Intelligent spinach seeding vehicle

Abstract

The invention discloses an intelligent spinach seeding vehicle, belongs to the technical field of seeding equipment, and solves the problem that in the prior art, accurate planting spacing and depth control cannot be realized, and the growth, development and yield of crops are possibly influenced. The ridger mainly comprises a frame, a ridging mechanism is arranged at the front end of the frame, the ridging mechanism comprises a rocker assembly, and the rocker assembly is connected with a ridging shovel; a seeding mechanism is arranged on the frame and comprises a seeding box, and the seeding box is connected with a furrowing blade through a guide pipe; a seeding wheel is arranged between the seeding box and the guide pipe; a power mechanism and a central control system are arranged at the bottom of the vehicle body; the power mechanism comprises a driving assembly and a steering assembly; the central control system is electrically connected with the ridging mechanism, the seeding mechanism and the power mechanism respectively. Through cooperation of the ridging mechanism, the seeding mechanism and the power mechanism, seeding steps are integrated and fused, and tedious steps needing to be carried out separately in the traditional seeding process are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of sowing equipment, and in particular to an intelligent spinach sowing vehicle. Background Art

[0003] In agricultural production, spinach is an important economic crop, and its planting area and output are increasing year by year. However, the traditional manual sowing method has problems such as high labor intensity, low sowing efficiency, and low sowing accuracy. Manual sowing requires a lot of manpower input, which is time-consuming and labor-intensive. For farmers with large farmland areas, this may be a heavy workload. Secondly, human factors may cause uneven sowing, making the planting results unsatisfactory. In the prior art, there is a deep tillage seeder with a publication number of CN109104950A, but the device cannot achieve precise planting spacing and depth control, which may affect the growth and yield of crops. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent spinach seeding vehicle to solve the problems raised in the above background technology.

[0005] The present invention is achieved through the following technical solutions:

[0006] An intelligent spinach seeding vehicle comprises a frame, wherein a ridging mechanism is arranged at the front end of the frame, wherein the ridging mechanism comprises a rocker assembly, and the rocker assembly is connected to a ridging shovel; a sowing mechanism is arranged at the middle section of the frame, wherein the sowing mechanism comprises a sowing box, and the sowing box is connected to a furrowing shovel through a guide tube; a sowing wheel is arranged between the sowing box and the guide tube; a power mechanism and a central control system are arranged at the bottom of the vehicle body, wherein the power mechanism comprises a driving assembly and a steering assembly, wherein the driving assembly comprises a right rear wheel and a left rear wheel, and the steering assembly comprises a right front wheel and a left front wheel; and the central control system is electrically connected to the ridging mechanism, the sowing mechanism and the power mechanism, respectively.

[0007] Furthermore, the rocker assembly includes a fixed plate, a bearing seat I is provided on the fixed plate, a rotating shaft I is rotatably provided in the bearing seat I, one end of the rotating shaft I is connected to the rocker motor, and the other end is connected to the rocker I, a rotating shaft II is provided on the rocker I, rotating shaft II is rotatably connected to the bearing seat II, the bearing seat II is fixed to the rocker II, a rotating shaft III is provided on the rocker II, rotating shaft III is rotatably connected to the bearing seat II, the bearing seat II is fixed to the rocker III, and a shovel head is provided on the rocker III.

[0008] Furthermore, a cavity is provided between the seeding box and the guide tube, a seeding wheel is provided inside the cavity, the seeding wheel is arranged on a seeding transmission shaft, and the seeding transmission shaft is connected to a seeding motor.

[0009] Furthermore, a driving bevel gear I is provided on the sowing transmission shaft; the driving bevel gear is meshed with a driven bevel gear, and the driven bevel gear is connected to the output shaft of the sowing motor.

[0010] Furthermore, the drive assembly includes a power motor, the power motor is connected to a differential, the differential is connected to a right transmission countershaft and a left transmission countershaft; a right driving sprocket is provided on the right transmission countershaft, the right driving sprocket is connected to a right driven sprocket through a chain I, and the right driven sprocket drives the right rear wheel to rotate; a left driving sprocket is provided on the left transmission countershaft, the left driving sprocket is connected to a left driven sprocket through a chain II, and the left driven sprocket drives the left rear wheel to rotate.

