An intelligent seeding robot

Abstract

The present application provides an intelligent seeding robot, including: a moving mechanism for moving along the seeding direction; a power component disposed on the moving mechanism; a seeding wheel component rotatably disposed on the moving mechanism and drivingly connected to the power component to rotate by the drive of the power component, the seeding wheel component having a seed storage cavity; a plurality of hole-digging and seeding components spaced apart on the circumferential outer wall of the seeding wheel component, the hole-digging and seeding components sequentially digging holes and sowing seeds by the rotation of the seeding wheel component; a seed feeding component fixedly disposed on the moving mechanism and extending from the outside of the seeding wheel component into the seed storage cavity, the seed feeding component being used for quantitatively feeding external seeds into the seed storage cavity; the seeding wheel component has a stop self-locking state in which the adjacent two hole-digging and seeding components located below are both inclined. It solves the problems of high labor intensity and low seeding efficiency in the prior art due to the high dependence of the hand-pushed agricultural seeding wheel on manual operation.

Description

Technical Field

[0001] This application relates to the technical field of seeding devices, and particularly to an intelligent seeding robot. Background Art

[0002] Currently, the mainstream seeders on the market usually require manual operation. Users need to push the seeder forward along the seeding direction, and during the pushing process, the seeding wheel rotates, driving the duckbill to insert into the soil. Then, during the rotation of the wheel, seeds and fertilizers are released, and finally, the soil is covered by the soil pressing wheel at the rear.

[0003] However, the manually pushed agricultural seeding wheel mainly rotates the wheel through manual operation, highly relying on manual labor, resulting in high labor intensity for users, long time consumption, and low seeding efficiency.

[0004] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0005] In view of the above deficiencies of the existing technology, the purpose of this application is to provide an intelligent seeding robot, which solves the problems of high labor intensity and low seeding efficiency caused by the high dependence on manual operation of the manually pushed agricultural seeding wheel in the existing technology.

[0006] This application provides an intelligent seeding robot, including: a moving mechanism for moving along the seeding direction;

[0007] A power component disposed on the moving mechanism;

[0008] A seeding wheel assembly rotatably disposed on the moving mechanism and drivingly connected to the power component to rotate by the drive of the power component. The seeding wheel assembly has a seed storage cavity;

[0009] A plurality of hole-digging and seeding components spaced apart on the circumferential outer wall of the seeding wheel assembly and communicating with the seed storage cavity. The hole-digging and seeding components sequentially dig holes and plant seeds through the rotation of the seeding wheel assembly;

[0010] A seed feeding component fixedly disposed on the moving mechanism and extending from the outside of the seeding wheel assembly into the seed storage cavity. The seed feeding component is used to quantitatively feed external seeds into the seed storage cavity;

[0011] The seeding wheel assembly has a stop self-locking state in which the adjacent two hole-digging and seeding components located below are both inclined.

[0012] Optionally, the power component includes: a motor fixedly disposed on the moving mechanism;

[0013] A chain transmission member with one end connected to the motor and the other end connected to the seeding wheel assembly,

[0014] Adjust the seeding spacing of multiple hole-digging and seeding components by adjusting the rotational speed of the motor or / and the moving speed of the moving mechanism.

[0015] Optionally, the seeding wheel assembly includes: a main shaft rotatably arranged on the moving mechanism and drivingly connected to the power assembly;

[0016] An outer cover connected to the main shaft and rotated by the drive of the main shaft. The outer cover mates with the support disk on the moving mechanism and encloses a seed storage cavity;

[0017] The hole-digging and seeding components are arranged on the circumferential outer wall of the outer cover.

[0018] Optionally, the hole-digging and seeding component includes: a hole-digging seat having a soil-digging surface on the front and a seeding opening on the back;

[0019] A baffle hinged to the hole-digging seat and covering the seeding opening;

[0020] A control unit arranged on the moving mechanism and connected to the baffle. The baffle is driven by the control unit at a predetermined position through rotation to open the seeding opening.

[0021] Optionally, the control unit includes: a lever fixedly connected to the baffle;

[0022] A return spring connected between the lever and the outer cover to keep the baffle closed at the seeding opening;

[0023] A toggle stopper fixedly arranged on the moving mechanism;

[0024] The rotating lever rotates by the extrusion of the toggle stopper to drive the baffle to rotate and open the seeding opening.

