Automatic seeding machine

Abstract

The invention provides an automatic seeder which comprises a frame, a ditching mechanism, a seeding mechanism, a walking mechanism and a control module, the frame comprises a first side frame, a second side frame, a width adjusting frame and a first driver, and the width adjusting frame is arranged between the first side frame and the second side frame; the ditching mechanism comprises a main beam, an adjusting beam, a plough share, a second driver and a third driver, the plough share is movably connected with the main beam through the adjusting beam, the adjusting beam drives the plough share to move in the first direction under the action of the second driver, the plough share moves in the second direction under the action of the third driver, and the plough share comprises a plough rod and a plough head. The plough rod is of a hollow structure with a channel; the seeding mechanism comprises a seeding box, a seeding wheel and a first conduit, one end of the first conduit is communicated with the seeding box through the seeding wheel, and the other end is communicated with the channel of the plough rod. The seeder can flexibly adapt to various complex terrains and meet the requirements of different seeds for ditching, and the convenience of the seeder is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to an automatic seeder. Background Art

[0002] Agricultural machinery can improve agricultural productivity and production efficiency, and promote the development of agricultural modernization. Among them, seeders are widely used as a planting machinery in production activities.

[0003] However, existing seed drills are usually only suitable for operation in wide fields and are difficult to use in complex terrain environments. In addition, existing seed drills are generally only suitable for sowing a single crop and are difficult to meet the sowing requirements of different seeds. They require special machines for special purposes, which increases the purchase cost for farmers.

[0004] It can be seen that the existing seed drill has the problem of poor convenience. Summary of the invention

[0005] The embodiment of the present invention provides an automatic seeder to solve the problem that the existing seeders are less convenient.

[0006] An embodiment of the present invention provides an automatic seeding machine, comprising:

[0007] A frame, the frame comprising a first side frame, a second side frame, a width adjustment frame and a first driver, the width adjustment frame being arranged between the first side frame and the second side frame, the width adjustment frame being adjusted in length under the action of the first driver to adjust the interval distance between the first side frame and the second side frame;

[0008] A furrowing mechanism, the furrowing mechanism comprising a main beam, an adjusting beam, a plowshare, a second driver and a third driver, the main beam being arranged between the first side frame and the second side frame, and the main beam being parallel to the width adjusting frame, the length of the main beam being less than or equal to the minimum length of the width adjusting frame, the plowshare being movably connected to the main beam through the adjusting beam, and the adjusting beam driving the plowshare to move in a first direction under the action of the second driver, and the plowshare moving in a second direction under the action of the third driver, the first direction being the extension direction of the main beam, the second direction being perpendicular to the extension direction of the main beam, the plowshare comprising a plowbar and a plowshare, the plowshare being arranged at one end of the plowbar close to the bottom of the frame, and the plowbar being a hollow structure having a channel;

[0009] A sowing mechanism, the sowing mechanism comprising a sowing box, a sowing wheel and a first conduit, wherein a first end of the first conduit is connected to the sowing box through the sowing wheel, a second end of the first conduit is connected to a channel of the plow bar, and a height of the first end of the first conduit from the ground is greater than a height of the second end of the first conduit from the ground;

[0010] A walking mechanism, the walking mechanism is arranged at the bottom of the frame and is respectively arranged on the first side frame and the second side frame;

[0011] A control module, wherein the control module is electrically connected to the first driver, the second driver, the third driver, the seeding wheel and the traveling mechanism respectively. When the automatic seeding machine travels along the target path via the traveling mechanism, the control module controls the first driver to adjust the length of the width adjustment frame to the target length, and the target length is adapted to the width of the target path. After adjusting the furrowing spacing of the furrowing mechanism by controlling the second driver and adjusting the furrowing depth of the furrowing mechanism by controlling the third driver, the control module controls the seeding wheel to transport the seeds in the seeding box to the first guide tube.

[0012] Optionally, the seeding box is a conical structure with two ends open, the first end of the seeding box is close to the top of the frame, the second end of the seeding box is close to the bottom of the frame, the size of the first end of the seeding box is larger than the size of the second end of the seeding box, and the seeding wheel is arranged at the second end of the seeding box;

[0013] The seeding wheel comprises a bearing part and a loading part, the loading part is arranged around the axis of the bearing part, and each of the loading parts comprises a baffle and a movable block, the baffle is arranged around the bearing part to form a receiving cavity, the movable block is arranged in the receiving cavity, when the movable block is in an expanded state, the volume of at least one sub-region in the receiving cavity is reduced, when the movable block is in a compressed state, the volume of at least one sub-region in the receiving cavity is increased, one movable block corresponds to one sub-region, and the volume of the receiving cavity is the sum of the volumes of the sub-regions;

[0014] The first port of the control module is electrically connected to the bearing part, and the bearing part is controlled to rotate by the control module to drive the loading part to circulate between the seed box and the first conduit. The second port of the control module is electrically connected to the movable block of the loading part, and the state of the movable block is controlled by the control module to adjust the volume of the accommodating chamber.

[0015] Optionally, the ditching mechanism also includes a longitudinal beam, which is arranged on the width adjustment frame and is perpendicular to the width adjustment frame. A screw module is provided on the longitudinal beam, and the main beam is movably connected to the longitudinal beam through the screw module. The screw module drives the main beam to move along the second direction under the action of the third driver.

[0016] Optionally, along the first direction, a first guide rail is provided on the main beam, a first protrusion matched with the first guide rail is provided on one side of the adjusting beam, a second guide rail is provided on the other side of the adjusting beam, a second protrusion matched with the second guide rail is provided on the plow bar, and the first protrusion is movably connected in the first guide rail, and the second protrusion is movably connected in the second guide rail; the second driver includes a first sub-driver and a second sub-driver, the first sub-driver is provided in the first guide rail, and the second sub-driver is provided in the second guide rail;

[0017] When the first sub-driver drives the adjusting beam to retract so that the first protrusion is completely placed on the first guide rail, the movement range of the plowshare along the first direction is the length range of the main beam; when the first sub-driver drives the adjusting beam to extend so that the first protrusion is not completely placed on the first guide rail, the movement range of the plowshare along the first direction is greater than or equal to the maximum length range of the width adjustment frame; wherein, the second sub-driver is used to drive the plowshare to move on the adjusting beam.