[0011] Furthermore, the steering device includes a steering motor, the steering motor is connected to a reducer, the reducer is connected to a steering transmission shaft, the steering transmission shaft is provided with a driving gear I, the driving gear I is meshed with a transmission rack, the transmission rack is provided with a steering slider, the steering slider is slidably connected to a steering slide rail, and the slide rail is arranged on the frame; the steering slider is provided with a connecting rod fixing pin, and the connecting rod fixing pin is respectively connected to a right connecting rod and a left connecting rod; the right connecting rod is connected to the right front wheel, the frame is provided with a right support plate, the right support plate is provided with a right arc groove, the right connecting rod is arranged in the right arc groove, and the right connecting rod is slidably matched with the right arc groove; the left connecting rod is connected to the left front wheel, the frame is provided with a left support plate, the left support plate is provided with a left arc groove, the left connecting rod is arranged in the left arc groove, and the left connecting rod is slidably matched with the left arc groove.

[0012] Furthermore, the steering motor is connected to a coupling, the coupling is connected to a drive shaft, the drive shaft is provided with a driving gear II of a reducer, the driving gear II is meshed with a driven gear I, the driven gear I is arranged at one end of the steering transmission shaft, and the other end of the steering transmission shaft is provided with a driving gear I.

[0013] Furthermore, the central control system includes a single-chip microcomputer, which is respectively connected to a motor drive module and a relay module; the motor drive module is used to control the rocker motor, the power motor and the steering motor; and the relay module controls the sowing motor to start.

[0014] Furthermore, the central control system includes a Bluetooth receiving module, a display screen module and a power supply module.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present invention integrates the sowing steps by coordinating the ridging mechanism, the sowing mechanism and the power mechanism, combines the land ridging, furrowing and sowing together, and can complete the sowing work at one time, avoiding the cumbersome steps that need to be performed separately in the traditional sowing process.

[0017] 2. The present invention is provided with a central control system, through which precise control of the seeding vehicle is achieved, including adjustment of the seeding speed, seeding depth, and seeding amount, as well as real-time monitoring of the movement state of the seeding vehicle, thereby realizing automation and intelligence of the seeding process, which not only simplifies the operation, but also improves the efficiency and effect of seeding.

[0018] 3. The present invention is provided with a power mechanism, in which the driving assembly and the steering assembly enable the vehicle to travel stably on various surfaces, while the sophisticated design of the steering system ensures the flexible turning capability in a narrow space. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 is a side schematic view of the present invention;

[0021] Figure 3 It is a schematic diagram of the top view of the present invention;

[0022] Figure 4 It is an axonometric view of the ridging mechanism of the present invention;

[0023] Figure 5 It is a right side view of the ridging mechanism of the present invention;

[0024] Figure 6 is a schematic diagram of a steering assembly of the present invention;

[0025] Figure 7 is a schematic diagram of the central control system of the present invention;

[0026] Figure 8 It is a schematic diagram of the sowing mechanism of the present invention;

[0027] Fig. 9 is a schematic diagram of the interior of the cavity of the present invention;

[0028] Fig.10 It is a schematic diagram of the structure of the seeding wheel of the present invention;

[0029] Fig.11 It is a schematic diagram of the motion mechanism of the present invention.

[0030] In the figure: 1. ridging mechanism; 2. steering assembly; 3. central control system; 4. sowing mechanism; 5. power mechanism; 6. frame; 101. ridging shovel; 102. rocker III; 103. rocker fixing seat; 104. rocker slider; 105. rocker slide rail; 106. bearing II; 107. rocker I; 108. bearing I; 109. fixing plate; 110. bearing III; 111. rocker II; 112. rocker motor; 20 1. Left support plate; 202. Left support link; 203. Left front wheel; 204. Left link; 205. Steering slider; 206. Steering rail; 207. Transmission rack; 208. Steering transmission shaft; 209. Driving gear I; 210. Bearing holder I; 211. Driven gear I; 212. Bearing holder II; 213. Drive shaft; 214. Steering motor; 215. Steering motor holder; 216. Coupling Ⅰ; 217, driving gear Ⅱ; 218, right connecting rod; 219, right supporting plate; 220, right front wheel; 221, connecting rod fixing pin; 222, right supporting connecting rod; 401, shovel head; 402, guide tube; 403, seeding box; 404, seeding transmission shaft; 405, cavity; 406, seeding wheel; 407, seeding motor; 408, seeding motor fixing seat; 409, coupling Ⅱ; 410, output shaft; 411 , driving bevel gear; 412, driven bevel gear; 501, left driven sprocket; 502, power motor; 503, left rear wheel; 504, chain I; 505, power motor fixing seat; 506, left driving sprocket; 507, left transmission countershaft; 508, coupling III; 509, differential; 510, right transmission countershaft; 511, chain II; 512, right driving sprocket; 513, right rear wheel; 514, right driven sprocket. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without making creative work should all fall within the scope of protection of this application. In addition, the directional words mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only reference to the directions of the accompanying drawings. Therefore, the directional words used are used to illustrate rather than limit the invention.