[0025] Optionally, the seed feeding assembly includes: a seed inlet section having an inlet channel;

[0026] An eye wheel located in the seed storage cavity and connected to the main shaft. A set of eye sockets is arranged on the circumferential outer wall of the eye wheel, and a plurality of holes are arranged at intervals in the set of eye sockets;

[0027] The eye wheel is located below the inlet channel, blocks the inlet channel, and rotates to move the set of eye sockets in and out between the inlet channel and the seed storage cavity.

[0028] Optionally, there are multiple sets of eye sockets, and the multiple sets of eye sockets are arranged at intervals along the circumferential direction of the eye wheel;

[0029] The number of sets of eye sockets matches the number of hole-digging and seeding components.

[0030] Optionally, the intelligent seeding robot further includes: a soil pressing wheel, which is rotatably connected to the moving mechanism and is located behind the seeding wheel assembly in the seeding direction;

[0031] The soil pressing wheel is drivingly connected to the power assembly.

[0032] Optionally, the moving mechanism includes: a seeding frame, on which the power assembly and the seeding wheel assembly are both arranged;

[0033] A driving wheel, which is arranged on the seeding frame and is used to drive the seeding frame to move along the seeding direction.

[0034] Optionally, the seeding frame, the power assembly and the seeding wheel assembly are all detachably connected.

[0035] Beneficial effects: In an intelligent seeding robot in this application, the moving mechanism moves in the seeding direction, the power assembly drives the seeding wheel assembly to rotate, and the rotating seeding wheel assembly drives a plurality of hole-digging seeding assemblies to dig the soil on the ridge in sequence and plant seeds. Thus, the automatic movement and hole-digging and seeding of the seeding robot are realized. When it is necessary to move to different positions on the ridge for seeding, the power assembly can be stopped and only the moving mechanism can be operated to move. The stopped power assembly makes the seeding wheel assembly also stop rotating and has a shutdown self-locking state. In the shutdown self-locking state, the seeding wheel assembly is in a predetermined position. At this position, two adjacent hole-digging seeding assemblies located below the seeding wheel assembly are both in an inclined position, so that the hole-digging seeding assembly below can be far away from the ridge surface, and there is a certain distance between the hole-digging seeding assembly and the ridge surface. Therefore, during the movement of the moving assembly, the seeding wheel assembly can maintain the predetermined shutdown position, and the hole-digging seeding assemblies on it will not rotate freely due to gravity or the action of the ridge surface; this shutdown self-locking state increases the safety of the equipment and also ensures the seeding accuracy. The design of this intelligent seeding robot makes the operation simpler, does not require manual operation by the user, reduces the labor intensity, and improves the work efficiency. And the structural design is relatively simple, which is not only convenient for installation and maintenance, but also reduces the manufacturing cost of the equipment. At the same time, due to the simple structure, the stability and reliability of the equipment are also ensured. Description of the Drawings

[0036] Figure 1 It is a schematic structural diagram of the main structure of an intelligent seeding robot according to an embodiment of this application;

[0037] Figure 2 It is a schematic diagram of the principle of the seeding wheel assembly of an intelligent seeding robot according to an embodiment of this application when digging holes;

[0038] Figure 3 It is a schematic diagram of the principle of the seeding wheel assembly of an intelligent seeding robot according to an embodiment of this application in the shutdown self-locking state;

[0039] Figure 4 A schematic diagram of a partial structure of an intelligent seeding robot according to an embodiment of the present application;

[0040] Figure 5 A cross-sectional view of an intelligent seeding robot according to an embodiment of the present application;

[0041] Figure 6 Schematic diagram of the structure of a socket wheel of an intelligent sowing robot according to an embodiment of the present application, wherein Figure 6 (a) is a schematic diagram of a cylindrical socket wheel. Figure 6 (b) is a schematic diagram of a conical socket wheel.

