Vegetable planting robot

Abstract

The invention discloses a vegetable planting robot which is characterized in that a rack of the vegetable planting robot can be horizontally and movably arranged on a fixing frame through a horizontal debugging mechanism, and operation components on the rack comprise a punching mechanism, a seeding mechanism and a soil shifting mechanism which are sequentially arranged from front to back; the punching mechanism and the sowing mechanism perform equidistant punching and sowing on field ridges, and the soil shifting mechanism performs continuous soil shifting; before the planting robot is used, the rack is adjusted to different horizontal positions through the horizontal debugging mechanism according to the width of a field ridge and the number of rows of vegetables to be planted on the width, and then one row of holes, seeds and soil are punched, sown and shifted on the positions of different widths of the field ridge. The debugging structure is designed corresponding to the planting scene of the field ridge structure, the planting efficiency is improved, and the burden of manual operation is reduced.

Description

Technical Field

[0001] The present invention relates to an agricultural mechanical equipment, and more specifically to a vegetable planting robot. Background Art

[0002] With the progress of technology, more and more mechanical equipment has been applied to agriculture, thereby liberating the labor force and improving production efficiency. Some large mechanical vehicles and large robots for vegetable planting have begun to be widely used in agricultural planting, but the scenarios they apply are mostly on large-scale fields with planning; for traditional small-scale planting scenarios with ridge structures, large mechanical vehicles and large robots are difficult to drive and use, that is, there is currently no corresponding structured robot that can be adaptively used. In such planting scenarios, there is also an increasing demand to use mechanical equipment to replace manual labor to complete part of the work, thereby improving efficiency and reducing the manual work burden. Summary of the Invention

[0003] Aiming at the deficiencies of the existing technology, the purpose of the present invention is to provide a vegetable planting robot, which designs a debugging structure for the planting scenario corresponding to the ridge structure, and realizes the planting requirements of multiple columns on the ridge through horizontal adjustment, thereby improving the planting efficiency.

[0004] To achieve the above object, the present invention provides the following technical solution: A vegetable planting robot includes a frame for setting a number of operating components and a wheel body for traveling. The wheel body is arranged on a fixed frame, and the frame is horizontally movably arranged on the fixed frame through a horizontal debugging mechanism. The operating components on the frame are aligned in the front-rear direction. The operating components include a punching mechanism, a sowing mechanism, and a soil spreading mechanism arranged in sequence from front to back. Both the punching mechanism and the soil spreading mechanism are liftable structures. The punching mechanism punches the soil when descending, and the soil spreading mechanism spreads the soil when descending to contact the soil. When driving the planting robot to intermittently run along the ridge, the punching mechanism and the sowing mechanism punch and sow the ridge at equal intervals, and the soil spreading mechanism continuously spreads the soil; the horizontal debugging mechanism includes a driving motor, a horizontal lead screw, and a horizontal nut. The horizontal lead screw is horizontally rotatably installed on the fixed frame. The horizontal nut is installed on the frame and meshed and sleeved on the horizontal lead screw. The driving motor is installed on the fixed frame and connected to the horizontal lead screw. When the driving motor works, it drives the horizontal lead screw to rotate to adjust the horizontal position of the frame on the fixed frame. Before using the planting robot, according to the width of the ridge and the number of vegetable columns to be planted in the width, the frame is adjusted to different horizontal positions, so as to realize punching, sowing, and soil spreading in one column at different width positions of the ridge.

[0005] As an improvement, the horizontal debugging mechanism further includes a plurality of horizontal sliding rods, which are horizontally installed on the fixed frame, and sliding holes are provided on the machine frame for the horizontal sliding rods to pass through and be supported and slide, so that the horizontal sliding rods and the horizontal screw rods jointly form a structural cooperation with multiple positions on the machine frame.

[0006] As an improvement, the width of the machine frame is one-third of the width of the fixed frame.

[0007] As an improvement, the punching mechanism includes a punching cylinder and a punching head. The punching cylinder is arranged on the machine frame, and the punching head is arranged at the lower part of the punching cylinder. When the punching cylinder works, it drives the punching head to descend for punching or ascend for resetting.

