Trench excavation robot for agricultural planting

Abstract

The invention relates to the technical field of agricultural ditch excavation equipment, in particular to an agricultural planting ditch excavation robot which comprises a traction machine, a first connecting frame is arranged on the right side of the bottom of the traction machine, a first rotating shaft is rotatably arranged on the right side of the first connecting frame, and a mounting frame is arranged on the first rotating shaft. A hydraulic cylinder is rotationally arranged in the middle of the right side of the traction machine, and a telescopic rod of the hydraulic cylinder is rotationally connected with the mounting frame. According to the land ditching operation device, through cooperation of the servo motor and the double-shaft motor, efficient crushing treatment on soil and plants on the ground by the soil loosening cutter is achieved, and convenience is provided for subsequent ditching operation. Through the extension and rotation functions of the hydraulic cylinder and the rotary excavation of the furrow opener, soil can be drilled and loosened step by step, and meanwhile the soil is conveyed to the two sides through the spiral cutters.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural ditch excavation equipment, and in particular to a ditch excavation robot for agricultural planting. Background Art

[0002] In the process of planting crops such as seedlings in farmland, the traditional operation process still needs to be improved. Specifically, loosening the soil and digging trenches are indispensable links, but most areas currently still rely on manual digging operations, which not only increases the labor intensity of farmers, but also limits the improvement of operation efficiency. At the same time, although excavation robots have been launched on the market, the problems exposed during their use cannot be ignored. Since the soil structure of the newly excavated ditch is loose, it is very easy to collapse, which not only affects the use effect of the ditch, but also may cause economic losses to the user.

[0003] Therefore, in view of the problems existing in ditch excavation operations in current agricultural planting, there is an urgent need to design a ditch excavation robot for agricultural planting, which can not only complete the ditch excavation task efficiently, but also stabilize the excavated soil in time, thereby effectively avoiding the occurrence of problems such as ditch collapse, and further improving the efficiency and quality of agricultural production. Summary of the invention

[0004] In order to overcome the disadvantage of the excavation robots currently on the market, that the soil in the newly excavated ditch is in a loose state and is very prone to collapse, which will cause losses to the users, the technical problem is to provide a ditch excavation robot for agricultural planting that can stabilize the excavated soil.

[0005] The technical solution is as follows: A ditch excavation robot for agricultural planting, including a tractor, a first connecting frame, a first rotating shaft, a mounting frame, a hydraulic cylinder, a furrow opener, a shaper, a side pressing assembly, a loosening assembly, a compacting assembly and a driving assembly. A first connecting frame is arranged on the right side of the bottom of the tractor, a first rotating shaft is rotatably arranged on the right side of the first connecting frame, a mounting frame is arranged on the first rotating shaft, a hydraulic cylinder is rotatably arranged on the middle part of the right side of the tractor, a telescopic rod of the hydraulic cylinder is rotatably connected to the mounting frame, a furrow opener is arranged on the mounting frame, a shaper is arranged on the right side of the mounting frame, a side pressing assembly for compacting the soil at the bottom of the ground is connected to the first connecting frame, a loosening assembly for performing preliminary treatment of the soil is arranged in the first connecting frame, a compacting assembly is arranged on the U-shaped frame, and a driving assembly capable of driving the compacting assembly to operate is arranged on the mounting frame.

[0006] As a preferred technical solution of the present invention, the edge pressing assembly includes a second rotating shaft, a connecting arm, a U-shaped frame and an auxiliary roller. The first connecting frame is rotatably provided with a second rotating shaft on the right sides of both front and rear sides, and a connecting arm is provided on the second rotating shaft. A U-shaped frame is provided between the right ends of the two connecting arms, and auxiliary rollers are symmetrically provided on the front and rear bottom of the U-shaped frame.

[0007] As a preferred technical solution of the present invention, it also includes a limit seat and an insertion rod. The limit seat is arranged on the right side of the mounting frame. The limit seat is symmetrically provided with round holes. The insertion rod is inserted into and matched with the round hole of the limit seat.