[0032] The present invention will be further described below in conjunction with the accompanying drawings.

[0033] Embodiment 1: A smart spinach sowing vehicle, such as Figure 1-Figure 3As shown, it includes a frame 6, a ridging mechanism 1 is provided at the front end of the frame 6, and the ridging mechanism 1 includes a rocker assembly, and the rocker assembly is connected to a ridging shovel 101; a sowing mechanism 4 is provided in the middle section of the frame 6, and the sowing mechanism 4 includes a sowing box 403, and the sowing box 403 is connected to a furrowing shovel through a guide tube 402; a sowing wheel 406 is provided between the sowing box 403 and the guide tube 402; a power mechanism 5 and a central control system 3 are provided at the bottom of the vehicle body, and the power mechanism 5 includes a driving assembly and a steering assembly 2, and the driving assembly includes a right rear wheel 513 and a left rear wheel 503, and the steering assembly 2 includes a right front wheel 220 and a left front wheel 203; and the central control system 3 is electrically connected to the ridging mechanism 1, the sowing mechanism 4 and the power mechanism 5 respectively. The present invention integrates the sowing steps by cooperating with the ridging mechanism 1, the sowing mechanism 4 and the power mechanism 5, combines the land ridging, furrowing and sowing together, and can complete the sowing work at one time, avoiding the cumbersome steps that need to be performed separately in the traditional sowing process.

[0034] Embodiment 2: A smart spinach sowing vehicle, such as Figure 4-Figure 5 As shown, the rocker assembly includes a fixed plate 109, a bearing Ⅰ108 is provided on the fixed plate 109, a rotating shaft Ⅰ is rotatably provided in the bearing Ⅰ108, one end of the rotating shaft Ⅰ is connected to a rocker motor 112, and the other end is connected to a rocker Ⅰ107, a rotating shaft Ⅱ is provided on the rocker Ⅰ107, the rotating shaft Ⅱ is rotatably connected to the bearing Ⅱ106, the bearing Ⅱ106 is fixed to the rocker Ⅱ111, a rotating shaft Ⅲ is provided on the rocker Ⅱ111, the rotating shaft Ⅲ is rotatably connected to the bearing Ⅲ110, the bearing seat Ⅱ is fixed to the rocker Ⅲ102, and the rocker Ⅲ102 is provided with a shovel head 401; the rocker Ⅲ102 is provided with a rocker slider 104, the fixed plate 109 is provided with a rocker fixing seat 103, the rocker fixing seat 103 is provided with a rocker slide rail 105, and the rocker slider 104 is slidably provided on the rocker slide rail 105. Others are the same as those in Example 1.

[0035] A cavity 405 is provided between the seeding box 403 and the guide tube 402. Figure 8-Figure 10 As shown, a sowing wheel 406 is provided inside the cavity 405, and the sowing wheel 406 is arranged on the sowing transmission shaft 404. The sowing transmission shaft 404 is connected to the sowing motor 407 through a coupling II 409, and the sowing motor 407 is fixed to the frame 6 through a sowing motor fixing seat 408. The sowing motor 407 adopts a DC reduction motor, and the sowing transmission shaft 404 is provided with an active bevel gear 411Ⅰ; the active bevel gear 411 is meshed with a driven bevel gear 412, and the driven bevel gear 412 is connected to the output shaft 410 of the sowing motor 407.

