A crop sowing machine, sowing system and working method

Abstract

The invention discloses an integrated crop sowing machine, a sowing system and a working method, and relates to the technical field of crop sowing. The invention uses a screw to move crops from an acrylic seed box so that the direction of the seedlings is upward and the seedlings come out from the pipe mouth of an arc-shaped pipe tube. After the seed cup reaches a predetermined position in advance, the mechanical arm rotates and controls a plurality of wire-driven paddles in the seed cup to extend and retract to catch the crops. When the mechanical arm rotates to the sowing position, the crop seedlings fall upward into the soil. When the seeds are placed, the direction of the crop seedlings is controlled, so that the survival rate of the crops is greatly improved. At the same time, a spherical worm arranged at the connection of a plurality of acrylic brackets rotates, driving the rack inside each acrylic bracket to move downward so that the digging shovel cooperates to dig holes or moves upward so that the digging shovel cooperates to backfill soil. The racks inside four acrylic brackets are driven by the spherical worm to perform a single transmission in the form of a transmission ratio of 1:1, and the digging efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of crop sowing, and in particular to an all-in-one crop sowing machine, a sowing system and a working method. Background Art

[0002] Taro has a long history and important position in my country. It is one of my country's traditional crops. Large taro, mainly Lipu taro, has been widely planted in many regions of my country, while small taro, mainly Luochuan taro, has problems such as low survival rate of seedlings, time-consuming manual sowing, low yield and high market price. This not only makes it difficult for the small taro planting industry to scale up, but also limits its market competitiveness and development prospects.

[0003] At this stage, the key development direction of Xingnong Machinery has always been focused on large-scale crop sowing or harvesting, which is often suitable for essential grains such as wheat, corn, and potatoes. Because most of these crops have no special sowing requirements, strong adaptability to the growth environment and high survival rate, they are often sown in large areas and large quantities. Mature large-scale automated sowing equipment already exists at home and abroad and is applied in actual agricultural production; while for small taro, yam, lotus root and other crops that have special sowing requirements or are not suitable for intensive sowing, ridge turning, sowing, film covering, harvesting and other tasks are generally done manually. At the same time, there are also problems such as low seedling survival rate, long labor time, and difficulty in monitoring the entire life cycle of crops.

[0004] At present, when sowing crops with special requirements for sowing, a straight-cylinder mechanism is often used for sowing and a transmission gear is used to make the rack on the shovel mesh with the worm to rotate and dig holes. However, it is difficult to distinguish the direction of the sprouts of the crops when using the straight-cylinder mechanism, and at the same time, when the hole-digging structure uses gears, it undergoes two transmissions, resulting in low transmission efficiency and slow hole digging. When the straight-cylinder mechanism transmits crops with different sprout directions, the hole digging work is not completed, and the crops are usually half-buried in the soil at different inclination angles, making it difficult to achieve excellent sowing effects. Summary of the invention

[0005] The embodiments of the present invention provide an integrated crop sowing machine, a sowing system and a working method, which can solve the problem in the prior art that crops are usually half-buried in the soil at different inclination angles, making it difficult to achieve excellent sowing effects.

[0006] The embodiment of the present invention provides an integrated crop sowing machine, comprising a seed box arranged inside a sowing machine frame, the bottom of the seed box is connected to a seed placing mechanism, and the side of the seed placing mechanism is provided with a hole digging mechanism;

[0007] The seed placing mechanism comprises an acrylic seed box arranged at the bottom of the seed box, the bottom of the acrylic seed box is connected with an arc-shaped pipe tube, and a screw rod is arranged at a position corresponding to the bottom of the acrylic seed box inside the arc-shaped pipe tube; a mechanical arm is rotatably connected to a connecting rod arranged in a vertical direction at the bottom of the acrylic seed box, a seed cup is arranged at the end of the mechanical arm, and the mechanical arm can be rotated so that the seed cup is opposite to the pipe mouth of the arc-shaped pipe tube, and a plurality of wire-driven paddles are arranged on the inner side of the seed cup;

[0008] The mechanical arm can rotate so that the seed cup rotates to the top of the digging mechanism when clamping the crops, and the crops are controlled by multiple wire-driven paddles to fall into the soil hole dug by the digging mechanism;

[0009] The digging mechanism includes a plurality of synchronous belt brackets arranged on the seed drill frame, each of which is provided with a synchronous belt slide assembly, and each of which is provided with an acrylic bracket; a spherical worm is provided at the connection of each acrylic bracket, and the spherical worm is meshed with a rack on the inner side of each acrylic bracket, and a digging shovel is fixed to the bottom side of each acrylic bracket.

