠军 | Hill-fertilizer adjustable seeding fertilizer apparatus |
| KR20140080129A (en) * | 2012-12-20 | 2014-06-30 | 주식회사 온그린텍 | Apparatus for direct seeding and mulching paper |
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| CN117178700A (en) | 2023-12-08 |
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