[0036] like Fig.11As shown, the drive assembly includes a power motor 502, which is fixed to the frame 6 through a power motor fixing seat 505. The power motor 502 is connected to a differential 509 through a coupling III 508, and the differential 509 is connected to a right transmission countershaft 510 and a left transmission countershaft 507; the right transmission countershaft 510 is provided with a right driving sprocket 512, which is connected to a right driven sprocket 514 through a chain I 504, and the right driven sprocket 514 drives the right rear wheel 513 to rotate; the left transmission countershaft 507 is provided with a left driving sprocket 506, which is connected to a left driven sprocket 501 through a chain II 511, and the left driven sprocket 501 drives the left rear wheel 503 to rotate.

[0037] like Figure 6 As shown, the steering device includes a steering motor 214, which is fixed to the frame 6 through a steering motor fixing seat 215, and the steering motor 214 is connected to a reducer through a coupling Ⅰ216, and the reducer is connected to a steering transmission shaft 208, and the steering transmission shaft 208 is fixed to the frame 6 through a bearing fixing seat Ⅰ210, and a driving gear Ⅰ209 is provided on the steering transmission shaft 208, and the driving gear Ⅰ209 is meshed with a transmission rack 207, and a steering slider 205 is provided on the transmission rack 207, and the steering slider 205 is slidably connected to a steering slide rail 206, and the steering slide rail 206 is arranged on the frame 6; the steering slider 205 is provided with a connecting rod fixing pin 221, and the connecting rod The fixing pin 221 is respectively connected to the right connecting rod 218 and the left connecting rod 204; the right connecting rod 218 is connected to the right supporting connecting rod 222, and the right supporting connecting rod 222 is connected to the right front wheel 220. A right supporting plate 219 is provided on the frame 6, and a right arc groove is provided on the right supporting plate 219. The right supporting connecting rod 222 is arranged in the right arc groove, and the right supporting connecting rod 222 slides with the right arc groove; the left connecting rod 204 is connected to the left supporting connecting rod 202, and the left supporting connecting rod 202 is connected to the left front wheel 203. A left supporting plate 201 is provided on the frame 6, and a left arc groove is provided on the left supporting plate 201. The left supporting connecting rod 202 is arranged in the left arc groove, and the left supporting connecting rod 202 slides with the left arc groove.

[0038] The steering motor 214 is connected to a coupling, the coupling is connected to a drive shaft 213, the drive shaft 213 is fixed to the frame 6 through a bearing fixing seat II 212, the drive shaft 213 is provided with a driving gear II 217 of a reducer, the driving gear II 217 is meshed with a driven gear I 211, the driven gear I 211 is arranged at one end of the steering transmission shaft 208, and the other end of the steering transmission shaft 208 is provided with a driving gear I 209.

[0039] like Figure 7As shown, the central control system 3 includes a single chip microcomputer, which is connected to a motor drive module and a relay module respectively; the motor drive module is used to control the rocker motor 112, the power motor 502 and the steering motor 214; the relay module controls the sowing motor 407 to start. The central control system 3 includes a Bluetooth receiving module, a display module and a power module. With the STM32 single chip microcomputer as the core, the receiving serial port sends and receives the control of the operation of each mechanical structure and the reception of information.

[0040] The working principle and use process of the present invention are as follows: when in use, the required ridge height is set through the central control system 3, seeds are added into the seeding box 403, and the rear rocker motor 112 is turned on to rotate, thereby driving the rocker assembly composed of the rocker I107, bearing II106, rocker II111, bearing I108, rocker III102, bearing III110, rocker slide rail 105, and rocker slider 104 to move. The shovel head 401 fixed on the rocker III 102 is driven into the soil, and the power motor 502 rotates, and the power is transmitted to the driven bevel gear fixed on the surface of the differential 509 through the transmission main shaft and the active bevel gear fixed on its surface, thereby driving the differential 509 to rotate. The differential 509 transmits the power to the chain I 504 and the chain II 511 through the right driving sprocket 512 and the left driving sprocket 506 fixed on the surface of the right transmission secondary shaft 510 and the left transmission secondary shaft 507. The chain I 504 and the chain II 511 respectively drive the right driven sprocket 514 and the left driven sprocket 501, thereby driving the right rear wheel 513 and the left rear wheel 503, so that the device moves forward.

[0041] On the way forward, the soil is scooped out by the shovel head 401 and gathered and guided to the middle by the shovel head 401 to complete the ridge-forming work. The sowing wheel 406 in the sowing mechanism 4 rotates under the drive of the sowing transmission shaft 404, and the seeds in the sowing box 403 are transported to the guide tube 402 one by one. The furrowing shovel opens a sowing furrow on the ridge, and the seeds fall into the sowing furrow through the guide tube 402.