[0010] Preferably, a slide is provided on the bottom center groove of the acrylic seed box, the slide is connected to the arc-shaped pipe tube, and the slide is arranged opposite to the screw rod.

[0011] Preferably, a steering gear is provided on the mechanical arm.

[0012] Preferably, a plurality of first fixing rods are fixed to the side of the acrylic seed box, and a third fixing rod is fixed to the bottom of the acrylic seed box.

[0013] Preferably, a plurality of first M6 screws are provided on the side walls of the acrylic seed box, and the first M6 screws fix the acrylic seed box to the seeder frame.

[0014] Preferably, a second M6 screw is provided at the bottom of the synchronous belt bracket, and the second M6 screw fixes the synchronous belt bracket to the seeder frame.

[0015] Preferably, it also includes a fertilization mechanism, an irrigation mechanism and a film covering mechanism;

[0016] The fertilizing mechanism, the irrigation mechanism and the film covering mechanism are all arranged on the seed drill frame.

[0017] The embodiment of the present invention further provides a sowing system, including the above-mentioned integrated crop sowing machine, and further including:

[0018] Sensors, each of which is provided on each functional module of the crop seeding machine, and is used to collect real-time information of each functional module;

[0019] A Beidou navigation module, which is arranged on a frame of the integrated crop sowing machine and is used to collect real-time position information of the integrated crop sowing machine;

[0020] A 5G communication module, which is used to upload the collected real-time information of each functional module and the real-time location information of the crop sowing machine to the Onenet cloud platform in real time through the HTTP protocol;

[0021] A Bluetooth module is used to establish data transmission between the sensor and Beidou navigation module and the 5G communication module.

[0022] The embodiment of the present invention further provides a working method of a crop seeding machine, comprising the following steps:

[0023] The screw driven by the reduction motor moves the crops coming from the acrylic seed box so that the sprouts of the crops face upward and come out from the mouth of the arc-shaped pipe tube. After the seed cup reaches the predetermined position in advance, the mechanical arm rotates and controls the multiple wire-driven paddles in the seed cup to extend and retract to catch the crops.

[0024] When the robotic arm rotates to the sowing position, that is, when it rotates to the top of the digging mechanism, the digging mechanism controls the spherical worm gear at the connection of multiple acrylic brackets to rotate, driving the rack on the inner side of each acrylic bracket to move downward so that the digging shovel cooperates to dig holes. At the same time, multiple line-driven paddles are retracted and extended again to make the crops fall into the soil with the sprouts facing upward, and multiple digging shovels cooperate to backfill the soil to complete the sowing.

[0025] The embodiments of the present invention provide an integrated crop sowing machine, a sowing system and a working method. Compared with the prior art, the beneficial effects thereof are as follows:

[0026] The invention uses a screw rod driven by a reduction motor inside the arc-shaped pipe tube to move the crops coming from the acrylic seed box so that the direction of the sprouts is upward and the sprouts come out from the pipe mouth of the arc-shaped pipe tube. After the seed cup reaches the predetermined position in advance, the mechanical arm rotates and controls multiple wire-driven paddles in the seed cup to extend and retract to catch the crops. When the mechanical arm rotates to the sowing position, that is, when it rotates to the top of the hole digging mechanism, the hole digging structure controls the spherical worm at the connection of multiple acrylic brackets to rotate, driving the rack inside each acrylic bracket to move downward so that the digging shovel cooperates to dig The holes are dug, that is, the tips of multiple digging shovels are driven to close at the same time to complete the hole digging work. At the same time, multiple line-driven paddles are extended and retracted again to make the crops fall into the soil with the sprouts facing upward. Multiple digging shovels move upward so that the digging shovels cooperate with backfilling soil to carry out sowing. When sowing, the direction of the crop sprouts is controlled, and the hole digging is driven by the spherical worm gear to drive the racks on the inner side of the four acrylic brackets. The transmission is carried out once in the form of a 1:1 transmission ratio, which greatly improves the hole digging efficiency and makes the crops quickly buried in the soil in the correct posture, greatly improving the sowing effect.