[0018] Optionally, it also includes: a first fertilizing mechanism, which is arranged on a side of the frame away from the ditching mechanism, the first fertilizing mechanism includes a first fertilizing box, a valve plate and a rotating table, the first fertilizing box is arranged at a position close to the top of the frame through a first fixed bracket, a fertilizer unloading port is opened at the bottom of the first fertilizing box, the valve plate is arranged at the fertilizer unloading port, the rotating table includes a base and a push rod, the base is arranged at a position close to the bottom of the frame, the push rod extends from the base to the fertilizer unloading port until it abuts against the valve plate, and when the rotating table rotates, the push rod drives the valve plate to periodically displace to periodically open and close the fertilizer unloading port.

[0019] Optionally, the first fertilizing mechanism further includes angle adjustment plates, the angle adjustment plates are arranged on both sides of the base, and the angle between the angle adjustment plates ranges from 0 degrees to 180 degrees;

[0020] The base is a circular structure, the top rod is located at the center of the base, distribution plates are arranged in an array on the base around the center of the base, and there is a gap cavity between adjacent distribution plates. In the vertical direction, the gap cavity faces the fertilizer unloading port, and in the horizontal direction, the gap cavity faces the angle adjustment plate.

[0021] Optionally, it also includes: a soil covering mechanism, which is arranged at the bottom of the frame and between the ditching mechanism and the first fertilizing mechanism, the soil covering mechanism includes a first soil covering plate and a second soil covering plate, the first soil covering plate and the second soil covering plate each include a plurality of sub-soil covering plates arranged side by side, the first soil covering plate and the second soil covering plate are staggered on the same horizontal line, and when the length of the width adjustment frame is reduced, the first soil covering plate and the second soil covering plate at least partially overlap.

[0022] Optionally, it also includes: a second fertilizing mechanism, the second fertilizing mechanism includes a second fertilizing box, a flow control valve and a second conduit, the second fertilizing box is arranged at a position close to the top of the frame through a second fixed bracket, the first end of the second conduit is connected to the second fertilizing box through the flow control valve, the second end of the second conduit is connected to the channel of the plow rod, and the height of the first end of the second conduit from the ground is greater than the height of the second end of the second conduit from the ground, the control module is electrically connected to the flow control valve, and after controlling the seeding wheel to transport the seeds in the seeding box to the first conduit, the control module controls the flow control valve to open the channel between the second fertilizing box and the second conduit.

[0023] Optionally, it also includes: an identification mechanism, which is electrically connected to the control module, and the identification mechanism includes a distance sensor. The control module controls the first driver to adjust the spacing distance between the first side frame and the second side frame according to the distance information of the target path collected by the distance sensor.

[0024] Optionally, the walking mechanism is one of a wheeled walking mechanism, an arm shock-absorbing structure and a crawler walking mechanism.

[0025] In an embodiment of the present invention, an automatic seeder is provided, in which the width of the entire frame can be adjusted by a width adjustment frame, and the furrowing mechanism, the sowing mechanism and the walking mechanism arranged on the frame are synchronously adjusted under the control of the control module, so as to flexibly adapt to various complex terrains; and the plowshare can be driven to move along the extension direction of the main beam by driving the adjustment beam to adjust the furrowing spacing of the furrowing mechanism, and the plowshare can also be driven to move in a direction perpendicular to the main beam to adjust the furrowing depth of the furrowing mechanism to meet the furrowing requirements of different seeds, thereby improving the convenience of the seeder, and there is no need to purchase special seeders for different terrains and different seeds; in addition, the plow bar is set as a hollow structure with a channel, and the sowing wheel is started during sowing to transport the seeds in the sowing box to the channel of the plow bar through the first guide tube, and finally accurately sowed into the opened furrows along the plow bar, thereby improving the efficiency and accuracy of sowing. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0027] Figure 1 This is one of the structural schematic diagrams of the automatic seed drill provided by the embodiment of the present invention;

[0028] Figure 2 This is the second structural schematic diagram of the automatic seed drill provided by the embodiment of the present invention;

[0029] Figure 3 This is the third structural schematic diagram of the automatic seed drill provided by the embodiment of the present invention;

[0030] Figure 4 This is the fourth structural schematic diagram of the automatic seed drill provided by the embodiment of the present invention;

[0031] Figure 5 This is the fifth structural schematic diagram of the automatic seed drill provided by the embodiment of the present invention;

[0032] Figure 6 This is the sixth structural schematic diagram of the automatic seed drill provided by the embodiment of the present invention;

[0033] Figure 7 This is the seventh structural schematic diagram of the automatic seed drill provided by the embodiment of the present invention;

[0034] Figure 8 This is the eighth structural schematic diagram of the automatic seed drill provided by the embodiment of the present invention;

[0035] Fig. 9 This is the ninth structural schematic diagram of the automatic seed drill provided by the embodiment of the present invention. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] The terms "first", "second", etc. in the specification and claims of the present invention are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the structures used in this way can be interchanged where appropriate, so that the embodiments of the present invention can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0038] like Figures 1 to 9 As shown, an embodiment of the present invention provides an automatic seeding machine, comprising:

[0039] A frame 10, the frame 10 comprising a first side frame 101, a second side frame 102, a width adjustment frame 103 and a first driver, the width adjustment frame 103 being arranged between the first side frame 101 and the second side frame 102, the width adjustment frame 103 being adjusted in length under the action of the first driver to adjust the interval distance between the first side frame 101 and the second side frame 102;