[0042] In the figure: 10, ridge; 100, moving mechanism; 110, seed drill frame; 120, driving wheel; 130, supporting plate; 200, power assembly; 210, motor; 220, chain transmission member; 300, seeding wheel assembly; 310, main shaft; 320, outer cover; 321, seed storage chamber; 400, nest digging and sowing assembly; 410, nest digging seat; 411, digging surface; 412, sowing port; 420, baffle; 430, control unit; 431, lever; 432, return spring; 433, toggle stopper; 434, guide length; 500, seed delivery assembly; 510, seed introduction unit; 511, introduction channel; 520, socket wheel; 530, socket group; 531, socket; 600, soil pressing wheel. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present application clearer and more specific, the present application is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific examples described here are only used to explain the present application and are not used to limit the present application.

[0044] like Figure 1 , Figure 2 As shown, this embodiment proposes an intelligent sowing robot, which mainly includes: a mobile mechanism 100, a power assembly 200, a sowing wheel assembly 300, a plurality of nest digging sowing assemblies 400 and a seed delivery assembly 500. The mobile mechanism 100 is used to move along the sowing direction, so that the entire intelligent sowing robot can move as a whole along the sowing direction. The power assembly 200 is arranged on the mobile mechanism 100, and the sowing wheel assembly 300 is rotatably arranged on the mobile mechanism 100 and is transmission-connected to the power assembly 200, and rotates through the drive of the power assembly 200. The sowing wheel assembly 300 has a seed storage cavity 321 (such as Figure 5As shown in the figure. The power assembly 200 and the seeding wheel assembly 300 can move under the drive of the moving mechanism 100. A plurality of hole-digging and seeding assemblies 400 are arranged at intervals on the circumferential outer wall of the seeding wheel assembly 300 and all protrude from the circumferential outer wall of the seeding wheel assembly 300. The hole-digging and seeding assemblies 400 are all communicated with the seed storage cavity 321. The hole-digging and seeding assemblies 400 dig holes and sow seeds in sequence on the ridge 10 through the rotation of the seeding wheel assembly 300. The seed feeding assembly 500 is fixedly arranged on the moving mechanism 100 and extends from the outside of the seeding wheel assembly 300 into the seed storage cavity 321. The seed feeding assembly 500 is used to quantitatively feed external seeds into the seed storage cavity 321. Through the quantitative feeding of seeds by the seed feeding assembly 500, the number of seeds sown by the hole-digging and seeding assemblies 400 each time is certain, and the best seeding quantity can be achieved, thereby ensuring the stable growth of plants.

[0045] Before the intelligent seeding robot of this embodiment moves to the ridge position through the moving component, the seeding wheel assembly 300 does not need to move. At this time, the seeding wheel assembly 300 is in a shutdown self-locking state. When the intelligent seeding robot needs to dig holes and sow seeds at the ridge 10 position, usually the ridge position is higher than the walking ground of the seeding robot. Therefore, the seeding robot can move in the field path between the ridges, and the seeding wheel assembly 300 is located above the surface of the ridge 10. At this time, the seeding wheel assembly 300 is in a starting working state. In the starting working state, the power assembly 200 drives the seeding wheel assembly 300 to rotate. When the hole-digging and seeding assembly 400 rotates to the lower part of the seeding wheel assembly 300, it will dig the ridge 10 and sow seeds. As Figure 3 shown, when the intelligent seeding robot only moves without sowing, in the shutdown self-locking state of the seeding wheel assembly 300, the adjacent two hole-digging and seeding assemblies 400 located below are both inclined. For example, with the vertical plane where the central axis of the seeding wheel assembly 300 is located as the center, the adjacent two hole-digging and seeding assemblies 400 located below on both sides of the vertical plane are both inclined, and the connection line of the lowermost ends of the two hole-digging and seeding assemblies 400 is in a horizontal state, so that the distance between the connection line of the lowermost two hole-digging and seeding assemblies 400 and the surface of the ridge 10 is the largest, and the lowermost hole-digging and seeding assembly 400 does not contact the surface of the ridge 10 in the shutdown self-locking state. Since the adjacent two hole-digging and seeding assemblies 400 below are inclined, the lower end of the hole-digging and seeding assembly 400 does not contact the surface of the ridge 10, so that it will not interfere with the movement of the intelligent seeding robot.