[0008] As a preferred technical solution of the present invention, the loosening assembly includes a first guide rod, a servo motor, a screw rod, a sliding frame, a mounting plate, a mounting seat, a dual-axis motor, a rotating shaft and a loosening knife. The first guide rod is vertically arranged on the rear side wall of the first connecting frame, and a servo motor is arranged on the front side wall of the first connecting frame. The output shaft of the servo motor is connected to the screw rod through a coupling, a nut is embedded on the front side of the sliding frame, and a guide sleeve is embedded on the rear side of the sliding frame. The sliding frame is screwed with the screw rod through the nut, and the sliding frame is slidably arranged with the first guide rod through the guide sleeve. The mounting plate is symmetrically arranged at the bottom of the sliding frame, and a mounting seat is arranged on the right side of the first connecting frame. A dual-axis motor is arranged on the mounting seat, and rotating shafts are rotatably arranged on both mounting plates, and loosening knives are arranged on the rotating shafts. The output shafts of the dual-axis motors are connected to the adjacent rotating shafts.

[0009] As a preferred technical solution of the present invention, the compaction assembly includes a moving rod, a pressure frame, a connecting plate, a first elastic member, a second connecting frame and a cross bar. The U-shaped frame is symmetrically and slidingly arranged with the moving rods in the front and rear directions, a pressure frame is arranged between the bottoms of the two moving rods, a connecting plate is arranged between the tops of the moving rods, a first elastic member is sleeved on the moving rod, one end of the first elastic member is connected to the connecting plate, and the other end of the first elastic member is connected to the U-shaped frame, a second connecting frame is symmetrically arranged at the bottom of the connecting plate, and a cross bar is arranged between the two second connecting frames.

[0010] As a preferred technical solution of the present invention, a driving assembly includes a fixed seat, a second guide rod, a sliding block, a second elastic member, a third connecting frame, an arc frame, a wedge-shaped pressure block, a reduction box, a disc and a circular shaft. Fixed seats are symmetrically arranged on the front and back of the right side of the top of the mounting frame, a second guide rod is arranged between the two fixed seats on the same side, a sliding block is slidably arranged on the second guide rod, the second guide rod is sleeved with a second elastic member, one end of the second elastic member is connected to the sliding block, and the other end of the second elastic member is connected to the fixed seat, a third connecting frame is arranged on the top of the sliding block, an arc frame is arranged between the two third connecting frames, a wedge-shaped pressure block is arranged on the right side of the arc frame, the inclined surface of the wedge-shaped pressure block contacts the cross bar, a reduction box is arranged on the mounting frame, the driving motor in the furrow opener is connected to the reduction box, a disc is arranged on the transmission shaft of the reduction box, a circular shaft is symmetrically arranged on the top of the disc at a deflected position about the axis, and the circular shaft contacts the arc surface of the arc frame.

[0011] As a preferred technical solution of the present invention, it also includes a material guide plate, and the front and rear side walls of the mounting frame are both provided with the material guide plate.

[0012] As a preferred technical solution of the present invention, it also includes a material baffle plate, and the material baffle plate is symmetrically arranged on the wheel frame of the auxiliary roller.

[0013] Compared with the prior art, the present invention has the following advantages: 1. The land trenching device realizes efficient crushing of the soil and plants on the ground by the loosening knife through the cooperation of the servo motor and the dual-axis motor, which provides convenience for subsequent trenching operations. The extension and rotation functions of the hydraulic cylinder and the rotary excavation of the trench opener can gradually drill and loosen the soil, and at the same time use the spiral knife to transport the soil to both sides.

[0014] 2. During the trenching operation, the device realizes the automatic compaction of the excavated ditch through a series of mechanical linkage mechanisms, such as discs, arc frames, wedge-shaped pressure blocks, etc. When the disc rotates, it drives the relevant parts to move by squeezing the arc frame, thereby compacting the ditch. When the disc shaft does not squeeze the arc frame, the relevant parts can automatically reset, achieving a continuous and stable compaction effect. In addition, the design of auxiliary rollers and guide plates further enhances the compaction and stability of the soil on both sides of the ditch, preventing the soil from sliding into the ditch, thereby improving the quality and durability of the ditch. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0016] Figure 2 It is a partial three-dimensional structural schematic diagram of the present invention.