[0040] The trenching mechanism 20 includes a main beam 201, an adjusting beam 202, a plowshare 203, a second driver and a third driver. The main beam 201 is arranged between the first side frame 101 and the second side frame 102, and the main beam 201 is parallel to the width adjustment frame 103. The length of the main beam 201 is less than or equal to the minimum length of the width adjustment frame 103. The plowshare 203 is movably connected to the main beam 201 through the adjusting beam 202, and the adjusting beam 202 is in the The plowshare 203 is displaced in a first direction under the action of the second driver, and the plowshare 203 is displaced in a second direction under the action of the third driver, the first direction is the extension direction of the main beam 201, the second direction is perpendicular to the extension direction of the main beam 201, the plowshare 203 includes a plow bar 2031 and a plowshare 2032, the plowshare 2032 is arranged at one end of the plow bar 2031 close to the bottom of the frame 10, and the plow bar 2031 is a hollow structure with a channel;

[0041] A sowing mechanism 30, the sowing mechanism 30 comprises a sowing box 301, a sowing wheel 302 and a first conduit 303, a first end of the first conduit 303 is connected to the sowing box 301 through the sowing wheel 302, a second end of the first conduit 303 is connected to the channel of the plow bar 2031, and a height of the first end of the first conduit 303 from the ground is greater than a height of the second end of the first conduit 303 from the ground;

[0042] A walking mechanism 40, wherein the walking mechanism 40 is arranged at the bottom of the frame 10 and is respectively arranged at the first side frame 101 and the second side frame 102;

[0043] The control module 50 is electrically connected to the first driver, the second driver, the third driver, the seeding wheel 302 and the walking mechanism 40 respectively. When the automatic seeding machine travels along the target path through the walking mechanism 40, the control module 50 controls the first driver to adjust the length of the width adjustment frame 103 to the target length, and the target length is adapted to the width of the target path. After adjusting the furrowing spacing of the furrowing mechanism 20 by controlling the second driver and adjusting the furrowing depth of the furrowing mechanism 20 by controlling the third driver, the seeding wheel 302 is controlled to transport the seeds in the seeding box 301 to the first conduit 303.

[0044] Exemplarily, the frame 10 can be made of 30×30 aluminum profiles, and can be built with 3030 angle brackets, L-shaped connecting plates, and T-shaped connecting plates. Aluminum profiles can reduce the weight by 60% compared to steel structures, and are corrosion-resistant; they are easy to assemble, and can be matched with special connecting accessories to achieve a non-drilling connection, which is strong and reliable. The first side frame 101 and the second side frame 102 can be frames with the same structure symmetrically arranged on the frame 10, and can be assembled by multiple profiles. The width adjustment frame 103 can be a plurality of nested profiles arranged between the first side frame 101 and the second side frame 102. The first driver drives the overlapping length of the nested position in the width adjustment frame 103 to adjust the overall length of the width adjustment frame 103, thereby changing the spacing between the two side frames. This enables the automatic seeder to adapt to fields of different widths, such as reducing the width in a narrow field and expanding the width in an open area, ensuring operating efficiency and flexibility.

[0045] Exemplarily, the furrowing mechanism 20 is used to open a sowing furrow on the target path, and then perform sowing operations in the sowing furrow, thereby completing the sowing process. The furrowing mechanism 20 includes a main beam 201, an adjustment beam 202, a plowshare 203, a second driver, and a third driver. The main beam 201 can also be set between the first side frame 101 and the second side frame 102. For example, the main beam 201 can be fixed to the width adjustment frame 103 on the outside of the frame through a bracket; and the main beam 201 is parallel to the width adjustment frame 103 to reduce the interference between the main beam 201 and the frame 10 when the width adjustment frame 103 is adjusted in length; at the same time, the length of the main beam 201 is limited so that the length of the main beam 201 is less than or equal to the minimum length of the width adjustment frame 103, so as to ensure that the automatic seeding machine can pass smoothly in narrow terraces or irregular plots. When working on open and flat land, the length of the width adjustment frame 103 is extended by the first driver to increase the spacing between the first side frame 101 and the second side frame 102, thereby increasing the overall width of the frame 10; at the same time, the adjustment beam 202 drives the plowshare 203 to move on the main beam 201 along the extension direction (first direction) of the main beam 201 under the action of the second driver, so as to synchronously increase the operating range of the furrowing mechanism 20 and better adapt to the sowing requirements under different terrain conditions. In addition, under the action of the third driver, the plowshare 203 can be displaced in a direction perpendicular to the main beam (second direction) to adjust the furrowing depth. In the face of complex terrain such as soil with different hardness, slope and humidity, the depth of the plowshare 203 into the soil can be changed by controlling the third driver. For example, the furrowing depth can be appropriately reduced in soft sand, and the furrowing depth can be increased in hard clay or sloped mountainous areas to ensure that the seeds can be sown in the soil at a suitable depth, which is conducive to seed germination and growth.

[0046] Among them, the plowshare 203 includes a plow bar 2031 and a plowshare 2032. The plowshare 2032 is a component that directly contacts the soil and performs trenching operations. During the movement of the seed drill, the plowshare 2032 cuts into the soil with its sharp shape and structure, turns up the soil, and forms a furrow for sowing. The plow bar 2031 serves as the main supporting structure of the plowshare 203, and firmly connects the plowshare 2032 to one end near the bottom of the frame 10. On the one hand, during the trenching operation, the plow bar 2031 bears the reaction force from the soil, ensuring that the plowshare 2032 can stably perform the trenching action. At the same time, the plowshare 203 can be flexibly connected to the main beam 201 through the adjustment beam 202, so that the position of the plowshare 203 can be adjusted under the action of the second driver and the third driver to adapt to different trenching spacing and depth requirements.