[0008] As an improvement, the sowing mechanism includes a placement cavity and a discharge roller. The placement cavity is arranged on the machine frame. The lower cavity of the placement cavity gradually narrows and forms an opening. A rotating cavity for arranging the discharge roller is formed at the opening. The discharge roller is arranged in a size-matching manner in the rotating cavity and its axis is horizontally arranged for rotation. The surface of the discharge roller has a feeding groove for seeds to fall into and be accommodated. When sowing, the discharge roller is driven to rotate so that the seeds in the placement cavity are sent out by the feeding groove and fall from the lower end of the opening.

[0009] As an improvement, the soil-digging mechanism includes a soil-digging cylinder and a soil-digging plate. The soil-digging cylinder is arranged on the machine frame, and the soil-digging plate is arranged at the lower part of the soil-digging cylinder. When the soil-digging cylinder works, it drives the soil-digging plate to descend for soil-digging or ascend for resetting.

[0010] As an improvement, the soil-digging mechanism further includes a rotating frame and a rotating cylinder. The rotating frame and the soil-digging plate are hinged to each other. The rotating frame is connected to the soil-digging cylinder, and the rotating cylinder is arranged on the rotating frame and connected to the soil-digging plate. When the rotating cylinder works, it drives the soil-digging plate to rotate and thus adjusts the soil-digging angle of the soil-digging plate.

[0011] Advantages of the present invention:

[0012] 1. A debugging structure is designed corresponding to the planting scenario of the ridge structure, which meets the requirement of completing the planting process by machine instead of human in the corresponding scenario, thereby improving the planting efficiency and reducing the burden of manual operation.

[0013] 2. The equipment has a simple structure, is easy to debug, meets the need for most people to easily get started, and the equipment cost is well controlled, adapting to its usage scenario and bringing convenience to the users in need. Description of the Drawings

[0014] Figure 1 It is a schematic side structure diagram and a partial enlarged view of the present invention.

[0015] Figure 2 It is a schematic front structure diagram of the present invention.

[0016] In the figure: 0, operation space; 1, frame; 11, horizontal debugging mechanism; 111, drive motor; 112, horizontal lead screw; 113, horizontal nut; 114, horizontal slide bar; 2, wheel body; 21, lifting debugging mechanism; 211, layout frame; 212, lifting cylinder; 213, support frame; 22, wide-width debugging mechanism; 221, debugging motor; 222, debugging lead screw; 223, debugging nut; 224, debugging slide bar; 3, fixing frame; 4, punching mechanism; 41, punching cylinder; 42, punching head; 5, sowing mechanism; 51, placement cavity; 52, discharge roller; 53, opening; 54, feeding chute; 6, soil-digging mechanism; 61, soil-digging cylinder; 62, soil-digging plate; 63, rotating frame; 64, rotating cylinder. Detailed implementation mode

[0017] The following will describe in detail the specific embodiments of the present invention with reference to the accompanying drawings.

[0018] As Figure 1 , 2 shown, it is a specific embodiment of the vegetable planting robot of the present invention. This embodiment includes a frame 1 for setting a number of operating components and a wheel body 2 for traveling. The wheel body 2 is arranged on a fixing frame 3. The frame 1 is horizontally movably arranged on the fixing frame 3 through a horizontal debugging mechanism 11. The operating components on the frame 1 are arranged in alignment along the front-rear direction. The operating components include a punching mechanism 4, a sowing mechanism 5, and a soil-digging mechanism 6 arranged in sequence from front to back. Both the punching mechanism 4 and the soil-digging mechanism 6 are liftable structures. The punching mechanism 4 punches the soil when descending, and the soil-digging mechanism 6 digs the soil when descending to contact the soil. When driving the planting robot to run intermittently along the ridge, the punching mechanism 4 and the sowing mechanism 5 punch and sow the ridge at equal intervals, and the soil-digging mechanism 6 continuously digs the soil; the horizontal debugging mechanism 11 includes a drive motor 111, a horizontal lead screw 112, and a horizontal nut 113. The horizontal lead screw 112 is horizontally rotatably installed on the fixing frame 3. The horizontal nut 113 is installed on the frame 1 and meshes through the horizontal lead screw 112. The drive motor 111 is installed on the fixing frame 3 and connected to the horizontal lead screw 112. When the drive motor 111 works, it drives the horizontal lead screw 112 to rotate, thereby adjusting the horizontal position of the frame 1 on the fixing frame 3. Before using the planting robot, according to the width of the ridge and the number of rows of vegetables to be planted in the width, the frame 1 is adjusted to different horizontal positions, so as to realize punching, sowing, and soil-digging in one row at different width positions of the ridge.