[0046] As Figure 1 、 Figure 2 、 Figure 3As shown in the figure, in an intelligent seeding robot of this embodiment, when it is necessary to move to different positions of the ridge for seeding, the power assembly 200 can be stopped and only the moving mechanism 100 can be operated for movement. The stopped power assembly 200 also stops the rotation of the seeding wheel assembly 300 and has a shutdown self-locking state. In the shutdown self-locking state, the seeding wheel assembly 300 is in a predetermined position. At this position, two adjacent hole-digging and seeding assemblies 400 located below the seeding wheel assembly 300 are both in an inclined position, so that the lower hole-digging and seeding assemblies 400 can be far away from the ridge surface, and there is a certain distance between the hole-digging and seeding assemblies 400 and the ridge surface. Therefore, during the movement of the moving assembly, the seeding wheel assembly 300 can be kept in the predetermined shutdown position, and the hole-digging and seeding assemblies 400 thereon will not rotate freely due to gravity or the action of the ridge surface; this shutdown self-locking state increases the safety of the equipment and also ensures the seeding accuracy. The design of this intelligent seeding robot makes the operation more convenient, does not require manual operation by the user, reduces the labor intensity, and improves the work efficiency. And the structural design is relatively simple, which is not only convenient for installation and maintenance, but also reduces the manufacturing cost of the equipment. At the same time, due to the simple structure, the stability and reliability of the equipment are also ensured.

[0047] As Figure 1 shown, further, the moving mechanism 100 in this embodiment specifically includes: a seeding frame 110 and driving wheels 120. A plurality of driving wheels 120 are provided, and the driving wheels 120 are arranged on the seeding frame 110 and are used to drive the seeding frame 110 to move along the seeding direction. The driving wheels 120 can be powered by the robot power system, so that this intelligent seeding robot can be controlled to move to different positions. The power assembly 200 and the seeding wheel assembly 300 are both arranged on the seeding frame 110, and the seeding frame 110 provides support for the main components and drives the main components to move.

[0048] As Figure 1 shown, further, the seeding frame 110, the power assembly 200, and the seeding wheel assembly 300 in this embodiment are all detachably connected. The main components are detachably connected to the seeding frame 110, so that the structure is modularized, which is convenient for quick disassembly and improves the disassembly and installation efficiency. The structure is optimized to make it more simple and practical.

[0049] As Figure 1 、 Figure 2As shown in the figure, further, the power component 200 of the intelligent seeding robot in this embodiment specifically includes: a motor 210 and a chain transmission member 220. The motor 210 is fixedly arranged on the moving mechanism 100 through a bracket. The rotating shaft of the motor 210 is connected to a transmission shaft through a speed reducer. The transmission shaft is rotatably arranged on the seeding frame 110 in the left-right direction through a bearing seat. The motor 210 runs at a reduced speed after passing through the speed reducer. The chain transmission member 220 includes a driving sprocket, a driven sprocket, and a chain sleeved on the driving sprocket and the driven sprocket. The driving sprocket is connected to the transmission shaft, and the driven sprocket is connected to the seeding wheel assembly 300 to drive it to rotate synchronously. When the moving speed of the moving mechanism 100 remains unchanged, the seeding spacing of multiple hole-digging and seeding components 400 can be adjusted by adjusting the rotating speed of the motor 210. In this case, the moving speed of the moving mechanism 100 is relatively slow, so that the length of the holes dug by the hole-digging and seeding components 400 is not large, and the area with deeper hole-digging is large. This situation is suitable for planting plant seeds that need to be buried deeper. Thus, the length of the hole-digging can be effectively controlled. When the rotating speed of the motor 210 remains unchanged, the seeding spacing of multiple hole-digging and seeding components 400 can be adjusted by adjusting the moving speed of the moving mechanism 100. In this case, increasing the moving speed makes the dug holes longer, and the area with deeper hole-digging is small. This situation is suitable for planting plant seeds that need to be buried shallower. In addition, the seeding spacing of multiple hole-digging and seeding components 400 can also be adjusted by simultaneously adjusting the rotating speed of the motor 210 and the moving speed of the moving mechanism 100. By simultaneously adjusting the rotating speed of the motor 210 and the moving speed of the moving mechanism 100 and matching them to adjust the seeding spacing, holes that are both deep and long can be dug, so as to be suitable for planting plant seeds that need to be buried deeper and have a relatively large number of seeds in the same hole. By matching different rotating speeds of the motor 210 with different moving speeds of the moving mechanism 100, different hole shapes can be dug to adapt to the sowing of different plant seeds and be more suitable for the growth of the seeds.