[0047] On the other hand, the plow bar 2031 is a hollow structure with a channel, which is connected to the sowing mechanism 30 and can also play a role in protecting seeds. Exemplarily, the sowing mechanism 30 includes a sowing box 301, a sowing wheel 302 and a first conduit 303, wherein the first end of the first conduit 303 is connected to the sowing box 301 through the sowing wheel 302, and the second end of the first conduit 303 is connected to the channel of the plow bar 2031. During the sowing process, the seeds enter the first conduit 303 from the sowing box 301 through the sowing wheel 302, and are then transported to the furrow opened by the plowshare 2032 through the channel of the plow bar 2031. In this way, the two steps of furrowing and sowing are combined, so that the seeds can accurately fall into the sowing furrow opened by the plowshare 2032, thereby improving the efficiency and accuracy of sowing.

[0048] The height of the first end of the first conduit 303 from the ground is greater than the height of the second end of the first conduit 303 from the ground. This height setting of the first conduit 303 can better cooperate with other components of the seed drill. The seeding box 301 can be set at a higher position on the frame 10. The design of the first end of the first conduit 303 being higher and the second end being lower can reduce the backflow of seeds during the transportation process; so that the seeds can be more smoothly transported from the seeding box through the first conduit 303 to the channel of the plow bar 2031, and finally reach the opened furrow, reducing the possibility of seeds being blocked or accumulated in the conduit, and ensuring the continuity and stability of the sowing process.

[0049] Exemplarily, the walking mechanism 40 is used to realize the movement of the automatic seeder. It should be understood that the walking mechanism 40 can be equipped with a power device, such as a motor or a fuel engine, which can convert power into mechanical energy to drive the automatic seeder to move forward, backward or turn according to a predetermined target path, thereby realizing sowing operations in different areas.

[0050] Optionally, the walking mechanism 40 may be one of a wheeled walking mechanism, an arm shock absorbing structure and a crawler walking mechanism.

[0051] In one example, on the vast and flat northern wheat-growing plains, the running mechanism 40 can be a wheeled running mechanism, which can be composed of 4 pneumatic rubber tires. These tires have thick sidewalls and can bear a large weight, and the tread pattern is deep and complex, which can provide strong grip. For example, the tire diameter can reach 1.5 meters and the width can reach 0.4 meters. Its axle is usually made of high-strength alloy steel to ensure sufficient strength and toughness. When the seeder is operating at high speed on this plain, the wheeled running mechanism can quickly drive the seeder forward, with a driving speed of up to 6-8 kilometers per hour. With its flexible steering system, such as the use of electronic power steering, the operator can easily control the seeder to make precise turns in large tracts of farmland, quickly switch between different sowing areas, and efficiently complete large-scale sowing tasks.

[0052] In another example, in the hilly tea gardens in the south, the terrain is undulating and the ground conditions are complex. The walking mechanism 40 can be a support arm shock-absorbing structure. The support arm shock-absorbing structure is mainly composed of a high-strength spring steel support arm and a hydraulic shock absorber. The support arm is curved, one end is firmly connected to the frame 10, and the other end is connected to the wheel. When the seeder climbs or descends in a hilly tea garden and encounters potholes or bumps, the spring steel support arm will undergo elastic deformation to initially buffer the vibration, and then the hydraulic shock absorber will intervene to further absorb and resolve the remaining impact force. This dual shock-absorbing mechanism allows the frame of the seeder to remain relatively stable at all times, ensuring the stable operation of the sowing and ditching components on the seeder, ensuring the uniformity of the sowing depth and spacing of tea seeds, and improving the emergence rate and growth quality of tea leaves.

[0053] In another example, in the terraces in the southwestern mountainous areas, the terrain is steep and the plots are small, and in some coastal tidal wetlands, the soil is soft and easy to sink. The walking mechanism 40 can be a crawler walking mechanism. The crawler walking mechanism mainly includes a driving wheel, a guide wheel, a support chain wheel, and a crawler wrapped around them. In the mountain terraces, the driving wheel provides powerful power to drive the crawler to rotate, so that the seeder can climb the steep terrace slopes; the guide wheel accurately controls the direction of travel to ensure that the seeder can accurately travel between the narrow terrace ridges. In the tidal wetlands, the wide crawler tracks are in contact with a large area of ​​the ground, which greatly reduces the pressure on the ground. For example, the crawler track width can reach 0.6 meters, allowing the seeder to move smoothly on the soft wetland and successfully complete the sowing operation, effectively solving the problem that other walking mechanisms are difficult to operate in this type of special terrain.

[0054] Among them, taking the wheeled walking mechanism as an example, the wheeled walking mechanism includes wheels, axles and suspensions. The axles are directly fixed to the frame 10 by welding, bolt connection, etc.; the wheels are indirectly connected to the frame 10 through the suspension. The axles are connected to the suspension components (such as control arms, leaf springs, etc.), and the suspension is connected to the frame 10, so that effective buffering and shock absorption can be achieved. Exemplarily, the walking mechanism 40 is respectively arranged on the first side frame 101 and the second side frame 102, and mechanical connecting rods, gear racks and other mechanisms can be used to achieve synchronous adjustment of the wheel spacing and the width of the frame 10 (i.e., the spacing between the first side frame 101 and the second side frame 102). For example, a transmission shaft running through both sides is installed between the axles, and a plurality of gears are installed on the transmission shaft, and each wheel axle also has a gear meshing therewith. When the width needs to be adjusted, a central adjustment mechanism, such as a hydraulic motor, is operated to drive the transmission shaft to rotate, and the gears on the transmission shaft drive the gears on the wheel axles to rotate, so that the axles move outward or inward synchronously, thereby achieving synchronous adjustment of the wheel spacing.

[0055] Exemplarily, the control module 50 is electrically connected to the first driver, the second driver, the third driver, the seeding wheel 302 and the walking mechanism 40 respectively to send precise control instructions to realize the automation of the entire seeding machine operation process. When the automatic seeding machine starts and travels along the target path through the walking mechanism 40, the motion state of the walking mechanism 40 in this process will be fed back to the control module 50. The control module can start calculating the relevant parameters of the target path, such as the width of the target path, according to the preset program and the perception of the current environment, such as obtaining terrain information through sensors.