[0017] Figure 3 It is a schematic diagram of the three-dimensional structure of the edge pressing assembly of the present invention.

[0018] Figure 4 It is a schematic diagram of the installation structure of the soil loosening assembly of the present invention.

[0019] Figure 5 It is a schematic diagram of the three-dimensional structure of the soil loosening assembly of the present invention.

[0020] Figure 6 It is a schematic diagram of the installation structure of the compaction assembly of the present invention.

[0021] Figure 7 It is a schematic diagram of the three-dimensional structure of the compacting assembly of the present invention.

[0022] Figure 8 It is a schematic diagram of the installation structure of the drive assembly of the present invention.

[0023] Fig. 9 It is a schematic diagram of the three-dimensional structure of the driving assembly of the present invention.

[0024] Fig.10 It is a schematic diagram of the installation structure of the material guide plate of the present invention.

[0025] In the accompanying drawings: 1_tractor, 2_first connecting frame, 3_first rotating shaft, 4_mounting frame, 5_hydraulic cylinder, 6_ditch opener, 61_former, 7_edge pressing assembly, 71_second rotating shaft, 72_connecting arm, 73_U-shaped frame, 74_auxiliary roller, 8_limiting seat, 9_insertion rod, 10_soil loosening assembly, 101_first guide rod, 102_servo motor, 103_screw, 104_sliding frame, 105_mounting plate, 106_mounting seat, 107_dual-axis motor, 108_rotating shaft , 109_soil loosening knife, 11_compacting assembly, 111_moving rod, 112_pressing frame, 113_connecting plate, 114_first elastic member, 115_second connecting frame, 116_cross bar, 12_driving assembly, 121_fixed seat, 122_second guide rod, 123_sliding block, 124_second elastic member, 125_third connecting frame, 126_arc frame, 127_wedge-shaped pressing block, 128_reduction box, 129_disc, 1210_round shaft, 13_material guide plate, 14_material blocking plate. DETAILED DESCRIPTION

[0026] The present invention is further described below in conjunction with specific embodiments. It should also be noted that, unless otherwise clearly specified and limited, terms such as: setting, installing, connecting, and connecting 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] Example: Figure 1-2As shown, a ditch excavation robot for agricultural planting includes a tractor 1, a first connecting frame 2, a first rotating shaft 3, a mounting frame 4, a hydraulic cylinder 5, a ditch opener 6, a shaper 61, a pressure edge assembly 7, a limit seat 8, an insertion rod 9, a loosening assembly 10, a compacting assembly 11, a driving assembly 12 and a guide plate 13. The first connecting frame 2 is arranged on the right side of the bottom of the tractor 1. The first connecting frame 2 is U-shaped. The first rotating shaft 3 is rotatably arranged on the right side of the first connecting frame 2. The mounting frame 4 is arranged on the first rotating shaft 3. A hydraulic cylinder 5 is rotatably arranged on the middle part of the right side of the tractor 1. The telescopic rod of the hydraulic cylinder 5 is rotatably connected to the mounting frame 4. The mounting frame 4 is provided A furrow opener 6 is provided, which is composed of a driving motor and a spiral cutter. A shaper 61 is provided on the right side of the mounting frame 4, and the shaper 61 is in the shape of an inverted trapezoid. A pressing edge component 7 for compacting the soil at the bottom of the ground is connected to the first connecting frame 2. A loosening component 10 for preliminary treatment of the soil is provided in the first connecting frame 2. A compaction component 11 is provided on the U-shaped frame 73. A driving component 12 capable of driving the compaction component 11 to operate is provided on the mounting frame 4. A limit seat 8 is provided on the right side of the mounting frame 4. The limit seat 8 is symmetrically provided with circular holes. The insertion rod 9 is inserted into the circular hole of the limit seat 8, and the front and rear side walls of the mounting frame 4 are provided with guide plates 13.

[0028] like Figure 1 and Figure 3 As shown, the edge pressing assembly 7 includes a second rotating shaft 71, a connecting arm 72, a U-shaped frame 73 and an auxiliary roller 74. The second rotating shaft 71 is rotatably arranged on the right parts of the front and rear sides of the first connecting frame 2, and connecting arms 72 are arranged on the second rotating shaft 71. A U-shaped frame 73 is arranged between the right ends of the two connecting arms 72, and auxiliary rollers 74 are symmetrically arranged on the front and rear bottom of the U-shaped frame 73.

