An automatic material supplementing vehicle suitable for unmanned seeding machine

Abstract

This invention discloses an automatic feeding vehicle suitable for unmanned seeders, comprising a vehicle body and an automatic feeding device. The automatic feeding device includes a feed hopper, a feeding mechanism, and a docking mechanism. The docking mechanism includes a discharge telescopic guide tube, an automatic cover opening structure, and a docking drive mechanism. The feed inlet of the discharge telescopic guide tube is connected to the discharge outlet of the feed hopper. The automatic cover opening structure includes a lifting cover plate and a return spring. The lifting cover plate is rotatably connected to the end folding structure of the discharge telescopic guide tube. With the rotation center of the lifting cover plate as the boundary, the lower end of the lifting cover plate has a lifting cover portion, and the upper end of the lifting cover plate is connected to one end of the return spring. The other end of the return spring is fixedly connected to the outer wall of the feed hopper. The drive end of the docking drive mechanism is connected to the end folding structure of the discharge telescopic guide tube. This invention enables automatic feeding, greatly reducing the labor intensity of manual feeding, improving work efficiency, and increasing the automation level of seeding operations.

Description

TECHNICAL FIELD

[0001] The present application relates to unmanned seeder replenishment device, and particularly relates to an automatic material replenishing vehicle suitable for unmanned seeder. BACKGROUND

[0002] As one of important links of unmanned farm construction, automatic driving and unmanned driving of agricultural equipment greatly improve agricultural production efficiency and precision, and reduce labor intensity of farmers. However, in the process of unmanned seeding, due to limited capacity of seed boxes and fertilizer boxes of seeders, manual material replenishment is still required frequently, and material replenishment needs to be carried out in multiple boxes, so a large amount of labor cost is still required in the process of material replenishment, which is obviously not conducive to automatic and unmanned management of farms. SUMMARY

[0003] The present application aims to overcome the above problems, and provides an automatic material replenishing vehicle suitable for unmanned seeder, which can realize automatic material replenishment, greatly reduce labor intensity of manual material replenishment, improve operation efficiency, and improve automatic and unmanned degree of unmanned seeding operation in unmanned farms.

[0004] The present application is achieved by the following technical solutions.

[0005] An automatic material replenishing vehicle suitable for unmanned seeder, comprising a vehicle body and an automatic material replenishing device arranged on the vehicle body.

[0006] The automatic material replenishing device comprises a material box for loading material, a feeding mechanism for feeding the material in the material box, and a docking mechanism for docking with a hopper of a seeder.

[0007] The feeding mechanism comprises a spiral conveying rod and a feeding driving mechanism, and the spiral conveying rod is arranged at the bottom of the material box.

[0008] The docking mechanism comprises a discharging telescopic pipe, an automatic cover opening structure and a docking driving mechanism. The discharging telescopic pipe is connected in series by multiple folding structures, and a feeding inlet of the discharging telescopic pipe is in communication with a discharging outlet of the material box. The automatic cover opening structure comprises a cover lifting plate and a return spring, the cover lifting plate is rotationally connected to a terminal folding structure of the discharging telescopic pipe, and the cover lifting plate is divided into a lower end provided with a cover lifting part and an upper end connected with one end of the return spring. The other end of the return spring is fixedly connected with an outer side wall of the material box. The driving end of the docking driving mechanism is fixedly connected with the terminal folding structure of the discharging telescopic pipe. When the terminal folding structure of the discharging telescopic pipe is driven to move by the docking driving mechanism, the cover lifting plate rotates upward around the rotation center thereof and lifts the cover of the hopper of the seeder, and the discharging outlet of the discharging telescopic pipe extends above the opening of the hopper of the seeder.

[0009] The working principle of the automatic refilling vehicle suitable for the unmanned seeding machine is as follows:

[0010] When the unmanned seeding machine plans a work route, the number of route lines is generally even, and when even-numbered route lines are completed and there are still some seeds left in the seed box, but the seeds are insufficient to complete a new route line, the unmanned seeding machine will stop working at the edge of the road and wait for refilling.