[0027] In addition, the present invention conducts modular design on the seeder, which can coordinate work systematically when sowing. If new functional mechanisms need to be added, each mechanism can be flexibly disassembled and assembled according to work needs, thereby ensuring its professionalism when performing different tasks.

[0028] Moreover, by arranging sensors, Beidou navigation modules, 5G communication modules and Bluetooth modules on the seeder, the present invention can not only ensure the accuracy of sowing and management work, but also detect and manage the status of crops remotely. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of the overall structure of an integrated crop sowing machine, a sowing system and a working method provided by an embodiment of the present invention;

[0030] Figure 2 A schematic diagram of the working process of an integrated crop sowing machine, a sowing system and a working method provided by an embodiment of the present invention;

[0031] Figure 3 A schematic top view of the overall structure of an integrated crop sowing machine, a sowing system and a working method provided by an embodiment of the present invention;

[0032] Figure 4 A schematic diagram of a plane model of a partition pulling mechanism of a seed box module of an integrated crop sowing machine, a sowing system and a working method provided by an embodiment of the present invention;

[0033] Figure 5A schematic diagram of a three-dimensional model of a partition pulling mechanism of a seed box module of an integrated crop sowing machine, a sowing system and a working method provided by an embodiment of the present invention;

[0034] Figure 6 A schematic diagram of a seeding module of an integrated crop seeding machine, a seeding system and a working method provided by an embodiment of the present invention;

[0035] Figure 7 A schematic diagram of a seeding module structure of an integrated crop seeding machine, a seeding system and a working method provided by an embodiment of the present invention;

[0036] Figure 8 A schematic diagram of the side structure of a wire-driven seed cup of a seed placing module of an integrated crop seeding machine, a seeding system and a working method provided by an embodiment of the present invention;

[0037] Fig. 9 A schematic diagram of a top view of the structure of a wire-driven seed cup of a seed placing module of an integrated crop seeding machine, a seeding system and a working method provided in an embodiment of the present invention;

[0038] Fig.10 A schematic diagram of a hole digging module of an integrated crop sowing machine, a sowing system and a working method provided by an embodiment of the present invention;

[0039] Fig.11 A schematic diagram of the structure of a hole digging module of an integrated crop sowing machine, a sowing system and a working method provided by an embodiment of the present invention;

[0040] Fig.12 A schematic diagram of a fertilization and irrigation module of an integrated crop sowing machine, a sowing system and a working method provided by an embodiment of the present invention;

[0041] Fig.13 A schematic diagram of a film covering module of an integrated crop sowing machine, a sowing system and a working method provided by an embodiment of the present invention;

[0042] Fig.14 A three-dimensional schematic diagram of the overall structure of an integrated crop sowing machine, a sowing system and a working method provided in an embodiment of the present invention.

[0043] Among them: 1. Seeding box, 2. Acrylic seed box, 3. Slide, 4. Screw, 5. Line drive paddle, 6. First fixed rod, 7. Servo, 8. Second fixed rod, 9. Third fixed rod, 10. Seed cup, 11. Paddle, 12. First M6 screw, 21. Synchronous belt bracket, 22. Synchronous belt slide assembly, 23. Acrylic bracket, 24. Digging shovel, 25. Ball worm, 26. Second M6 screw. DETAILED DESCRIPTION

[0044] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0045] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0046] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0047] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0049] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0050] See also Figure 1 to Figure 3 The embodiment of the present invention provides an integrated crop sowing machine, a sowing system and a working method, including a seed box module, a hole digging module, a seed placing module, a fertilizing module, an irrigation module and a film covering module; it also includes a management mechanism, which is divided into a communication module and a monitoring module. The communication module uploads work instructions through the Bluetooth module, and the 5G module feeds back the monitoring data to the Onenet cloud platform. Users can view it in real time through a mobile phone app or a computer. The robot electronic control is mainly programmed and controlled using the Arduino program. Specifically including:

[0051] 1. Seed box module design.