[0056] In order to enable the seed drill to pass through paths of different widths smoothly, the control module 50 sends a control signal to the first driver. The first driver drives the width adjustment frame 103 to adjust the length according to the received instruction. The control module 50 will continue to monitor the adjustment process until the length of the width adjustment frame 103 reaches the target length that matches the target path width. This allows the seed drill to flexibly adapt to various complex terrains. For example, when working on mountain terraces, the width of the terraces may vary in width. The seed drill can adjust the width adjustment frame 103 according to the actual terrace width through the control module 50, and smoothly perform seeding operations on the terraces. It will not be unable to pass through the narrow terrace area due to the excessive width of the fuselage, nor will it waste the operating area on the wider terrace due to being too narrow. For another example, in the orchard, in the fruit tree planting area with different row spacings, the seed drill can also smoothly travel and operate between the fruit tree rows by adjusting the width, thereby improving the versatility and operating efficiency of the seed drill.

[0057] In addition, it is considered that different seeds have different requirements for the furrowing spacing and depth of sowing. For example, corn seed particles are relatively large. In order to ensure their growth space, a larger furrowing spacing is required, generally 30 cm to 50 cm, and the sowing depth is more suitable at 5 cm to 8 cm; while vegetable seed particles are relatively small, the furrowing spacing is generally 10 cm to 20 cm, and the sowing depth is 1 cm to 3 cm. Therefore, the control module 50 can accurately adjust the furrowing spacing and depth by controlling the second driver and the third driver. For corn sowing, the control module 50 can control the second driver to adjust the furrowing spacing to 40 cm, and control the third driver to set the furrowing depth to 6 cm; for vegetable seed sowing, the furrowing spacing and depth can also be accurately adjusted. After the furrowing mechanism 20 completes the adjustment of the furrowing spacing and depth, the control module 50 sends a control signal to the sowing wheel 302 to start the operation of the sowing wheel 302. The sowing wheel 302 guides the seeds in the sowing box 301 into the channel of the plow rod 2031 through the first guide tube 303, and finally sows them into the opened furrows to complete the sowing operation. In this way, the convenience of using the automatic seeder is improved. It can not only adapt to complex terrain environments, but also meet the sowing needs of different seeds, improve the germination rate and growth quality of seeds, thereby increasing the yield and quality of crops.

[0058] In an embodiment of the present invention, an automatic seeder is provided, and the width of the entire frame 10 can be adjusted by a width adjustment frame 103, and the furrowing mechanism 20, the sowing mechanism 30 and the walking mechanism 40 arranged on the frame 10 are synchronously adjusted under the control of the control module 50, so as to flexibly adapt to various complex terrains; and the plowshare 203 can be driven to move along the extension direction of the main beam 201 by driving the adjustment beam 202 to adjust the furrowing spacing of the furrowing mechanism 20, and the plowshare 203 can also be driven to move in a direction perpendicular to the main beam 201 to adjust the furrowing depth of the furrowing mechanism 20, so as to meet the furrowing requirements of different seeds, improve the convenience of the seeder, and no longer need to purchase a dedicated seeder for different terrains and different seeds; in addition, the plow bar 2031 is set as a hollow structure with a channel, and the sowing wheel 302 is started to operate during sowing, so that the seeds in the sowing box 301 are transported to the channel of the plow bar 2031 through the first guide tube 303, and finally accurately sowed into the opened furrow along the plow bar 2031, thereby improving the efficiency and accuracy of sowing.

[0059] In other optional embodiments, different land conditions, such as humidity, softness, etc., will also affect the sowing effect. In this example, a soil moisture sensor is installed at the bottom edge of the plowshare 2032. The soil moisture sensor can capture the change in moisture content in the soil and transmit the data to the control module 50 in real time. The control module 50 quickly makes adjustments to the furrowing depth and spacing based on these data to ensure that the sowing operation always matches the soil moisture conditions. In addition, a soil hardness sensor is installed on the side of the plowshare 2031 close to the plowshare 2032. When the plowshare 203 enters the soil, the soil hardness sensor can sense the resistance it encounters. By analyzing the resistance data, the hardness of the soil can be accurately determined, and the data can be fed back to the control module 50, so that it can assist it in accurately determining the firmness of the soil, and then scientifically and rationally adjust the furrowing depth and spacing, effectively avoiding furrowing obstacles caused by too hard soil, or damage to the seed drill caused by excessive force.

[0060] For example, in areas with high humidity and soft soil, such as fields on the riverbank, or farmland that has just been irrigated, the air permeability of the soil is relatively poor. At this time, the furrowing spacing can be reduced to prevent the seed spacing from being too large, and to avoid the reduction in yield due to space waste. At the same time, the furrowing depth also needs to be appropriately adjusted to prevent the seeds from being lacking oxygen due to deep burial, which hinders their normal germination and growth. Taking vegetable planting as an example, under such land conditions, the control module 50 can accurately control the furrowing spacing to 10 cm by controlling the second driver; with the help of the third driver, the furrowing depth is set to 1 cm, thereby creating the most suitable sowing environment for vegetable seeds. On the contrary, in dry and hard soil, such as dry land that has lacked irrigation for a long time, the water and nutrients in the soil are unevenly distributed. In order to ensure that the seeds have sufficient growth space and obtain sufficient nutrients, it is necessary to appropriately increase the furrowing spacing. Deepening the furrowing depth can enable the seeds to reach the moist area deep in the soil, providing the necessary moisture conditions for germination. Taking vegetable planting as an example, under such land conditions, the control module 50 can precisely adjust the furrow spacing to 15 cm by controlling the second driver; with the help of the third driver, the furrow depth is set at 3 cm, thereby creating the most suitable sowing environment for vegetable seeds. In this way, the convenience of using the automatic seeding machine is improved, which can not only adapt to complex terrain environments, but also meet the sowing requirements of seeds in different soil types, improve the germination rate and growth quality of seeds, and thus improve the yield and quality of crops.