[0011] The seeds to be seeded are loaded into the refilling box, the refilling box is moved to the refilling point through the vehicle body, and is parked in front of the hopper of the seeding machine (the control distance is within the maximum length range of the telescopic downpipe); then, the telescopic downpipe is driven to move towards the hopper of the seeding machine through the docking driving mechanism, so that the multiple folding structures gradually change from the folded state to the stretched state, thereby lengthening the length of the telescopic downpipe; at the same time, the cover plate rotates upward around its rotation center and pries open the cover of the hopper of the seeding machine, and then the discharge port of the telescopic downpipe extends above the opening of the hopper of the seeding machine. The screw conveying rod is driven to rotate through the feeding driving mechanism, the seeds in the refilling box are conveyed into the telescopic downpipe, and then are transferred to the hopper of the seeding machine through the telescopic downpipe, so as to perform refilling. When the hopper of the seeding machine is full, the screw conveying rod stops feeding, the telescopic downpipe is retracted, and the standby state is changed.

[0012] In one preferred embodiment of the present application, the screw conveying rod, the telescopic downpipe and the automatic cover opening structure are all provided with multiple groups. In this way, the refilling work of multiple hoppers of the seeding machine can be completed at one time, and the refilling efficiency is improved.

[0013] Further, the docking driving mechanism includes a docking driving hydraulic cylinder and a docking transmission rod, and the two ends of the docking driving hydraulic cylinder are respectively connected with the docking transmission rod and the refilling box;

[0014] The docking transmission rod is transversely arranged, and is rotationally connected with the cover plate of the multiple automatic cover opening structures and fixedly connected with the end folding structure of the multiple telescopic downpipes. Through the above structure, one docking driving mechanism can be shared to simultaneously realize multiple refilling docking operations, thereby completing the refilling work.

[0015] Further, the telescopic downpipe is connected with the refilling box through a spacing adjustment structure, and the spacing adjustment structure includes an adjustment plate and a guide groove, the guide groove is transversely arranged on the side wall of the refilling box, and the lower end of the adjustment plate extends into the guide groove, and the adjustment plate is fixedly connected with the first end folding structure of the telescopic downpipe. Through the above structure, different seeding machine row spacings can be adapted, and the discharge port and the hopper of the seeding machine can be aligned.

[0016] One preferred scheme of the present application, wherein, the docking mechanism further comprises a replenishment switch, the replenishment switch comprises a baffle and a switch driving mechanism; the switch driving mechanism is arranged on the end folding structure of the feeding telescopic conduit;

[0017] The baffle is fixedly connected with the driving end of the switch driving mechanism.

[0018] Further, the switch driving mechanism comprises a switch driving motor and a switch transmission assembly, the switch transmission assembly comprises a switch transmission rod and a switch transmission eccentric wheel, and the two ends of the switch transmission rod are fixedly connected with the switch transmission eccentric wheel and the baffle respectively.

[0019] One preferred scheme of the present application, wherein, the bottom of the material box is provided with an inverted trapezoidal groove, and the spiral conveying rod is arranged in the groove.

[0020] One preferred scheme of the present application, wherein, the feeding driving mechanism comprises a feeding driving motor and a feeding transmission assembly, and the feeding transmission assembly comprises a synchronous wheel and a synchronous belt.

[0021] One preferred scheme of the present application, wherein, the automatic replenishment device further comprises a lifting and discharging structure, the lifting and discharging structure comprises a lifting and discharging hydraulic cylinder.

[0022] One end of the material box close to the docking mechanism is rotationally connected to the vehicle body.

[0023] The cylinder body of the lifting and discharging hydraulic cylinder is rotationally connected to the vehicle body, and the telescopic rod of the lifting and discharging hydraulic cylinder is rotationally connected to the bottom surface of the material box. In this way, the gravitational potential energy of the material can be improved, and the material can be conveniently discharged and discharged by gravity.

[0024] One preferred scheme of the present application, wherein, the position of the inner wall of the material box which is in line with the height of the spiral conveying rod is provided with a material level sensor, and when the material height is lower than the set threshold, the initial point is returned to manually add material.

[0025] One preferred scheme of the present application, wherein, the replenishment control system further comprises a communication control module and a satellite positioning and navigation module.

[0026] The communication control module communicates with the unmanned seeding machine in real time to obtain the coordinate information of the unmanned seeding machine.

[0027] The satellite positioning and navigation module plans a path according to the coordinate information of the unmanned seeding machine and drives to a new replenishment point.

[0028] During the replenishment work, the communication control module obtains the attitude information of the unmanned seeding machine, and adjusts the body angle through the satellite positioning and navigation module to keep consistent with the unmanned seeding machine.