[0050] The motor 210 in this embodiment can rotate at a rated speed of 3000 rad / s. The speed reducer can be integrated inside the motor 210. The speed reducer reduces the speed at a reduction ratio of 25 and outputs it to the driving sprocket through the transmission shaft at a speed of 120 rad / s, so that the driving sprocket also rotates at a speed of 120 rad / s and is transmitted to the driven sprocket through the chain at a transmission ratio of 1:1. Then the driven sprocket drives the seeding wheel assembly 300 to rotate at a speed of 120 rad / s, so that the seeding wheel assembly 300 travels and rotates at a rate of 1.5 m / s, enabling it to sow at a plant spacing. Using this speed, radish seeds can be planted to keep the standard plant spacing of radish seeds and make the radish grow better.

[0051] Moreover, in the shutdown and self-locking state, the engagement between the chain and the driving sprocket and the driven sprocket can prevent the driving sprocket and the driven sprocket from rotating freely without external force. Therefore, when the motor 210 stops rotating, the chain also stops moving, so that the seeding wheel assembly 300 connected to the chain also stops rotating, realizing self-locking.

[0052] As Figure 2 、 Figure 4 shown, further, the seeding wheel assembly 300 in this embodiment specifically includes: a main shaft 310 and an outer cover 320. The main shaft 310 is rotatably arranged on the moving mechanism 100 through a bearing seat and is drivingly connected to the power assembly 200. The outer cover 320 is connected to the main shaft 310 and rotates driven by the main shaft 310. The outer cover 320 cooperates with the support disk 130 on the moving mechanism 100 to enclose a seed storage cavity 321; the hole-digging and seeding assembly 400 is arranged on the circumferential outer wall of the outer cover 320. In the specific structure, the main shaft 310 is rotatably arranged in front of the transmission shaft. One side of the outer cover 320 in the left-right direction is open, and the main shaft 310 passes through the outer cover 320 and is connected to the outer cover 320. A support disk 130 is fixedly connected to the seeding machine frame 110. The support disk 130 is fixed and covers the opening of the outer cover 320 to seal the opening. Thus, the seed storage cavity 321 can be closed without interfering with the rotation of the outer cover 320, preventing the seeds from running out.

[0053] As Figure 2 、 Figure 4 shown, further, the hole-digging and seeding assembly 400 in this embodiment specifically includes: a hole-digging seat 410, a baffle 420, and a control part 430. The hole-digging seat 410 has a soil-digging surface 411 on the front side and a seeding port 412 on the back side. The baffle 420 is hinged to the hole-digging seat 410 and covers the seeding port 412. The control part 430 is arranged on the moving mechanism 100 and is connected to the baffle 420. The baffle 420 is driven by the control part 430 at a predetermined position through rotation to open the seeding port 412. In the specific structure, the rotation direction of the seeding wheel assembly 300 is opposite to the rotation direction of the driving wheel 120. Taking the forward movement of the moving mechanism 100 as an example, then the hole-digging and seeding assembly 400 also digs holes from the back to the front. The front side of the hole-digging seat 410 is the front, and the back side of the hole-digging seat 410 is the back. First, the soil-digging surface 411 is used to dig holes, and then the control part 430 opens the seeding port 412 at the back, so that the seeds can be exactly scattered into the dug holes, realizing automatic seeding.

[0054] As Figure 2 、 Figure 3 、 Figure 4As shown, further, the control unit 430 in this embodiment specifically includes: a lever 431, a return spring 432, and a toggle stopper 433. The lever 431 is fixedly connected to the baffle 420, and the return spring 432 is connected between the lever 431 and the outer cover 320 to close the seeding opening 412 with the baffle 420. The toggle stopper 433 is fixedly arranged on the moving mechanism 100. The rotating lever 431 rotates by the extrusion of the toggle stopper 433 to drive the baffle 420 to rotate and open the seeding opening 412. During the specific use process, the toggle stopper 433 is fixed on the seeding machine frame 110 without moving, but it protrudes on the rotation path of the lever 431. During the rotation of the seeding wheel assembly 300, the lever 431 presses the baffle 420 against the seeding opening 412 under the action of the return spring 432, closing the seeding opening 412 so that seeds cannot be scattered from the seeding opening 412. As the lever 431 moves, the end of the lever 431 away from the baffle 420 touches the toggle stopper 433 and rotates around the connection with the baffle 420 under the extrusion of the toggle stopper 433. During the rotation process, the return spring 432 is pulled to generate a return force, and the baffle 420 is driven to rotate to open the seeding opening 412, allowing seeds to be scattered from the seeding opening 412. The end of the lever 431 away from the baffle 420 has a certain guiding length 434, and the contact time between the guiding length 434 and the toggle stopper 433 is the time to open the seeding opening 412. As the rotation continues, the guiding length 434 disengages from the toggle stopper 433. At this time, the lever 431 returns under the return force of the return spring 432 and drives the baffle 420 to close the seeding opening 412.