[0029] like Figure 3 As shown, a material blocking plate 14 is also included. The material blocking plate 14 is symmetrically arranged on the wheel frame of the auxiliary roller 74, and the material blocking plate 14 plays a role in protecting the auxiliary roller 74.

[0030] like Figure 1 , Figure 4 and Figure 5As shown, the loosening assembly 10 includes a first guide rod 101, a servo motor 102, a screw rod 103, a sliding frame 104, a mounting plate 105, a mounting seat 106, a dual-axis motor 107, a rotating shaft 108 and a loosening knife 109. The first guide rod 101 is vertically arranged on the rear side wall of the first connecting frame 2, and the servo motor 102 is arranged on the front side wall of the first connecting frame 2. The output shaft of the servo motor 102 is connected to the screw rod 103 through a coupling. A nut is embedded in the front side of the sliding frame 104, and a nut is embedded in the rear side of the sliding frame 104. A guide sleeve is provided in the insertion type, the sliding frame 104 is screwed with the screw rod 103 through a nut, the sliding frame 104 is slidably arranged with the first guide rod 101 through the guide sleeve, a mounting plate 105 is symmetrically provided at the bottom of the sliding frame 104, a mounting seat 106 is provided on the right side of the first connecting frame 2, a dual-axis motor 107 is provided on the mounting seat 106, a rotating shaft 108 is rotatably provided on the two mounting plates 105, a loosening knife 109 is provided on the rotating shaft 108, and the output shaft of the dual-axis motor 107 is connected to the adjacent rotating shaft 108.

[0031] like Figure 1 , Figure 6 and Figure 7 As shown, the compaction assembly 11 includes a moving rod 111, a pressure frame 112, a connecting plate 113, a first elastic member 114, a second connecting frame 115 and a cross bar 116. The U-shaped frame 73 is symmetrically and slidingly arranged with the moving rod 111 in the front and rear directions. A pressure frame 112 is arranged between the bottoms of the two moving rods 111, and a connecting plate 113 is arranged between the tops of the moving rods 111. The moving rod 111 is sleeved with a first elastic member 114, and the first elastic member 114 is a compression spring. One end of the first elastic member 114 is connected to the connecting plate 113, and the other end of the first elastic member 114 is connected to the U-shaped frame 73. The second connecting frame 115 is symmetrically arranged at the bottom of the connecting plate 113, and a cross bar 116 is arranged between the two second connecting frames 115.

[0032] like Figure 1 , Figure 8 , Fig. 9 and Fig.10As shown, the driving assembly 12 includes a fixed seat 121, a second guide rod 122, a sliding block 123, a second elastic member 124, a third connecting frame 125, an arc frame 126, a wedge-shaped pressure block 127, a reduction box 128, a disc 129 and a round shaft 1210. The fixed seat 121 is symmetrically arranged on the front and back of the right side of the top of the mounting frame 4, and a second guide rod 122 is arranged between the two fixed seats 121 on the same side. The sliding block 123 is slidably arranged on the second guide rod 122. The second elastic member 124 is sleeved on the second guide rod 122. The second elastic member 124 is a compression spring. One end of the second elastic member 124 is connected to the sliding block 12 3, the other end of the second elastic member 124 is connected to the fixed seat 121, the top of the sliding block 123 is provided with a third connecting frame 125, an arc frame 126 is provided between the two third connecting frames 125, a wedge-shaped pressure block 127 is provided on the right side of the arc frame 126, the inclined surface of the wedge-shaped pressure block 127 is in contact with the cross bar 116, a reduction box 128 is provided on the mounting frame 4, the driving motor in the furrow opener 6 is connected to the reduction box 128, a disc 129 is provided on the transmission shaft of the reduction box 128, a circular shaft 1210 is symmetrically provided with a circular shaft 1210 about the axis at the top of the circular shaft 129, and the circular shaft 1210 is in contact with the arc surface of the arc frame 126.