[0019] When the present invention is used, it is particularly used in fields with traditional ridge structures. At present, with the improvement of living standards, more and more people return to the outdoors as a leisure and relaxation outside of daily work. Returning to the countryside for planting in outdoor scenes is the choice of some people. Punching, sowing and burying the ridges in the planting process are relatively tedious and tiring processes. This process requires people to bend over and stand up repeatedly, which is the most tiring part of the work; the robot of the present invention can be provided to users who need to replace people to complete this part of the work by machines. In specific implementation, the punching mechanism 4, the sowing mechanism 5 and the soil-moving mechanism 6 are aligned from front to back in sequence, thereby realizing the corresponding functions of the three mechanisms. The user can pre-set the travel distance of the robot according to the planting spacing required by himself. When in use, the punching mechanism 4 first reaches the predetermined position to punch holes, and then runs to make the sowing mechanism 5 reach the punching position to sow, and then the punching mechanism 4 reaches the next predetermined position to punch holes; of course, if the planting spacing is less than the spacing between the punching mechanism 4 and the sowing mechanism 5, then it stops according to the time when the punching mechanism 4 reaches the punching position and the sowing mechanism 5 reaches the punching position. Preferably, the punching mechanism 4 and the sowing mechanism 5 can be set to a structure that can be adjusted forward and backward. For example, the punching mechanism 4 and the sowing mechanism 5 are set on a slide rail, and the front and rear positions of the two are adjusted by a driving member, so that the spacing between the two and the planting have a certain proportional relationship, such as a relationship of integer multiples such as 1:1, 2:1, etc., so that the punching mechanism 4 and the sowing mechanism 5 can be synchronized to complete the work when the machine is stopped, thereby improving the efficiency of punching and sowing. The soil-moving mechanism 6 rises to a high place when not in use, and descends according to the position of the ridge when in use. When the robot is running, the soil is moved forward to achieve the operation of loosening the soil and burying the seeds. In a specific planting scenario, a wider ridge will be planted with two to three rows of vegetables. In order to adapt to such a ridge planting scenario, a horizontal debugging mechanism 11 is further set. The user can debug the horizontal debugging mechanism 11 according to the ridge width of the field and the number of vegetable rows to be planted. Specifically, the drive motor 111 is started to rotate the horizontal screw rod 112, drive the horizontal nut 113 and the frame 1 to translate, and then the frame 1 can be stopped at the desired ridge position. After debugging, the robot can be driven to work along the ridge to complete the drilling, sowing and soil removal of one row. After completing one row, the frame 1 is debugged to another horizontal position to operate the next row.

[0020] As an improved specific implementation method, the horizontal debugging mechanism 11 also includes a plurality of horizontal sliding rods 114, which are horizontally mounted on the fixed frame 3, and sliding holes are provided on the frame 1 for the horizontal sliding rods 114 to pass through and support and slide, so that the horizontal sliding rods 114 and the horizontal screw rods 112 together form a structural coordination with multiple positions of the frame 1.

[0021] like Figure 1As shown, the horizontal sliding rod 114 and the horizontal lead screw 112 cooperate to form a multi-position structural cooperation with the frame 1. When the frame 1 moves horizontally, the stability of the structure during movement can be effectively improved, and the frame 1 is also very firm and stable in its normal structural state, which is beneficial to long-term debugging and the use of the whole machine.

[0022] As a specific improved embodiment, the width of the frame 1 is one-third of the width of the fixed frame 3.