[0052] 1. The overall structure of the seed box.

[0053] The seed box is divided into two layers, each layer can hold 10 small taro, and a maximum of 3*10 taro can be stored; each taro seedling is separated into storage bins by partitions, and the upper and lower layers are connected by a four-link pull-out structure of the partition. After the lower layer is sown, the partition can be pulled out to keep the taro seedlings on the upper layer with the bud tip facing up and drop to the lower layer. The overall length, width and height of the seed box are 590mm*300mm*200mm, and the size of each storage bin is 75mm*56mm*80mm.

[0054] 2. Partition pulling mechanism.

[0055] In order to ensure the orderliness and convenience of sowing, the partition pull-out structure of the seed box uses a four-bar linkage. When the taro does not need to fall, the partition moves to the front end and fits tightly against the side plate of the seed box. When it needs to fall, the motor drives the crankshaft to rotate, and the partition moves backward along the guide rail through the connecting rod transmission to ensure that the taro seedlings fall smoothly. Figure 4 and Figure 5 shown.

[0056] The four-bar linkage consists of a crank (replaced by a gear) and two connecting rods. However, due to the symmetrical distribution of the mechanism, there are four connecting rods and two gears (cranks), so it is referred to as a four-bar linkage; the slider at the end of the crank is replaced by a nylon rod on the gear, and the hollow groove rail passing through the connecting rod is driven by the gear to move along the radial direction of the connecting rod to drive the connecting rod to rotate. The sliders at the heads of the connecting rods on both sides are fixed on the guide rails to enable the two sides to move synchronously, and then the sliders are connected to the draw plate; the gears are driven by a stepper motor, and the driven gear transmission ratio is 1:1. The gears are fixed to the motor frame with the motor to ensure that the end of the motor shaft does not interfere with the movement of the connecting rod.

[0057] 2. Seeding module design.

[0058] 1. The overall structure of the seeding module.

[0059] like Figure 6 As shown, the seeding module can be divided into two parts. The upper part is the acrylic seed box 2, which will be sent to the symmetrical cylinders on both sides through the rotating rod according to the direction of the bud tip. The seeding gripper will grab the taro seedlings to be planted in the cylinders on both sides and send them to the top of the pit to be planted, and then release the four claws to complete the seeding work; the overall length, width and height are: 650mm*500mm*563mm.

[0060] 2. Design of seed box mechanism.

[0061] The four walls of the acrylic seed box 2 are fixed to the aluminum material by the first M6 screws 12, which ensures the stability during the actual operation of the machine; the taro seedlings entering the acrylic seed box 2 can roll into the central groove along the inclined wall, and the bottom of the central groove is a pointed arc mouth, which ensures that the taro seedlings will not directly enter the cylinders on both sides when falling, but will first phase in the center and wait for the rotating rod; the engineering drawing is shown in FIG. Figure 7 , Figure 8 and Fig. 9 As shown; after the small taro falls into the central groove, the back of the central groove slide 3 is fixed on the slider of the electric lead screw, and the lead screw stepper motor rotates to make the central groove slide move downward along the inside of the acrylic seed box 2 until it is tangent to the edges of the pipes on both sides, and the rotation direction of the rotating rod is controlled according to the direction of the bud tip; if the bud tip is facing left, that is, the rotating rod needs to rotate clockwise, and when it moves to the central groove, it pushes the taro seedling to move to the right and fall into the right tube, and finally keeps the bud tip facing upward and falls into the cylindrical seed placing gripper; if the bud tip is facing right, the rotating rod rotates counterclockwise, pushes the taro seedling to fall into the left tube, and is sent to the top of the pit to be planted by the seed placing gripper to fall in a manner with the bud tip facing upward; the rotating rod is driven by a stepper motor, and the recognition vision technology can be used to adjust the rotation direction according to the actual bud tip direction.