[0029] Compared with the prior art, the present application has the following beneficial effects:

[0030] 1、The automatic material supplementing vehicle can realize automatic material supplementing, greatly reduces the labor intensity of manual material supplementing, improves the operation efficiency, and improves the automation and unmanned degree of unmanned seeding operation in an unmanned farm.

[0031] 2、By arranging the automatic cover opening structure, the cover plate rotates upward around the rotation center thereof and opens the cover of the hopper of the seeding machine in the process of moving the telescopic conduit downward to the hopper of the seeding machine, so that the cover of the hopper of the seeding machine does not need to be opened manually, the structure is very ingenious, and is convenient and practical. BRIEF DESCRIPTION OF DRAWINGS

[0032] Fig. 1-2 Fig. 1 is a perspective view of the automatic material supplementing vehicle suitable for the unmanned seeding machine according to the present application.

[0033] Fig. 3 Fig. 2 is a perspective view of the automatic material supplementing vehicle suitable for the unmanned seeding machine according to the present application. Fig. 1 Fig. 3 is an enlarged view of X in Fig. 2. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to have a better understanding of the technical solutions of the present application, the present application will be further described below in combination with the embodiments and the drawings, but the implementation manners of the present application are not limited thereto.

[0035] Referring to Fig. 1, Fig. 1-3 The automatic material supplementing vehicle suitable for the unmanned seeding machine according to the present application comprises a vehicle body 1 and an automatic material supplementing device arranged on the vehicle body 1; the automatic material supplementing device comprises a material box 2 for loading material, a feeding mechanism for feeding the material in the material box 2, and a butt joint mechanism for butt jointing the hopper of the seeding machine; the feeding mechanism comprises a spiral conveying rod 3 and a feeding driving mechanism, and the spiral conveying rod 3 is arranged at the bottom of the material box 2.

[0036] Referring to Fig. 2, Fig. 1-3The docking mechanism comprises a blanking telescopic conduit 4, an automatic uncovering structure and a docking driving mechanism; the blanking telescopic conduit 4 is connected in series by multiple folding structures, and the feeding inlet of the blanking telescopic conduit 4 is communicated with the discharging outlet of the material box 2; the automatic uncovering structure comprises a lifting plate 5 and a return spring 6, the lifting plate 5 is rotationally connected to the terminal folding structure of the blanking telescopic conduit 4; the lower end of the lifting plate 5 is provided with a lifting part, and the upper end of the lifting plate 5 is connected with one end of the return spring 6; the other end of the return spring 6 is fixedly connected with the outer side wall of the material box 2; the driving end of the docking driving mechanism is fixedly connected with the terminal folding structure of the blanking telescopic conduit 4; when the terminal folding structure of the blanking telescopic conduit 4 is driven to move by the docking driving mechanism, the lifting plate 5 rotates upward around the rotation center thereof and lifts the cover of the hopper of the seeding machine, and the discharging outlet of the blanking telescopic conduit 4 extends above the opening of the hopper of the seeding machine.

[0037] Referring to Fig. 1-3 The spiral conveying rod 3, the blanking telescopic conduit 4 and the automatic uncovering structure are all provided with multiple groups. In this way, the feeding work of multiple hoppers of seeding machines can be completed at one time, and the feeding efficiency is improved.

[0038] Further, the docking driving mechanism comprises a docking driving hydraulic cylinder 7 and a docking transmission rod 8, the two ends of the docking driving hydraulic cylinder 7 are respectively connected with the docking transmission rod 8 and the material box 2; the docking transmission rod 8 is transversely arranged, and the docking transmission rod 8 is rotationally connected with the lifting plates 5 of multiple automatic uncovering structures and fixedly connected with the terminal folding structures of multiple blanking telescopic conduits 4. Through the above structure, one docking driving mechanism is shared, and multiple feeding docking operations can be simultaneously realized, so that the feeding work is completed.

[0039] Referring to Fig. 3 The blanking telescopic conduit 4 is connected with the material box 2 through a spacing adjusting structure, the spacing adjusting structure comprises an adjusting plate 9 and a guide groove, the guide groove is transversely arranged on the side wall of the material box 2, and the lower end of the adjusting plate 9 extends into the guide groove, and the adjusting plate 9 is fixedly connected with the first end folding structure of the blanking telescopic conduit 4. Through the above structure, different spacing between rows of seeding machines can be adapted, and the blanking outlet is convenient to align with the hopper of the seeding machine.