[0023] As Figure 2 shown, after reasonably setting the width of the frame 1, the frame 1 can stay at multiple positions at intervals in the width direction of the fixed frame 3, so as to adapt to

[0024] As a specific improved embodiment, the punching mechanism 4 includes a punching cylinder 41 and a punching head 42. The punching cylinder 41 is arranged on the frame 1, and the punching head 42 is arranged at the lower part of the punching cylinder 41. When the punching cylinder 41 works, it drives the punching head 42 to descend for punching or ascend for resetting.

[0025] As Figure 1 shown, the punching head 42 is driven by the punching cylinder 41 to move up and down. The punching head 42 can be set in a multi-specification and replaceable manner. According to different vegetables to be planted and different soil conditions, different punching heads 42 can be selected and replaced; and the extending force and speed of the punching cylinder 41 can be adjusted to achieve a better punching effect.

[0026] As a specific improved embodiment, the sowing mechanism 5 includes a placement cavity 51 and a discharge roller 52. The placement cavity 51 is arranged on the frame 1. The lower cavity of the placement cavity 51 gradually narrows and forms an opening 53. A rotating cavity for arranging the discharge roller 52 is formed at the opening 53. The discharge roller 52 is arranged in a size-matching manner in the rotating cavity and its axis is horizontally arranged for rotation. The surface of the discharge roller 52 has a feeding groove 54 for seeds to fall into and be accommodated. When sowing, the discharge roller 52 is driven to rotate so that the seeds in the placement cavity 51 are sent out by the feeding groove 54 and fall from the lower end of the opening 53.

[0027] As Figure 1As shown, the placement cavity 51 is for placing seeds. A lid is provided on the upper part to cover and facilitate preservation. A rotating cavity matching the shape and size of the discharging roller 52 is formed in the middle of the opening 53. The two ends of the discharging roller 52 are rotatably arranged. When the seeds fall to the upper end of the opening 53, they are blocked by the discharging roller 52. The seeds fall into the feeding groove 54 according to their volume. When sowing, the discharging roller 52 is started to rotate, and the seeds in the feeding groove 54 are brought into the rotating cavity and complete the falling sowing when reaching the lower end of the opening 53 as they rotate. The discharging roller 52 can be set in a way that the feeding groove 54 has multiple specifications and can be replaced. According to different types of vegetables to be planted, different-sized feeding grooves 54 are used for feeding to achieve the purpose of controlling the number of seeds sown.

[0028] As a specific improved embodiment, the soil turning mechanism 6 includes a soil turning cylinder 61 and a soil turning plate 62. The soil turning cylinder 61 is arranged on the frame 1, and the soil turning plate 62 is arranged below the soil turning cylinder 61. When the soil turning cylinder 61 works, it drives the soil turning plate 62 to descend for soil turning or ascend for resetting.

[0029] As Figure 1 shown, when not turning the soil, the soil turning cylinder 61 ascends to make the soil turning plate 62 stay at a high position, which does not affect the normal movement of the robot. When turning the soil, the soil turning cylinder 61 drives the soil turning plate 62 to descend to an appropriate height so that the soil turning plate 62 can turn the soil forward to realize the operations of loosening the soil and covering the seeds.

[0030] As a specific improved embodiment, the soil turning mechanism 6 further includes a rotating frame 63 and a rotating cylinder 64. The rotating frame 63 and the soil turning plate 62 are hinged to each other. The rotating frame 63 is connected to the soil turning cylinder 61, and the rotating cylinder 64 is arranged on the rotating frame 63 and connected to the soil turning plate 62. When the rotating cylinder 64 works, it drives the soil turning plate 62 to rotate and thus adjusts the soil turning angle of the soil turning plate 62.

[0031] As Figure 1 shown, by further setting the rotating frame 63 and the soil turning plate 62 to form a link structure, the relative rotation of the rotating frame 63 and the soil turning plate 62 is driven by the rotating cylinder 64, and thus the angle of the soil turning plate 62 can be adjusted, so as to achieve a better soil turning effect according to the soil conditions.