[0062] The seed placing gripper can be divided into two motion mechanisms: a rotating end and a cup-shaped gripper (seed cup 10); the front end of the seed placing gripper mechanism is a cup-shaped gripper, the rear end is fixed on the base, the rotating end is located in front of the fixed end, and is controlled by a steering gear 7.

[0063] The cup-shaped gripper of the seed placing mechanism adopts wire-driven movement; when the taro seedling falls from the seed placing box tube to the cup-shaped gripper, the end of the wire-driven paddle 5 is vertically downward, and the straight-line distance from the winding end to the cup-shaped winding hole of the four wires is the shortest. When the total length of the wire remains unchanged, the wire connected to the four fingers inside the gripper is longer, so that the four fingers are tightened to grab the taro; when the gripper arm rotates to the base limiter at the center, the gripper is already located above the soil pit to be placed, and at the same time, the rotatable end of the wire-driven paddle 5 comes into contact with the limiter, and the end head moves along the semi-cylindrical section of the limiter so that the head is no longer kept vertically downward, and the straight-line distance from the winding end to the cup-shaped winding hole becomes longer, so that the wire length of the four fingers in the cup becomes shorter, and the four fingers are opened, and the taro seedling naturally falls into the pit, completing the seed placing.

[0064] 3. Design of digging module.

[0065] 1. The overall structure of the digging module.

[0066] The main function of the hole digging module is to dig a hole that meets the size requirements of small taro planting under soil conditions of different hardness. At the same time, it can lift the dug soil when planting, and cover the soil back into the hole after planting to complete the pit filling work. The advantage of this design is that it can not only dig holes and sow seeds under different field conditions, but also realize the functions of digging holes and covering soil through the same module; the preliminary plan is to use a stepper motor to control the central worm to rotate and drive four meshing gears to rotate at a transmission ratio of 1:3, and the gears are then meshed with the racks on the shovels to drive the four shovels to move downward or upward along the track to complete the hole digging operation or the soil covering operation. However, adding transmission gears inside the mechanism not only makes assembly difficult, but also reduces the transmission efficiency through two transmissions, and causes insufficient downward pressure applied by the tip of the shovel when digging, which is easy to yield on hard soil, resulting in damage to the mechanism and failure to complete the hole digging task; such as Fig.10 As shown, the newly designed hole digging mechanism consists of four alloy digging shovels 24 with racks on the sides and a spherical worm 25 controlled by a DC motor. The entire hole digging mechanism is fixed on the conveyor sliders on both sides, that is, the synchronous belt slide assembly 22, and can move up and down with the sliders. Compared with the first version, it not only strengthens the structural strength of the four shovels, but also removes the gear with a transmission ratio of 1:3 that meshes with the worm, allowing the rack to directly mesh with the worm to improve the transmission efficiency and enhance the tip downward pressure applied to the soil surface when digging holes. The structure is lightweight and the assembly plan is optimized. At the same time, the electric push rod is no longer used as the rising mechanism, but a lead screw is used to ensure the stability of the rise.

[0067] The newly designed burrowing module not only has a more stable structural strength, but also uses sheet metal for chassis installation. Compared with the acrylic plate assembly solution, it is less likely to cause the burrowing mechanism to shake back and forth when it rises as a whole, causing the excavated soil to spill out. The maximum distance that the burrowing mechanism can descend (compared to the base of the burrowing module) is 200mm, and the maximum height that the mechanism can rise as a whole is 550mm, the travel of the conveyor belt. The overall size of the burrowing module (within the normal working range) is: 222mm*364mm*627mm.

[0068] 2. Design of digging module mechanism.

[0069] like Fig.11 As shown, the newly designed digging module is mainly controlled by a motor to rotate the spherical worm 25 inside the frame fixed on the conveyor slider, that is, the synchronous belt slide assembly 22, and at the same time, the inner racks of the four digging shovels 24 are all engaged with the spherical worm 25 and driven by the worm, and the transmission ratio is 1:1, that is, for every rotation of the spherical worm 25, the rack moves up or down one tooth number according to the rotation direction; each digging shovel 24 can be smoothly connected to the track on the frame by using chamfered hexagon socket counter-locking screws and adding isolation gaskets, and can descend or rise with the movement of the rack; the four acrylic brackets 23 are kept relatively fixed by the four-corner connectors and fixed to the slider by the connectors.