[0042] By setting the TIM2 and TIM3 timers in the single-chip microcomputer, adjusting the duty cycle, and frequency-modulating the output of high-precision PWM, the speed of each motor is controlled, and then the travel speed of the planter and the rotation speed of the seeding wheel 406 are controlled, so as to achieve the speed control of seeding. The specific operation method is to enter the corresponding instructions through the matrix keyboard to adjust the level of seeding speed, which is divided into five levels, from the slowest gear one to the fastest gear five, and the current level number is displayed on the display module. By adjusting the seeding speed level, the seeding speed is set.

[0043] Regarding sowing depth: The continuous analog signal is converted into a discrete digital signal through the MCU ADC module. The working current of the motor is detected and the insertion depth of the ridging mechanism 1 is calculated to achieve precise control of the sowing depth. The specific operation method is to type the corresponding instructions on the matrix keyboard to adjust the insertion depth of the furrowing device. There are three levels, from the shallowest level 1 to the deepest level 5. The current level number is displayed on the display module. The sowing depth is set by adjusting the insertion depth level. Please note that it is strictly forbidden to change the level during the sowing process.

[0044] Adjustment of seeding amount: There are two ways to achieve it. For small-scale seeding amount requirements, the same position can be sown once or even multiple times during sowing to meet the requirements. For large-scale seeding amount requirements, different types of seeding wheels 406 can be replaced to complete the control of seeding amount during one sowing. The circumferential surface of the seeding wheel 406 is provided with a number of grooves, and the size and number of the grooves correspond to the size and number of seeds that can be driven by one rotation of the wheel. The specific operation method is to enter the corresponding operation instructions through the matrix keyboard to adjust each sowing position and the number of rotations of the seeding wheel 406, from the minimum sowing amount of one to the maximum sowing amount of fifteen, and the current level number is displayed on the display module. By adjusting the sowing amount, the number of seeds at each sowing is controlled.

[0045] In this example, in the central control system 3, the single-chip microcomputer adopts the STM32 single-chip microcomputer, and the single-chip microcomputer is connected to the L298N model motor drive module and the six-way relay module for operation control. The motor drive module receives the control signal to control each motor, and then controls the overall position movement of the seeding vehicle and the operation of the seeding device. The six-way relay module receives the control signal to control the ridging mechanism 1 to operate. The control signal is to control the start and stop of the motors at each joint of the ridging mechanism 1 and the seeding mechanism 4. The display module receives the signal to display the current status data of the STM32 single-chip microcomputer. The data is the length of the vehicle's travel distance and the vehicle's sowing density. The Bluetooth module receives the control end data and adjusts the operation parameters. The so-called control end is a special control program for controlling the seeding vehicle. The operation parameters are vehicle path planning, operation speed and sowing density.

[0046] The present invention has been described in detail above. The above description is only a preferred embodiment of the present invention and should not limit the scope of implementation of the present invention. That is, all equivalent changes and modifications made within the scope of this application should still fall within the scope of the present invention.

Claims

1. An intelligent spinach sowing vehicle, comprising a vehicle frame (6), characterized in that: The front end of the vehicle frame (6) is provided with a ridging mechanism (1), the ridging mechanism (1) comprises a rocker assembly, and the rocker assembly is connected to a ridging shovel (101); the middle section of the vehicle frame (6) is provided with a sowing mechanism (4), the sowing mechanism (4) comprises a sowing box (403), and the sowing box (403) is connected to a furrowing shovel through a guide tube (402); a sowing wheel (406) is provided between the sowing box (403) and the guide tube (402); a power mechanism (5) and a central control system (3) are provided at the bottom of the vehicle body, the power mechanism (5) comprises a driving assembly and a steering assembly (2), the driving assembly comprises a right rear wheel (513) and a left rear wheel (503), and the steering assembly (2) comprises a right front wheel (220) and a left front wheel (203); the central control system (3) is electrically connected to the ridging mechanism (1), the sowing mechanism (4) and the power mechanism (5), respectively.