[0040] Referring to Fig. 3 The docking mechanism further comprises a feeding switch, the feeding switch comprises a baffle 10 and a switch driving mechanism; the switch driving mechanism is arranged on the terminal folding structure of the blanking telescopic conduit 4; and the baffle 10 is fixedly connected with the driving end of the switch driving mechanism.

[0041] Further, the switch driving mechanism comprises a switch driving motor 11 and a switch transmission assembly, the switch transmission assembly comprises a switch transmission rod 12 and a switch transmission eccentric wheel 13, and two ends of the switch transmission rod 12 are fixedly connected with the switch transmission eccentric wheel 13 and the baffle 10 respectively.

[0042] Referring to Fig. 1 , the bottom of the material box 2 is provided with an inverted trapezoidal groove, and the spiral conveying rod 3 is arranged in the groove to avoid forming a material accumulation dead angle.

[0043] Referring to Fig. 2 , the feeding driving mechanism comprises a feeding driving motor 14 and a feeding transmission assembly, and the feeding transmission assembly comprises a synchronous wheel and a synchronous belt.

[0044] Referring to Fig. 2 , the automatic material supplementing device further comprises a lifting and discharging structure, the lifting and discharging structure comprises a lifting and discharging hydraulic cylinder 15; one end of the material box 2 close to the docking mechanism is rotationally connected to the vehicle body 1; the cylinder body of the lifting and discharging hydraulic cylinder 15 is rotationally connected to the vehicle body 1, and the telescopic rod of the lifting and discharging hydraulic cylinder 15 is rotationally connected to the bottom surface of the material box 2. In this way, the gravitational potential energy of the material falling can be improved, and the material can be conveniently discharged and discharged by gravity.

[0045] Referring to Fig. 1 , the inner wall of the material box 2 is provided with a material level sensor at a position with the same height as the spiral conveying rod 3, and when the material height is lower than a set threshold, the initial point is returned to manually supplement the material.

[0046] Specifically, the automatic material supplementing vehicle of the embodiment further comprises a material supplementing control system, the material supplementing control system comprises a communication control module and a satellite positioning and navigation module; the communication control module communicates with the unmanned seeding machine in real time to obtain coordinate information of the unmanned seeding machine; the satellite positioning and navigation module plans a path according to the coordinate information of the unmanned seeding machine to drive to a new material supplementing point; in the material supplementing work, the communication control module obtains attitude information of the unmanned seeding machine, and adjusts the angle of the vehicle body 1 through the satellite positioning and navigation module to keep consistent with the unmanned seeding machine.

[0047] Referring to Fig. 1-3 , the working principle of the automatic material supplementing vehicle suitable for the unmanned seeding machine of the embodiment is as follows:

[0048] When the unmanned seeding machine plans a working route, the number of route lines is generally even, and when the unmanned seeding machine completes an even number of route lines and there is still residual seed in the seed box but the residual seed is insufficient to complete a new whole route line, the unmanned seeding machine will stop working at the edge of the road and wait for material supplementing.

[0049] The seeds to be sowed are loaded into the material box 2, the vehicle body 1 carries the material box 2 to move to the replenishment point, and stops in front of the hopper of the seeding machine (the control distance is within the maximum length of the downfeed telescopic pipe 4); then, the downfeed telescopic pipe 4 is driven by the docking driving mechanism to move towards the hopper of the seeding machine, so that the multiple folding structure gradually changes from the folded state to the stretched state, thereby lengthening the downfeed telescopic pipe 4; at the same time, the flap 5 rotates upwards around its rotation center and pries open the cover of the hopper of the seeding machine, and then the discharge port of the downfeed telescopic pipe 4 extends above the opening of the hopper of the seeding machine. The screw conveying rod 3 is driven by the feeding driving mechanism to rotate, the seeds in the material box 2 are conveyed into the downfeed telescopic pipe 4, and then transferred into the hopper of the seeding machine through the downfeed telescopic pipe 4, thereby replenishing the seeds. When the hopper of the seeding machine is full, the screw conveying rod 3 stops feeding, the downfeed telescopic pipe 4 is retracted, and the standby state is changed.

[0050] The above is the preferred embodiment of the present application, but the embodiments of the present application are not limited by the above, and any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present application shall be equivalent replacement methods, and all shall be included in the protection scope of the present application.