[0061] Optionally, the ditching mechanism 20 also includes a longitudinal beam 204, which is arranged on the width adjustment frame 103 and is perpendicular to the width adjustment frame 103. A screw module 2041 is provided on the longitudinal beam 204, and the main beam 201 is movably connected to the longitudinal beam 204 through the screw module 2041. The screw module 2041 drives the main beam 201 to move along the second direction under the action of the third driver.

[0062] In this embodiment, the main beam 201 can be set on the longitudinal beam 204, and the longitudinal beam 204 can be vertically set on the width adjustment frame 103 outside the frame through a bracket. In this way, the longitudinal beam 204 is used as a carrier to connect the main beam 201 through the screw module 2041. The cross connection between the longitudinal beam 204 and the main beam 201 takes into account the freedom of the plowshare 203 in the first direction and the second direction, and at the same time improves the stability of the furrowing mechanism 20. Among them, compared with other transmission methods, the screw module 2041 has good rigidity and load resistance. Under the action of the third driver, the screw module 2041 drives the main beam 201 to move in a direction perpendicular to the main beam (the second direction), so as to drive the plowshare 203 set on the main beam 201 to move in the second direction, thereby adjusting the furrowing depth. In the process of driving the main beam 201 to adjust the depth, it can withstand a large force, is not easy to deform or damage, prolongs the service life of the furrowing mechanism 20, reduces the maintenance cost, and ensures the stability and reliability of the seed drill in long-term high-intensity operation.

[0063] Optionally, along the first direction, a first guide rail is provided on the main beam 201, a first protrusion matched with the first guide rail is provided on one side of the adjusting beam 202, a second guide rail is provided on the other side of the adjusting beam 202, a second protrusion matched with the second guide rail is provided on the plow bar 2031, and the first protrusion is movably connected in the first guide rail, and the second protrusion is movably connected in the second guide rail; the second driver includes a first sub-driver and a second sub-driver, the first sub-driver is provided in the first guide rail, and the second sub-driver is provided in the second guide rail;

[0064] When the first sub-driver drives the adjusting beam 202 to retract so that the first protrusion is completely placed on the first guide rail, the movement range of the plowshare 203 along the first direction is the length range of the main beam 201; when the first sub-driver drives the adjusting beam 202 to extend so that the first protrusion is not completely placed on the first guide rail, the movement range of the plowshare 203 along the first direction is greater than or equal to the maximum length range of the width adjustment frame 103; wherein, the second sub-driver is used to drive the plowshare 203 to move on the adjusting beam 202.

[0065] The furrowing mechanism 20 may include at least two plowshares 203 , and at least one plowshare 203 is movably connected to the main beam 201 via an adjusting beam 202 .

[0066] In one embodiment, the furrowing mechanism 20 includes two plowshares 203, each plowshare 203 is movably connected to the main beam 201 through a corresponding adjusting beam 202, and a first guide rail is provided on the main beam 201 along the extension direction of the main beam 201. The adjusting beam 202 can move in the first guide rail through the first protrusion, and the synchronization adjustment with the width adjustment frame 103 is achieved through the cooperation between the main beam 201 and the adjusting beam 202. For example, in a narrow field, the first driver can be controlled by the control module 50 to drive the width adjustment frame 103 to retract to reduce the width of the frame 10. At this time, the control module 50 can synchronously control the first sub-driving member set in the first guide rail, so that the first sub-driving member drives the adjusting beam 202 to retract, and the two adjusting beams 202 on the main beam 201 move toward each other. In this process, the overlap between the first protrusion and the first guide rail increases until the first protrusion is completely placed in the first guide rail, which is the shortest length of the ditching mechanism 20, corresponding to the shortest adjustable length of the width adjustment frame 103. The shortest length of the ditching mechanism 20 is the length of the main beam 201. On the contrary, in an open area, the first driver can be controlled by the control module 50 to drive the width adjustment frame 103 to extend to increase the width of the frame 10. At this time, the control module 50 can synchronously control the first sub-driver disposed in the first guide rail so that the first sub-driver drives the adjustment beam 202 to extend, and the two adjustment beams 202 on the main beam 201 move in opposite directions. In this process, the overlap between the first protrusion and the first guide rail decreases until the first protrusion is completely not placed in the first guide rail, which is the longest length of the ditching mechanism 20, corresponding to the longest adjustable length of the width adjustment frame 103. The longest length of the furrowing mechanism 20 is the sum of the lengths of the main beam 201 and the adjusting beam 202, and the longest length of the furrowing mechanism 20 may be greater than or equal to the longest adjustable length of the width adjusting frame 103. The length of the furrowing mechanism 20 may be the range of motion of the plowshare 203 along the first direction.

[0067] In another embodiment, the furrowing mechanism 20 includes three plowshares 203, one plowshare 203 can be directly fixed in the middle position of the main beam 201, and the other two plowshares 203 can be movably connected to the main beam 201 through an adjusting beam 202, and the plowshares 203 connected to the main beam 201 through the adjusting beam 202 are arranged near the two ends of the main beam 201, so as to facilitate the movement of the adjusting beam 202 on the main beam 201, thereby realizing the adjustment of the length of the furrowing mechanism 20. Along the extension direction of the main beam 201, the first guide rails are respectively opened in the areas at the two ends of the main beam 201, and the corresponding adjusting beam 202 can move in the first guide rail through the first protrusion, and the synchronous adjustment with the width adjustment frame 103 is realized through the cooperation of the main beam 201 and the adjusting beam 202. Its specific implementation method is similar to the above embodiment, and will not be repeated here.