2. The intelligent spinach sowing vehicle according to claim 1, characterized in that: The rocker assembly comprises a fixed plate (109), a bearing I (108) is arranged on the fixed plate (109), a rotating shaft I is rotatably arranged in the bearing I (108), one end of the rotating shaft I is connected to a rocker motor (112), and the other end is connected to a rocker I (107), a rotating shaft II is arranged on the rocker I (107), the rotating shaft II is rotatably connected to a bearing II (106), the bearing II (106) is fixed on the rocker II (111), and the rocker II (111) is A rotating shaft III is provided, the rotating shaft III is rotatably connected to a bearing III (110), a bearing seat II is fixed on a rocker III (102), and a shovel head (401) is provided on the rocker III (102); a rocker slider (104) is provided on the rocker III (102), a rocker fixing seat (103) is provided on a fixing plate (109), a rocker slide rail (105) is provided on the rocker fixing seat (103), and the rocker slider (104) is slidably provided on the rocker slide rail (105).

3. The intelligent spinach sowing vehicle according to claim 1 is characterized in that: A cavity (405) is provided between the seeding box (403) and the guide tube (402), a seeding wheel (406) is provided inside the cavity (405), and the seeding wheel (406) is arranged on a seeding transmission shaft (404), and the seeding transmission shaft (404) is connected to a seeding motor (407).

4. The intelligent spinach sowing vehicle according to claim 3 is characterized in that: The sowing transmission shaft (404) is provided with a driving bevel gear (411); the driving bevel gear (411) is meshed with a driven bevel gear (412), and the driven bevel gear (412) is connected to an output shaft (410) of a sowing motor (407).

5. The intelligent spinach sowing vehicle according to claim 1 is characterized in that: The driving assembly comprises a power motor (502), the power motor (502) is connected to a differential (509), the differential (509) is connected to a right transmission countershaft (510) and a left transmission countershaft (507); a right driving sprocket (512) is arranged on the right transmission countershaft (510), the right driving sprocket (512) is connected to a right driven sprocket (514) through a chain I (504), and the right driven sprocket (514) drives the right rear wheel (513) to rotate; a left driving sprocket (506) is arranged on the left transmission countershaft (507), the left driving sprocket (506) is connected to a left driven sprocket (501) through a chain II (511), and the left driven sprocket (501) drives the left rear wheel (503) to rotate.

6. The intelligent spinach sowing vehicle according to claim 1, characterized in that: The steering device comprises a steering motor (214), the steering motor (214) is connected to a reducer, the reducer is connected to a steering transmission shaft (208), a driving gear I (209) is provided on the steering transmission shaft (208), the driving gear I (209) is meshed with a transmission rack (207), a steering slider (205) is provided on the transmission rack (207), the steering slider (205) is slidably connected to a steering slide rail (206), and the steering slide rail (206) is arranged on a vehicle frame (6); a connecting rod fixing pin (221) is provided on the steering slider (205), and the connecting rod fixing pin (221) is respectively connected to a right connecting rod (218) and a left connecting rod (204); the right connecting rod (218) is connected to the right supporting link (222), the right supporting link (222) is connected to the right front wheel (220), a right supporting plate (219) is provided on the vehicle frame (6), a right arc groove is provided on the right supporting plate (219), the right supporting link (222) is arranged in the right arc groove, and the right supporting link (222) is slidably matched with the right arc groove; the left link (204) is connected to the left supporting link (202), the left supporting link (202) is connected to the left front wheel (203), a left supporting plate (201) is provided on the vehicle frame (6), a left arc groove is provided on the left supporting plate (201), the left supporting link (202) is arranged in the left arc groove, and the left supporting link (202) is slidably matched with the left arc groove.

7. The intelligent spinach sowing vehicle according to claim 6, characterized in that: The steering motor (214) is connected to a coupling, the coupling is connected to a driving shaft (213), a driving gear II (217) of a reducer is arranged on the driving shaft (213), the driving gear II (217) is meshed with a driven gear I (211), the driven gear I (211) is arranged at one end of a steering transmission shaft (208), and a driving gear I (209) is arranged at the other end of the steering transmission shaft (208).

8. The intelligent spinach seeding vehicle according to claim 1, characterized in that: The central control system (3) comprises a single chip microcomputer, which is respectively connected to a motor drive module and a relay module; the motor drive module is used to control the rocker motor (112), the power motor (502) and the steering motor (214); the relay module controls the sowing motor (407) to start.

9. The intelligent spinach sowing vehicle according to claim 8, characterized in that: The central control system (3) comprises a Bluetooth receiving module, a display screen module and a power supply module.

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