Claims

1. An automatic feeding vehicle suitable for unmanned seeders, characterized in that, This includes the vehicle body and the automatic refueling device installed on the vehicle body; The automatic feeding device includes a material bin for loading materials, a feeding mechanism for conveying the materials in the material bin, and a docking mechanism for docking with the hopper of the seeder. The feeding mechanism includes a screw conveyor and a feeding drive mechanism, wherein the screw conveyor is disposed at the bottom of the material box; The docking mechanism includes a feeding telescopic guide tube, an automatic cover opening structure, and a docking drive mechanism. The feeding telescopic guide tube is composed of multiple folded structures connected in series, and its inlet is connected to the outlet of the hopper. The automatic cover opening structure includes a lifting cover plate and a return spring. The lifting cover plate is rotatably connected to the end folded structure of the feeding telescopic guide tube. With the rotation center of the lifting cover plate as the boundary, the lower end of the lifting cover plate is provided with a lifting cover part, and the upper end of the lifting cover plate is connected to one end of the return spring. The other end of the return spring is fixedly connected to the outer wall of the hopper. The drive end of the docking drive mechanism is connected to the end folded structure of the feeding telescopic guide tube. When the docking drive mechanism drives the end folded structure of the feeding telescopic guide tube to extend and move, the lifting cover plate rotates upward around its own rotation center and lifts open the cover of the seeder's hopper, and the outlet of the feeding telescopic guide tube extends above the opening of the seeder's hopper. The docking drive mechanism includes a docking drive hydraulic cylinder and a docking transmission rod, with the two ends of the docking drive hydraulic cylinder connected to the docking transmission rod and the material box, respectively. The docking transmission rod is arranged horizontally, and the docking transmission rod is rotatably connected to the lifting cover plate of multiple automatic cover opening structures and to the end folding structure of multiple material feeding telescopic guide tubes. The docking mechanism also includes a material replenishment switch, which includes a baffle and a switch driving mechanism; the switch driving mechanism is disposed on the end folding structure of the material feeding telescopic guide tube; The baffle is fixedly connected to the drive end of the switch driving mechanism; The switch drive mechanism includes a switch drive motor and a switch transmission assembly. The switch transmission assembly includes a switch transmission rod and a switch transmission eccentric wheel. The two ends of the switch transmission rod are fixedly connected to the switch transmission eccentric wheel and a baffle, respectively.

2. The automatic feeding vehicle for unmanned seeders according to claim 1, characterized in that, The spiral conveyor, the material feeding telescopic guide tube, and the automatic cover opening structure are all equipped with multiple sets.

3. The automatic feeding vehicle for unmanned seeders according to claim 2, characterized in that, The material feeding telescopic guide tube is connected to the material box through a spacing adjustment structure, which includes an adjustment plate and a guide groove. The guide groove is horizontally arranged on the side wall of the material box, and the lower end of the adjustment plate extends into the guide groove. The adjustment plate is fixedly connected to the folding structure at the beginning of the material feeding telescopic guide tube.

4. The automatic feeding vehicle for unmanned seeders according to claim 1, characterized in that, The bottom of the hopper is provided with an inverted trapezoidal groove, and the spiral conveying rod is disposed in the groove.

5. The automatic feeding vehicle for unmanned seeders according to claim 1, characterized in that, The feeding drive mechanism includes a feeding drive motor and a feeding transmission assembly, which includes a synchronous pulley and a synchronous belt.

6. The automatic feeding vehicle for unmanned seeders according to claim 1, characterized in that, The automatic feeding device also includes a lifting and unloading structure, which includes a lifting and unloading hydraulic cylinder; The end of the material box near the docking mechanism is rotatably connected to the vehicle body; The cylinder body of the lifting and unloading hydraulic cylinder is rotatably connected to the vehicle body, and the telescopic rod of the lifting and unloading hydraulic cylinder is rotatably connected to the bottom surface of the material box.

7. The automatic feeding vehicle for unmanned seeders according to any one of claims 1-6, characterized in that, It also includes a material replenishment control system, which includes a communication control module and a satellite positioning and navigation module; The communication control module communicates with the unmanned seeder in real time to obtain the coordinate information of the unmanned seeder; The satellite positioning and navigation module plans a path to the new refueling point based on the coordinate information of the unmanned seeder. During the feeding operation, the communication control module acquires the attitude information of the unmanned seeder and adjusts the vehicle body angle to keep it consistent with the unmanned seeder through the satellite positioning and navigation module.

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