[0068] Among them, the movement of the adjusting beam 202 on the main beam 201 and the movement of the plowshare 203 on the adjusting beam 202 can both achieve the adjustment of the furrowing spacing. First, the adjusting beam 202 is driven by the first sub-driver to move preliminarily on the main beam 201 to adapt the length of the width adjustment frame 103 (that is, the spacing between the first side frame 101 and the second side frame 102, that is, the overall width of the frame 10); then the plowshare 203 is driven by the second sub-driver to move again on the adjusting beam 202, so that the furrowing spacing requirements of different crops can be accurately met, and the land utilization efficiency and crop growth quality can be improved. The cooperation of the first guide rail and the first protrusion, and the second guide rail and the second protrusion provide precise guidance and stable support for the movement of the adjusting beam 202 and the plowshare 203. During the movement of the adjusting beam 202 and the plowshare 203, the cooperation of the guide rail and the protrusion can effectively reduce shaking and deviation, ensure the straightness and consistency of the furrowing operation, and improve the sowing quality. At the same time, the overall stability is enhanced, allowing the seeder to operate reliably in complex field operation environments and reducing the probability of failure.

[0069] In one example, the main beam 201 can be displaced in the second direction by the screw module 2041 under the action of the third driver, so that the furrowing depth of the plowshare 203 on the main beam 201 can be adjusted as a whole.

[0070] In another example, the furrowing mechanism 20 may further include a fourth driver, a chain is provided on the plowshare 203, the plowshare 203 is connected to the adjusting beam 202 through the chain, and the fourth driver is used to drive the chain so that the plowshare 203 can be displaced along the second direction on the adjusting beam 202. When adjusting the furrowing depth, the main beam 201 may be first driven to displace along the second direction by the screw module 2041 under the action of the third driver, so as to drive the adjusting beam 202 and the plowshare 203 to move in the initial height direction as a whole through the main beam 201; then, each plowshare 203 is displaced along the second direction on the adjusting beam 202 under the action of the fourth driver, so as to achieve further height adjustment of each plowshare 203. In this way, each plowshare 203 can independently adjust the furrow depth according to different terrains. For example, in a terrain with protrusions or depressions, after the furrowing depth is preliminarily determined by the screw module 2041, the chain on the plowshare 203 can be used to further adjust the connection position of each plowshare 203 with the adjusting beam 202 in the second direction (i.e., the height direction) according to the terrain at the location of the different plowshares. This allows the soil penetration depth of different plowshares 203 to be independently controlled according to different terrains, thereby creating a suitable sowing environment for seeds in protruding or depressed positions and improving the seed germination rate and survival rate.

[0071] Optionally, the seeding box 301 is a conical structure with two ends open, the first end of the seeding box 301 is close to the top of the frame 10, the second end of the seeding box 301 is close to the bottom of the frame 10, the size of the first end of the seeding box 301 is larger than the size of the second end of the seeding box 301, and the seeding wheel 302 is arranged at the second end of the seeding box 301. This conical design with a larger top and a smaller bottom can utilize the principle of gravity to make it easier for seeds to move to the bottom of the seeding box 301 under their own gravity, and naturally slide to the seeding wheel 302 arranged at the second end, effectively avoiding the accumulation of seeds in the seeding box, ensuring that the seeds are stably and continuously supplied to the seeding wheel, and improving the seeding efficiency; and the seeding box 301 can be arranged in the gap position of the frame 10, adapted to the frame structure, and fully utilizing the space of the frame 10, so that the overall structure of the seeder is compact, and it is convenient for operators to add seeds from the upper opening, and the operation is convenient.

[0072] The seeding wheel 302 includes a bearing part and a loading part, the loading part is arranged around the axis of the bearing part, and each of the loading parts includes a baffle and a movable block, the baffle is formed around the bearing part to form a receiving cavity, the movable block is arranged in the receiving cavity, when the movable block is in an expanded state, the volume of at least one sub-region in the receiving cavity is reduced, when the movable block is in a compressed state, the volume of at least one sub-region in the receiving cavity is increased, one movable block corresponds to one sub-region, and the volume of the receiving cavity is the sum of the volumes of the sub-regions;

[0073] The first port of the control module 50 is electrically connected to the bearing part, and the bearing part is controlled to rotate by the control module 50 to drive the loading part to circulate between the seed box 301 and the first conduit 303. The second port of the control module 50 is electrically connected to the movable block of the loading part, and the state of the movable block is controlled by the control module 50 to adjust the volume of the accommodating chamber.

[0074] In this embodiment, the loading part of the seeding wheel 302 is arranged around the bearing part, and each loading part is composed of a baffle and a movable block. A receiving cavity is formed around the bearing part by the baffle. In other words, around the axis of the bearing part, the seeding wheel 302 includes a plurality of receiving cavities arranged in an array, and the volume of each receiving cavity can be adjusted by a corresponding movable block. The rotation of the bearing part can drive the loading part to circulate between the seeding box 301 and the first conduit 303, so that one receiving cavity is aligned with the discharge port of the seeding box 301 to load the seeds in the seeding box 301 into the receiving cavity, and at the same time, another receiving cavity is aligned with the feed port of the first conduit 303 to unload the seeds in the current receiving cavity into the first conduit 303. Continuous seeding operation is achieved, and the working efficiency of the seeding machine is improved.

[0075] The rotation speed of the bearing part can be controlled by the control module 50, and the travel speed of the walking mechanism 40 can be controlled by the control module 50 to adjust the sowing spacing on the travel path of the seeder, so as to adapt to the sowing requirements of different seeds. For example, for seeds requiring a larger sowing spacing, the rotation speed of the bearing part can be reduced and the travel speed of the walking mechanism 40 can be increased to increase the sowing spacing on the travel path of the seeder; conversely, for seeds requiring a smaller sowing spacing, the rotation speed of the bearing part can be increased and the travel speed of the walking mechanism 40 can be reduced to reduce the sowing spacing on the travel path of the seeder.

[0076] In one example, 6 accommodating chambers A may be provided on the seeding wheel 302 around the axis of the bearing portion, and the intervals between adjacent accommodating chambers A are the same. Two movable blocks 3021 are provided in each accommodating chamber A, and the two movable blocks 3021 may be arranged side by side. One movable block 3021 corresponds to a sub-area in the current accommodating chamber A, that is, the volume of one accommodating chamber A is the sum of the volumes of the sub-areas of the two corresponding movable blocks 3021. In this way, for different types of seeds, the volume of the accommodating chamber A can be adjusted by controlling the state of the movable block 3021, so that the number of seeds loaded each time is within a preset range, ensuring uniform distribution of seeds and achieving precision seeding.