[0032] As a specific improved embodiment, the wheel body 2 is connected to the fixed frame 3 through a lifting and debugging mechanism 21. When the lifting and debugging mechanism 21 works, it adjusts the height of the fixed frame 3 and thus adjusts the height of the operation space 0. The lifting and debugging mechanism 21 is connected to the fixed frame 3 through a width adjustment mechanism 22. When the width adjustment mechanism 22 works, it adjusts the distance between the two wheel bodies 2 and thus adjusts the width of the operation space 0;

[0033] The lifting and debugging mechanism 21 includes an arrangement frame 211, a lifting cylinder 212 and a support frame 213. The wheel body 2 and the driving member for driving the operation of the wheel body 2 are arranged at the arrangement frame 211. The lifting cylinder 212 is arranged at the arrangement frame 211 and its upper part is connected to the support frame 213. When the lifting cylinder 212 works, it drives the support frame 213 to rise or fall;

[0034] The wide-width debugging mechanism 22 includes a debugging motor 221, a debugging lead screw 222 and a debugging nut 223. The debugging lead screw 222 is horizontally and rotatably installed under the fixed frame 3. The debugging nut 223 is installed on the support frame 213 and meshes through the debugging lead screw 222. The debugging motor 221 is installed on the fixed frame 3 and connected to the debugging lead screw 222. The debugging lead screw 222 is divided into left and right sections with opposite helix directions. When the debugging motor 221 works, it drives the debugging lead screw 222 to rotate, thereby adjusting the width spacing of the two support frames 213 on the fixed frame 3;

[0035] Before the agricultural robot is used, according to the width and height of the ridge, the width of the two wheel bodies 2 is adjusted to adapt to the width of the ridge, and the height of the frame 1 is adjusted to adapt to the height of the operating components.

[0036] Such as Figure 1 、 2 As shown in

[0037] As an improved specific implementation manner, the two wheel bodies 2 on the left and right sides are both two front and rear ones, and the two front and rear wheel bodies 2 on the same side share a set of lifting and debugging mechanisms 21.

[0038] Such as Figure 1As shown, the shared structure is not shown in the figure. During specific implementation, the front and rear support frames 213 as shown in the figure can be connected into an integrated front and rear state, and only a set of lifting cylinders 212 is arranged in the middle of the structure. The front and rear positions can be structurally limited and stably slid during lifting through the structure of the vertical shaft cooperating with the holes on the support frame 213. Such a design can simplify the power components for lifting and reduce the component cost. The arrangement positions of the wheel bodies 2 form a four-corner support state, which can maintain the stability of the robot during movement and stop. Each wheel body 2 can be provided with a driving component separately, or driving components can be arranged on the two front sides or two rear sides. The driving component can be a conventional motor, and the motors start and stop synchronously, thereby driving the movement and stop of the robot.

[0039] As a specific implementation of an improvement, the wide-width debugging mechanism 22 further includes a plurality of debugging slide rods 224. The debugging slide rods 224 are horizontally installed under the fixed frame 3, and slide holes are provided on the support frame 213 for the debugging slide rods 224 to pass through and support and slide, so that the debugging slide rods 224 and the debugging lead screws 222 jointly form a structural cooperation with the support frame 213 at multiple positions.

[0040] As Figure 1 As shown, the debugging slide rods 224 and the debugging lead screws 222 jointly form a structural cooperation with the support frame 213 at multiple positions. When the support frame 213 moves horizontally, the stability of the structure during movement can be effectively improved, and the support frame 213 is also very firm and stable in its normal structural state, which is beneficial to long-term debugging and the use of the whole machine. Preferably, a vertical shaft can be further arranged around the cylinder shaft of the lifting cylinder 212 for structural reinforcement. As shown, the lower end of the vertical shaft is arranged on the layout frame 211, and the upper part passes through the structure of the hole on the support frame 213. When the support frame 213 moves up and down, the vertical shaft and the support frame 213 maintain structural stability.

[0041] The above are only the preferred embodiments of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those of ordinary skill in the art in this technical field, several improvements and refinements made without departing from the principle of the present invention should also be regarded as within the protection scope of the present invention.