[0070] 3. The specific process of implementing the digging function is as follows.

[0071] The electronic control system issues a command to start digging the hole, the conveyor belt stepper motor rotates forward, and the entire frame descends with the conveyor belt slide. When it reaches the surface of the soil to be dug, the conveyor belt stops, and the motor controls the spherical worm 25 to start rotating, driving the four digging shovels 24 to descend along the circular arc track of the frame. At the same time, the four digging shovels 24 descend with the rack, and the tips of the shovel heads gradually close to complete the digging work.

[0072] After that, the four digging shovels 24 remain in a closed state, and the conveyor belt motor flips to drive the entire frame to rise. After reaching the specified height, the seeding module waits for the seeding gripper to send the taro seedlings to the top of the dug pit. After releasing the taro seedlings, the spherical worm 25 reverses to make the four shovels rise and gradually separate due to the rack drive. At this time, the excavated soil falls directly into the pit from above to complete the soil covering operation.

[0073] After a complete digging operation is completed, the conveyor motor and the spherical worm 25 move simultaneously to return the frame and the digging shovel 24 to the initial position.

[0074] The hole digging module designed by the present invention operates stably and efficiently, and the four-shovel mechanism can dig holes in soils of different hardnesses, and can stably rise while lifting the dug soil without soil loss; in particular, the innovative design of the spherical worm 25 and the rack transmission, the spherical structure ensures that it is tangent to the arc-shaped rack, and can better mesh without motion interference, thereby improving the transmission efficiency of the mechanism and increasing the downward pressure of the shovel head tip on the soil, so that the shape of the dug hole is stable, the position of each hole is accurate, and there is no soil collapse. At the same time, the shovel does not produce yield deformation due to large resistance, and can accurately put the soil back into the pit when covering the soil to complete the landfill of the taro seedlings, and the taro seedlings will not be exposed due to deviation in the covering soil position.

[0075] 4. Design of fertilization and irrigation module.

[0076] 1. Overall design of fertilization and irrigation module.

[0077] like Fig.12 As shown, the fertilization and irrigation mechanism can be divided into three parts: fertilizer box, water tank and feeder. The water tank and fertilizer box are directly fixed on the frame through aluminum profiles, and the feeder is connected to the lower end of the fertilizer box through a sheet metal motor frame. The overall dimensions of the fertilization mechanism and water tank are: 216mm*206mm*400mm, 290mm*130mm*240mm.

[0078] 2. Design of fertilization and irrigation mechanism.

[0079] The fertilization and irrigation mechanism is mainly divided into the fertilization mechanism and the irrigation mechanism. The irrigation mechanism is mainly composed of a water tank and a water pipe. The principle is relatively simple, but it will eventually be connected to a three-way interface with the output pipe of the fertilization mechanism, and then a DC motor diaphragm pump will be used to control the flow rate to achieve the fertilization and irrigation functions; the fertilizer box is above the fertilization mechanism, and the output port of the fertilizer box is connected to the feeder; the feeder can be compared to a 4-tooth gear, and between the two teeth is the delivery bin for each fertilization. The central axis of the feeder is connected to the output shaft of the stepper motor fixed on the motor frame through a coupling, and the stepper motor drives the feeder to rotate. Each rotation of 45° completes one feeding, and repeats this process over and over again. The design of the feeder not only ensures that the amount of fertilizer delivered each time is the same, but also allows the feeding to be stopped at any time. The output port of the feeder and the output end of the water pipe connected to the water tank are both connected to a three-way interface, and the output end of the three-way interface is connected to a DC motor diaphragm pump through a pipeline. The diaphragm pump can change the fluid flow rate by controlling the size of the suction force generated, and transport water and fertilizer. The output end of the pump is connected to the pipe, and ultimately the fertilizer and water can be directly transported to the pit after planting, realizing real-time and precise fertilization and irrigation functions.

[0080] 5. Lamination module design.