[0033] When trenching is required, the staff first controls the servo motor 102 to work. The servo motor 102 drives the screw rod 103 to rotate, and the nut on the sliding frame 104 moves downward. The sliding frame 104 moves downward along the first guide rod 101. When the loosening knife 109 contacts the ground, the servo motor 102 is controlled to stop working, and the dual-axis motor 107 is started, and then the loosening knife 109 is driven to work through the rotating shaft 108, which can crush the soil and plants on the ground, which is beneficial to the operation of the trench opener 6. The staff starts the hydraulic cylinder 5 again, the hydraulic cylinder 5 extends, the hydraulic cylinder 5 drives the mounting frame 4 to rotate downward around the first rotating shaft 3, and starts the furrow opener 6 at the same time. The furrow opener 6 rotates to gradually dig holes in the soil to loosen the soil. The soil will be transported to both sides by the spiral cutter of the furrow opener 6. When the hydraulic cylinder 5 drives the mounting frame 4 to rotate until the edge pressing assembly 7 contacts the ground, the hydraulic cylinder 5 is controlled to stop working. Then the staff first inserts the rod 9 to the circular hole of the limit seat 8. The two rods 9 limit the U-shaped frame 73 so that the auxiliary roller 74 contacts the ground. Start the tractor 1 to work. When the tractor 1 drives the furrow opener 6 and the shaper 61 on the mounting frame 4 to move, the furrow opener 6 performs the furrowing operation, and the shaper 61 squeezes and pushes the soil to transport the soil to both sides along with the spiral cutter of the furrow opener 6, thereby completing the inverted trapezoidal ditch. The tractor 1 drives the auxiliary roller 74 to compact the soil excavated and accumulated on both sides of the ditch. The driving motor of the furrow opener 6 drives the disc 129 to rotate through the reduction box 128. When the circular shaft 1210 of the disc 129 squeezes the arc frame 126 to move to the right, the sliding block 123 moves to the right along the second guide rod 122, the second elastic member 124 is compressed, the arc frame 126 drives the third connecting frame 125 and the wedge-shaped pressing block 127 to move to the right, the wedge-shaped pressing block 127 squeezes the cross bar 116, and then drives the cross bar 116 to move downward, the cross bar 116 drives the connecting plate 113 and the moving rod 111 to move downward, the bottom of the first elastic member 114 is compressed, the moving rod 111 drives the pressing frame 112, and the pressing frame 112 The excavated ditch is compacted. When the circular shaft 1210 of the disc 129 rotates and does not squeeze the arc frame 126, the second elastic member 124 drives the sliding block 123 to reset, and then the arc frame 126 and the wedge-shaped pressure block 127 are reset, and the first elastic member 114 is reset, and then the connecting plate 113 and the moving rod 111 cross bar 116 move upward to reset. During the walking process of the tractor 1, the ditch can be automatically dug, and the soil can be transferred to both sides of the ditch in time. The guide plate 13 can further push the soil to both sides to prevent it from sliding into the ditch, and then the soil on both sides of the ditch is compacted through the auxiliary roller 74.

[0034] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A ditch digging robot for agricultural planting, characterized in that: The invention comprises a tractor (1), wherein a first connecting frame (2) is arranged on the right side of the bottom of the tractor (1), a first rotating shaft (3) is rotatably arranged on the right side of the first connecting frame (2), a mounting frame (4) is arranged on the first rotating shaft (3), a hydraulic cylinder (5) is rotatably arranged on the middle part of the right side of the tractor (1), a telescopic rod of the hydraulic cylinder (5) is rotatably connected to the mounting frame (4), a furrow opener (6) is arranged on the mounting frame (4), a shaper (61) is arranged on the right side of the mounting frame (4), a side pressing assembly (7) for compacting soil at the bottom of the ground is connected to the first connecting frame (2), a loosening assembly (10) for preliminarily processing soil is arranged in the first connecting frame (2), a compacting assembly (11) is arranged on the U-shaped frame (73), and a driving assembly (12) capable of driving the compacting assembly (11) to operate is arranged on the mounting frame (4).