[0055] As Figure 1 , Figure 4 , Figure 5As shown in the figure, further, the seed feeding component 500 in this embodiment specifically includes a seed introduction part 510 and a cell wheel 520. The seed introduction part 510 can be composed of a plurality of pipe structures, so as to form an introduction channel 511 in the seed introduction part 510. An outer opening is provided above the seed introduction part 510, and seeds can be put in through the outer opening. The put-in seeds flow into the lower part of the seed introduction part 510 through the introduction channel 511, and the lower part of the seed introduction part 510 is located in the seed storage cavity 321. The cell wheel 520 is located in the seed storage cavity 321 and connected to the main shaft 310. A cell group 530 is arranged on the circumferential outer wall of the cell wheel 520, and a plurality of cell holes 531 are arranged at intervals in the cell group 530. The cell wheel 520 is located below the introduction channel 511, blocks the introduction channel 511, and makes the cell group 530 enter and exit between the introduction channel 511 and the seed storage cavity 321 by rotating. Therefore, by arranging the cell wheel 520 below the introduction channel 511 for blocking, a buffer space is formed below the introduction channel 511. The seeds are first stored in the buffer space. As the cell wheel 520 rotates, the seeds in the buffer space will run into the cell holes 531. The cell holes 531 are rotated out of the buffer space and into the seed storage cavity 321. When the cell holes 531 rotate to the position where the orifice is downward, the seeds in the cell holes 531 will fall below the seed storage cavity 321. At this time, the corresponding hole-digging and sowing component 400 is located below, and under the guidance of the inner wall of the housing, the seeds slide into the sowing opening 412 of the hole-digging seat 410. And the number of the cell holes 531 corresponds to the number of seeds sown at one time. For example, when sowing radishes, the most suitable number of seeds in one pit is 5, so the number of cell holes 531 in the cell group 530 is 5, thus realizing the quantitative sowing of seeds.

[0056] The cell wheel 520 in this solution can adopt a cylindrical wheel (as shown in Figure (a) in Figure 6 ), or a frustum-shaped wheel (as shown in Figure (b) in Figure 6 ). As shown in Figure (b) in Figure 6 , when adopting a frustum-shaped wheel, the outer wall of the whole cell wheel 520 is inclined in the left-right direction, and the diameter of the outer wall of the cell wheel 520 on the side facing the support disk 130 is larger than the diameter on the side away from the support disk 130. Thus, the seeds entering the buffer space will continue to flow toward the side away from the support disk 130, avoiding the situation that when the number of seeds is relatively small, the seeds cannot cover the cell holes 531 at the end far from the seed introduction part 510. Thus, the seeds can fall into the cell holes 531 better.

[0057] In addition, the cell holes 531 in this embodiment can be distributed along the axial direction of the cell wheel 520 (as shown in Figure (a) in Figure 6 ), or can be spirally distributed on the surface of the cell wheel 520 (as shown in Figure (b) in Figure 6 ). As shown inFigure 6 As shown in Figure (b), in a spiral distribution form, the holes 531 in the same cell group 530 enter the seed storage cavity 321 at different times, so that the seeds enter the lower sowing opening 412 in sequence. This can prevent the seeds discharged simultaneously from colliding and squeezing each other during the rotation of the outer shell and deviating from the track, resulting in deviation from the sowing opening 412 and incorrect sowing quantity.