Claims

1. A vegetable planting robot, comprising a frame (1) for arranging a plurality of operating components and a wheel body (2) for traveling, characterized in that: The wheel body (2) is arranged on a fixed frame (3), the machine frame (1) is horizontally movably arranged on the fixed frame (3) through a horizontal debugging mechanism (11), the operating components on the machine frame (1) are arranged in alignment in the front-back direction, the operating components include a punching mechanism (4), a seeding mechanism (5) and a soil-dialing mechanism (6) arranged in sequence from front to back, both the punching mechanism (4) and the soil-dialing mechanism (6) are liftable structures, the punching mechanism (4) punches the soil when descending, the soil-dialing mechanism (6) dials the soil when descending to contact the soil, when driving the planting robot to intermittently run along the ridge, the punching mechanism (4) and the seeding mechanism (5) punch and seed the ridge at equal intervals, and the soil-dialing mechanism (6) continuously dials the soil; the horizontal debugging mechanism (11) includes a driving motor (iii), a horizontal lead screw (112) and a horizontal nut (113), the horizontal lead screw (112) is horizontally rotatably arranged on the fixed frame (3), the horizontal nut (113) is installed on the machine frame (1) and meshes with and passes through the horizontal lead screw (112), the driving motor (iii) is installed on the fixed frame (3) and connected to the horizontal lead screw (112), when the driving motor (iii) works, it drives the horizontal lead screw (112) to rotate to adjust the horizontal position of the machine frame (1) on the fixed frame (3), before using the planting robot, according to the width of the ridge and the number of vegetable rows to be planted in the width, the machine frame (1) is adjusted to different horizontal positions, so as to realize punching, seeding and soil-dialing in one row at different width positions of the ridge.

2. The vegetable planting robot according to claim 1, characterized in that: The horizontal debugging mechanism (11) further includes a plurality of horizontal sliding rods (114), the horizontal sliding rods (114) are horizontally arranged on the fixed frame (3), and sliding holes are provided on the machine frame (1) for the horizontal sliding rods (114) to pass through and support and slide, so that the horizontal sliding rods (114) and the horizontal lead screw (112) jointly form a structural cooperation with the machine frame (1) at multiple positions.

3. The vegetable planting robot according to claim 1, wherein: The width of the machine frame (1) is one-third of the width of the fixed frame (3).

4. A vegetable planting robot according to claim 1 or 2 or 3, characterized in that: The punching mechanism (4) includes a punching cylinder (41) and a punching head (42), the punching cylinder (41) is arranged on the machine frame (1), the punching head (42) is arranged at the lower part of the punching cylinder (41), when the punching cylinder (41) works, it drives the punching head (42) to descend for punching or ascend for resetting.

5. A vegetable planting robot according to claim 1 or 2 or 3, characterized in that: The seeding mechanism (5) includes a placement cavity (51) and a discharge roller (52), the placement cavity (51) is arranged on the machine frame (1), the lower cavity of the placement cavity (51) gradually shrinks and forms an opening (53), a rotating cavity for arranging the discharge roller (52) is formed at the opening (53), the discharge roller (52) is arranged in a size-matching manner in the rotating cavity and its axis is horizontally arranged for rotation, the surface of the discharge roller (52) has a feeding groove (54) for seeds to fall into and be accommodated, when seeding, the discharge roller (52) is driven to rotate so that the seeds in the placement cavity (51) are sent out by the feeding groove (54) and fall from the lower end of the opening (53).

6. A vegetable planting robot according to claim 1 or 2 or 3, characterized in that: The soil pushing mechanism (6) includes a soil pushing cylinder (61) and a soil pushing plate (62). The soil pushing cylinder (61) is arranged on the frame (1), and the soil pushing plate (62) is arranged at the lower part of the soil pushing cylinder (61). When the soil pushing cylinder (61) works, it drives the soil pushing plate (62) to descend for soil pushing or ascend for resetting.

7. The vegetable planting robot according to claim 6, characterized in that: The soil pushing mechanism (6) further includes a rotating frame (63) and a rotating cylinder (64). The rotating frame (63) and the soil pushing plate (62) are hinged to each other. The rotating frame (63) is connected to the soil pushing cylinder (61), and the rotating cylinder (64) is arranged on the rotating frame (63) and connected to the soil pushing plate (62). When the rotating cylinder (64) works, it drives the soil pushing plate (62) to rotate, thereby adjusting the soil pushing angle of the soil pushing plate (62).

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