2. The agricultural ditch digging robot according to claim 1, characterized in that: The edge pressing assembly (7) comprises a second rotating shaft (71), the second rotating shaft (71) is rotatably arranged on the right parts of the front and rear sides of the first connecting frame (2), a connecting arm (72) is arranged on the second rotating shaft (71), a U-shaped frame (73) is arranged between the right ends of the two connecting arms (72), and auxiliary rollers (74) are symmetrically arranged at the front and rear of the bottom of the U-shaped frame (73).

3. The agricultural planting ditch digging robot according to claim 2, characterized in that: It also comprises a limit seat (8), the limit seat (8) being arranged on the right side of the mounting frame (4), the limit seat (8) being symmetrically provided with round holes, and the insertion rod (9) being inserted into and matched with the round hole of the limit seat (8).

4. The agricultural ditch digging robot according to claim 3, characterized in that: The loosening assembly (10) comprises a first guide rod (101), the first guide rod (101) is vertically arranged on the rear side wall of the first connecting frame (2), a servo motor (102) is arranged on the front side wall of the first connecting frame (2), the output shaft of the servo motor (102) is connected to a screw rod (103) via a coupling, a nut is embedded on the front side of a sliding frame (104), a guide sleeve is embedded on the rear side of the sliding frame (104), the sliding frame (104) is screwed with the screw rod (103) via the nut, and the sliding frame (104) is screwed with the screw rod (103) via the nut. 104) is slidably arranged with the first guide rod (101) through a guide sleeve, a mounting plate (105) is symmetrically arranged at the bottom of the sliding frame (104), a mounting seat (106) is arranged on the right side of the first connecting frame (2), a dual-axis motor (107) is arranged on the mounting seat (106), a rotating shaft (108) is rotatably arranged on the two mounting plates (105), a loosening knife (109) is arranged on the rotating shaft (108), and the output shaft of the dual-axis motor (107) is connected to the adjacent rotating shaft (108).

5. The agricultural planting ditch digging robot according to claim 4, characterized in that: The compaction assembly (11) comprises a moving rod (111), the moving rod (111) being symmetrically slidably arranged on the U-shaped frame (73) in the front and rear directions, a pressing frame (112) being arranged between the bottoms of the two moving rods (111), a connecting plate (113) being arranged between the tops of the moving rods (111), a first elastic member (114) being sleeved on the moving rod (111), one end of the first elastic member (114) being connected to the connecting plate (113), and the other end of the first elastic member (114) being connected to the U-shaped frame (73), a second connecting frame (115) being symmetrically arranged at the bottom of the connecting plate (113), and a cross bar (116) being arranged between the two second connecting frames (115).

6. The agricultural planting ditch digging robot according to claim 5, characterized in that: The driving assembly (12) comprises a fixing seat (121), the fixing seats (121) are symmetrically arranged at the front and rear of the right side of the top of the mounting frame (4), a second guide rod (122) is arranged between the two fixing seats (121) on the same side, a sliding block (123) is slidably arranged on the second guide rod (122), a second elastic member (124) is sleeved on the second guide rod (122), one end of the second elastic member (124) is connected to the sliding block (123), the other end of the second elastic member (124) is connected to the fixing seat (121), and a third connecting frame (124) is arranged on the top of the sliding block (123). 5), an arc frame (126) is arranged between the two third connecting frames (125), a wedge-shaped pressure block (127) is arranged on the right side of the arc frame (126), the inclined surface of the wedge-shaped pressure block (127) contacts the cross bar (116), a reduction box (128) is arranged on the mounting frame (4), the driving motor in the furrow opener (6) is connected to the reduction box (128), a disk (129) is arranged on the transmission shaft of the reduction box (128), a circular shaft (1210) is arranged at a top offset position of the circular shaft (129) symmetrically about the axis, and the circular shaft (1210) contacts the arc surface of the arc frame (126).

7. The agricultural planting ditch digging robot according to claim 6, characterized in that: It also includes a material guide plate (13), and the front and rear side walls of the mounting frame (4) are both provided with the material guide plate (13).

8. The agricultural planting ditch digging robot according to claim 7, characterized in that: It also includes a material baffle plate (14), which is symmetrically arranged on the wheel frame of the auxiliary roller (74).

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