[0058] As Figure 2 、 Figure 5 shown, further, multiple cell groups 530 are provided in this embodiment, and the multiple cell groups 530 are arranged at intervals along the circumferential direction of the cell wheel 520. The number of cell groups 530 matches the number of the hole-digging and sowing assemblies 400. Therefore, when one hole-digging and sowing assembly 400 digs a hole, the corresponding cell group 530 rotates into the seed storage cavity 321 for quantitative seed discharge, so that the seeds discharged by the hole-digging and sowing assembly 400 reach the standard seed quantity, realizing quantitative seeding during hole-digging.

[0059] Four hole-digging and sowing assemblies 400 can be provided in this embodiment, and the intervals between each two adjacent hole-digging and sowing assemblies 400 are 90°. When the four hole-digging and sowing assemblies 400 are in the stop self-locking state of the sowing wheel assembly 300, the two adjacent hole-digging and sowing assemblies 400 located below are both inclined at 45°, and the distances from the vertical plane where the central axis of the sowing wheel assembly 300 is located are equal. There are only two hole-digging and sowing assemblies 400 below, so that the distance between the lowest ends of the two hole-digging and sowing assemblies 400 and the ridge surface is the largest. In the stop self-locking state, the lowest hole-digging and sowing assembly 400 does not contact the ridge surface, so as not to interfere with the movement of the intelligent seeding robot.

[0060] As Figure 1 、 Figure 2 shown, further, the intelligent seeding robot in this embodiment further includes: a soil pressing wheel 600, which is rotatably connected to the moving mechanism 100 and is located behind the sowing wheel assembly 300 in the sowing direction. The soil pressing wheel 600 is drivingly connected to the power assembly 200. The soil pressing wheel 600 can be adjusted in the up and down direction to be suitable for different ridge heights. After the front sowing wheel assembly 300 rotates to drive the hole-digging and sowing assembly 400 to dig holes and discharge seeds, during the forward movement of the moving mechanism 100, the soil pressing wheel 600 will pass through the dug soil, so as to push the soil into the holes and compact it, realizing the function of automatic soil filling.

[0061] Specific working principle of this embodiment: The torque output by the motor 210 is transmitted to the seeding wheel assembly 300 through a chain drive. The motor 210 drives the driving sprocket to rotate, and the chain is driven by the driving sprocket, thereby driving the sprocket to drive the seeding wheel assembly 300 to rotate, realizing the transmission of force. When the rotation speed of the motor 210 exceeds 150 R / MIN, the contact area between the chain and the two sprockets is large, which can reduce wear and improve the transmission efficiency. At the same time, the meshing between the chain and the two sprockets also makes the transmission of force more stable and not prone to sliding. When the motor 210 stops rotating, the meshing between the chain and the two sprockets can prevent the sprocket from rotating freely without external force. Therefore, when the motor 210 stops rotating, the chain will also stop moving, so that the seeding wheel assembly 300 connected to the chain also stops rotating, and the seeding wheel assembly 300 is in a shutdown self-locking state, realizing self-locking, so that the hole-digging and seeding assembly 400 is located above the ridge surface without affecting the movement of the intelligent seeding robot.

[0062] In summary, the present application proposes an intelligent seeding robot. Through the precise cooperation of the motor, the chain and the sprocket, the rotation speed of the motor can be changed according to needs, thereby realizing precise seeding of the seeding wheel. This intelligent design makes the operation more convenient and improves the work efficiency. It has a shutdown self-locking state. When the motor stops rotating, the meshing between the chain and the sprocket can prevent the sprocket from rotating freely without external force, and the motor can achieve self-locking, ensuring that after the motor stops working, the seeding wheel can stay in the set position and away from the ridge surface, and will not rotate freely due to the action of gravity or other external forces. Therefore, the shutdown self-locking state increases the safety of the equipment and also ensures the accuracy of seeding. The structure of this intelligent seeding robot is relatively simple, mainly composed of a motor, a chain, a seeding wheel assembly and a sprocket. This simple structure not only facilitates installation and maintenance, but also reduces the manufacturing cost of the equipment. At the same time, due to the simple structure, the stability and reliability of the equipment are also guaranteed.