[0081] For taro crops such as small taro, mulching reduces soil moisture evaporation and also has the effect of storing water and conserving moisture. Under the protection of the mulch, the fertilizer applied to the soil will not be lost due to wind, sun or rain, and it also effectively controls the growth of weeds.

[0082] The film covering mechanism is mainly composed of rollers, triangular blades and a base. The rollers are connected to the aluminum profile of the vehicle body through sheet metal connectors, and can be adjusted according to the height of the vehicle bottom surface from the field to be covered, ensuring that the rollers can press the covered film closely against the soil surface. At the same time, the triangular blade of the film cutting mechanism is connected to the electric push rod, which can provide sufficient downward force to achieve automatic film cutting. Fig.13 shown.

[0083] The present invention is mainly composed of a seed box module, a seed placing module, a hole digging module, a fertilization and irrigation module and a film covering module; the overall three-dimensional diagram is as follows Fig.14 As shown; the digging module will face the digging work of soils with different hardness and height. In the field experiment of the first version of the digging mechanism, the use of gears with a transmission ratio of 3:1 reduced the transmission efficiency. When facing hard soil, some shovel heads showed bending due to yield strain or direct fracture from the rack due to excessive resistance; the newly designed digging mechanism has high stability; the cup-shaped gripper of the seed placement module has strengthened the ability of the robot arm to resist gravity rectangular deformation by adding a base.

[0084] The present invention adopts a modular design, and each function can be systematically coordinated and operated through the modular design when performing sowing work; if new functional modules need to be added, each module can be flexibly disassembled and assembled according to work needs, ensuring the lightness and professionalism of the robot when performing different tasks.

[0085] The present invention has integrated functions. In current actual agricultural activities, existing agricultural machinery has the disadvantages of single function, labor consumption, low intelligence and low operation precision. The present invention integrates all the functions required for small taro sowing and management on one vehicle, and each function has not only high operation precision and stable structure, but also high automation and coordination, so that the whole system can operate continuously and stably.

[0086] The present invention makes innovation in the transmission mechanism. In the hole digging mechanism, a transmission structure of a spherical worm 25 and an arc-shaped rack is designed. Only one motor needs to be controlled to drive the shovel to dig holes downward, and the soil covering work after seeding can be completed. The accuracy, stability and simplicity of the mechanism are guaranteed while the transmission efficiency is improved. At the same time, a line-driven cup-type seeding gripper is designed in the seeding structure. By adding a limiter to control the gripper to automatically grasp and release the taro seedlings, the electronic control layout is simplified while reflecting the cutting-edge design of the under-actuated gripper.

[0087] By adding advanced technologies such as intelligent, digital and 5G communication technology, the present invention can not only ensure the accuracy of sowing and management work, but also provide technical support for remote crop status detection and management; specifically, the present invention uses 5G technology, Beidou navigation technology and industrial Internet cloud platform technology; using 5G technology and Beidou centimeter-level precision positioning technology, Beidou positioning data is collected in real time, and uploaded to China Mobile Onenet cloud platform in real time through HTTP protocol, so that users can view the work location in real time on multiple platforms, not just GPS positioning data; also combined with the rapidly developing intelligent sensor technology, we can collect crop growth environment information and upload it to the cloud platform in real time. This work has adopted humidity and temperature sensors to monitor the vehicle environment in real time; the present invention is equipped with a camera system to regularly record the growth status of crops in the farmland, and at the same time uses the advanced neural network technology YOLOV8 architecture to train the recognition library of Luochuan taro suffering from pests and diseases. After the pictures are uploaded, they are compared and alarmed for plants with pests and diseases.