[0063] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims

1. An intelligent seeding robot, characterized in that, Comprising: A moving mechanism for moving along the sowing direction; A power assembly disposed on the moving mechanism; A sowing wheel assembly rotatably disposed on the moving mechanism and drivingly connected to the power assembly to rotate by the drive of the power assembly, the sowing wheel assembly having a seed storage cavity; A plurality of hole-digging and sowing assemblies spaced apart on the circumferential outer wall of the sowing wheel assembly and communicating with the seed storage cavity, hole-digging and seed discharging being sequentially performed by the rotation of the sowing wheel assembly; A seed feeding assembly fixedly disposed on the moving mechanism and extending from the outside of the sowing wheel assembly into the seed storage cavity for quantitatively feeding external seeds into the seed storage cavity; The sowing wheel assembly has a stop self-locking state in which the adjacent two hole-digging and sowing assemblies located below are both inclined; taking the vertical plane where the central axis of the sowing wheel assembly is located as the center, the adjacent two hole-digging and sowing assemblies located below on both sides of the vertical plane are both inclined, and the connection line of the lowermost ends of the two hole-digging and sowing assemblies is in a horizontal state, so that the distance between the connection line of the lowermost two hole-digging and sowing assemblies and the surface of the ridge is the largest, and the lowermost hole-digging and sowing assembly does not contact the surface of the ridge in the stop self-locking state; Adjusting the sowing spacing of the plurality of hole-digging and sowing assemblies by simultaneously adjusting the rotation speed of the sowing wheel assembly and the moving speed of the moving mechanism; The intelligent sowing robot further includes: a soil pressing wheel rotatably connected to the moving mechanism and located behind the sowing wheel assembly in the sowing direction; The soil pressing wheel is drivingly connected to the power assembly, and the soil pressing wheel passes through the dug soil to push the soil into the hole and compact it.

2. The intelligent seeding robot according to claim 1, wherein The power assembly includes: a motor fixedly disposed on the moving mechanism; A chain transmission member having one end connected to the motor and the other end connected to the sowing wheel assembly, Adjusting the sowing spacing of the plurality of hole-digging and sowing assemblies by adjusting the rotation speed of the motor or / and adjusting the moving speed of the moving mechanism.

3. The intelligent seeding robot according to claim 1, characterized in that, The sowing wheel assembly includes: a main shaft rotatably disposed on the moving mechanism and drivingly connected to the power assembly; An outer cover connected to the main shaft and rotating by the drive of the main shaft, the outer cover mating with a support disk on the moving mechanism to enclose the seed storage cavity; The hole-digging and sowing assemblies are disposed on the circumferential outer wall of the outer cover.

4. The intelligent seeding robot according to claim 3, characterized in that, The hole-digging and sowing assembly includes: a hole-digging seat having a soil-digging surface on the front and a sowing opening on the back; A baffle hinged to the hole-digging seat and covering the sowing opening; A control portion disposed on the moving mechanism and connected to the baffle, the baffle being driven by the control portion at a predetermined position by rotation to open the sowing opening.

5. The intelligent seeding robot according to claim 4, wherein The control portion includes: a lever fixedly connected to the baffle; A return spring connected between the lever and the outer cover to close the sowing opening by the baffle; A toggle member, which is fixedly arranged on the moving mechanism; The rotating lever rotates by the extrusion of the toggle member to drive the baffle to rotate and open the sowing opening.

6. The intelligent seeding robot according to claim 3, wherein, The seed feeding assembly includes: a seed introduction part, and the seed introduction part has an introduction channel; A cell wheel, which is located in the seed storage cavity and connected to the main shaft. A cell group is arranged on the circumferential outer wall of the cell wheel, and a plurality of cell holes are arranged at intervals in the cell group; The cell wheel is located below the introduction channel, blocks the introduction channel, and makes the cell group enter and exit between the introduction channel and the seed storage cavity by rotation.

7. The intelligent seeding robot according to claim 6, characterized in that, A plurality of the cell groups are arranged, and the plurality of cell groups are arranged at intervals along the circumferential direction of the cell wheel; The number of the cell groups matches the number of the hole-digging and sowing assemblies.

8. The intelligent seeding robot according to any one of claims 1-7, characterized in that, The moving mechanism includes: a sowing frame, and the power assembly and the sowing wheel assembly are both arranged on the sowing frame; A driving wheel, which is arranged on the sowing frame and is used to drive the sowing frame to move along the sowing direction.

9. The intelligent seeding robot according to claim 8, characterized in that, The sowing frame is detachably connected to the power assembly and the sowing wheel assembly.

Images