[0088] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A crop sowing machine, characterized in that: include: A seed box is arranged inside the seeding machine frame, the bottom of the seed box is connected to a seed placing mechanism, and a hole digging mechanism is arranged on the side of the seed placing mechanism; The seed placing mechanism comprises an acrylic seed box (2) arranged at the bottom of the seed box, the bottom of the acrylic seed box (2) is connected to an arc-shaped pipe tube, and a screw rod (4) is arranged at a position inside the arc-shaped pipe tube corresponding to the bottom of the acrylic seed box (2); a mechanical arm is rotatably connected to a connecting rod arranged in a vertical direction at the bottom of the acrylic seed box (2), a seed cup (10) is arranged at the end of the mechanical arm, and the mechanical arm can be rotated so that the seed cup (10) is opposite to the pipe mouth of the arc-shaped pipe tube, and a plurality of wire-driven paddles (5) are arranged on the inner side of the seed cup (10); The mechanical arm can rotate so that the seed cup (10) rotates to the top of the digging mechanism when clamping the crops, and the crops are controlled by a plurality of wire-driven paddles (5) to fall into the soil hole dug by the digging mechanism; The hole digging mechanism comprises a plurality of synchronous belt brackets (21) arranged on a seed drill frame, each synchronous belt bracket (21) is provided with a synchronous belt slide assembly (22), and each synchronous belt slide assembly (22) is provided with an acrylic bracket (23); a spherical worm (25) is provided at the connection of each acrylic bracket (23), and the spherical worm (25) is meshed with a rack on the inner side of each acrylic bracket (23), and a digging shovel (24) is fixed to the bottom side of each acrylic bracket (23).

2. The integrated crop sowing machine according to claim 1, characterized in that: A slide (3) is arranged on the bottom center groove of the acrylic seed box (2); the slide (3) is connected to the arc-shaped pipe tube, and the slide (3) is arranged opposite to the screw rod (4).

3. The integrated crop sowing machine according to claim 1, characterized in that: The mechanical arm is provided with a steering gear (7).

4. The integrated crop sowing machine according to claim 1, characterized in that: A plurality of first fixing rods (6) are fixed to the side of the acrylic seed box (2), and a third fixing rod (9) is fixed to the bottom of the acrylic seed box (2).

5. The integrated crop sowing machine according to claim 1, characterized in that: A plurality of first M6 screws (12) are arranged on the side wall of the acrylic seed box (2), and the first M6 screws (12) fix the acrylic seed box (2) on the seed drill frame.

6. The integrated crop sowing machine according to claim 1, characterized in that: A second M6 screw (26) is provided at the bottom of the synchronous belt bracket (21), and the second M6 screw (26) fixes the synchronous belt bracket (21) to the seed drill frame.

7. The integrated crop sowing machine according to claim 1, characterized in that: It also includes fertilization mechanism, irrigation mechanism and film covering mechanism; The fertilizing mechanism, the irrigation mechanism and the film covering mechanism are all arranged on the seed drill frame.

8. A sowing system, characterized in that: The integrated crop sowing machine according to any one of claims 1 to 7 further comprises: Sensors, each of which is provided on each functional mechanism of the crop seeding machine, and is used to collect real-time information of each functional mechanism; A Beidou navigation module, which is arranged on a frame of the integrated crop sowing machine and is used to collect real-time position information of the integrated crop sowing machine; A 5G communication module, which is used to upload the collected real-time information of each functional mechanism and the real-time location information of the crop sowing machine to the Onenet cloud platform in real time through the HTTP protocol; A Bluetooth module is used to establish data transmission between the sensor and Beidou navigation module and the 5G communication module.

9. A working method of a crop seeding machine according to any one of claims 1 to 7, characterized in that: The following steps are involved: The screw rod (4) driven by the reduction motor moves the crops coming from the acrylic seed box (2) so that the sprouts of the crops face upward and come out from the pipe mouth of the arc-shaped pipe tube. After the seed cup (10) reaches the predetermined position in advance, the mechanical arm rotates and controls the multiple wire-driven paddles (5) in the seed cup (10) to extend and retract to catch the crops. When the mechanical arm rotates to the sowing position, that is, when it rotates to the top of the hole digging mechanism, the hole digging mechanism controls the spherical worm (25) at the connection of the multiple acrylic brackets (23) to rotate, driving the rack inside each acrylic bracket (23) to move downward so that the digging shovel (24) cooperates to dig holes, and at the same time, the multiple line-driven paddles (5) are retracted again so that the crops fall into the soil in a state where the sprouts face upward, and the multiple digging shovels (24) cooperate to backfill the soil to complete the sowing.

Images