[0077] For example, for seeds of larger size, such as corn seeds, the control module 50 controls the two corresponding movable blocks 3021 in each accommodating chamber A through the second port to be in a compressed state to increase the volume of each accommodating chamber A, at which time the volume of the accommodating chamber A is the maximum volume; and controls the bearing part to rotate through the first port, and the loading part passes through the sowing box 301 and the first conduit 303 in sequence. When rotating to the discharge port of the sowing box 301, the corn seeds fall into the accommodating chamber A with the adjusted volume. As the bearing part continues to rotate, the accommodating chamber A loaded with corn seeds is aligned with the feed port of the first conduit 303, so that the corn seeds fall smoothly into the first conduit 303, ensuring that the number of corn seeds loaded each time is within a preset range (for example, 3-4 seeds), and realizing precision sowing. It should be understood that if one of the two movable blocks 3021 in the accommodating chamber A is in a compressed state and the other is in an expanded state, the number of corn seeds loaded each time will be 1-2 seeds, which is likely to result in a low survival rate of corn seeds.

[0078] For another example, for seeds of smaller size, such as cabbage seeds, the control module 50 controls the two corresponding movable blocks 3021 in each accommodating chamber A through the second port, one of which is in a compressed state and the other in an expanded state, so as to reduce the volume of each accommodating chamber A. At this time, the volume of the accommodating chamber A is 1 / 2 of the maximum volume; and controls the bearing part to rotate through the first port, and the loading part passes through the sowing box 301 and the first conduit 303 in sequence. When rotating to the discharge port of the sowing box 301, the cabbage seeds fall into the accommodating chamber A with the adjusted volume. As the bearing part continues to rotate, the accommodating chamber A loaded with cabbage seeds is aligned with the feed port of the first conduit 303, so that the cabbage seeds fall smoothly into the first conduit 303, ensuring that the number of cabbage seeds loaded each time is within a preset range (for example, 3-4 seeds), and realizing precision sowing. It should be understood that if the two movable blocks 3021 in the accommodating chamber A are both in a compressed state, the number of cabbage seeds loaded each time will be 6-8 seeds, which is easy to cause waste of cabbage seeds.

[0079] During the sowing process of the sowing mechanism 30, the control module 50 can also make real-time adjustments according to the preset sowing density and the actual sowing situation. For example, the travel speed of the sowing machine is monitored by the sensor set on the walking mechanism 40. If the speed increases, the control module 50 appropriately increases the volume of the accommodating chamber to ensure that the sowing amount per unit area remains unchanged; if the sowing amount in a certain area is found to be deviated, the sowing amount can be adjusted in time by adjusting the state of the movable block, thereby ensuring the germination rate of seeds in the entire area.

[0080] Before the sowing operation, the operator can input the type or size information of the seeds to be sown through the control module 50. The control module 50 obtains the average volume and other parameters of the current seeds based on the preset seed database, calculates the volume of the adapted accommodating cavity based on this, and adjusts the state of each movable block 3021 according to the calculation result to achieve precision sowing.

[0081] It should be understood that other numbers of accommodating cavities A may be provided on the seeding wheel 302 around the axis of the bearing portion. For example, the number of accommodating cavities A provided on the seeding wheel 302 around the axis of the bearing portion may be 5, 7, 8 or 10, etc. The same technical effect can be achieved by adaptively adjusting the rotation speed of the bearing portion through the control module 50, which will not be repeated here.

[0082] It should be understood that other numbers of movable blocks 3021 may be provided in each accommodating cavity A. For example, three movable blocks 3021 may be provided side by side in each accommodating cavity A. For another example, four movable blocks 3021 may be provided in each accommodating cavity A and arranged in two rows and two columns. The specific number may be determined according to the size of the seeder and the actual needs of sowing, and the same technical effect may be achieved, which will not be described in detail here.

[0083] Optionally, it also includes: a first fertilizing mechanism 60, which is arranged on a side of the frame 10 away from the ditching mechanism 20, the first fertilizing mechanism 60 includes a first fertilizing box 601, a valve plate 602 and a rotating platform 603, the first fertilizing box 601 is arranged at a position close to the top of the frame 10 through a first fixed bracket, a fertilizer unloading port is opened at the bottom of the first fertilizing box 601, the valve plate 602 is arranged at the fertilizer unloading port, the rotating platform 603 includes a base 6031 and a push rod 6032, the base 6031 is arranged at a position close to the bottom of the frame 10, the push rod 6032 extends from the base 6031 to the fertilizer unloading port until it abuts against the valve plate 602, and when the rotating platform 603 rotates, the push rod 6032 drives the valve plate 602 to displace periodically to periodically open and close the fertilizer unloading port.

[0084] In the present embodiment, the first fertilizing mechanism 60 can be used for fertilizing solid fertilizers. After solid fertilizers are applied to the soil, they need to go through a series of processes such as dissolution and conversion before they can be absorbed and utilized by seeds. This allows nutrients to be slowly released over a long period of time, continuously providing nutrition to plants, meeting the needs of plants at different growth stages, and reducing the frequency of fertilization. For example, some slow-release compound fertilizers can continuously release major nutrients such as nitrogen, phosphorus, and potassium within a few months. The first fertilizing mechanism 60 is arranged on the side of the frame 10 away from the ditching mechanism 20, so that the sowing and fertilizing operations are relatively independent, avoiding mutual interference. For example, during the operation of the seed drill, the ditching mechanism 20 is responsible for ditching, and the first fertilizing mechanism 60 fertilizes on the other side, and the two can be carried out simultaneously without affecting each other, thereby improving the operating efficiency. At the same time, it is also convenient for installation, maintenance and overhaul, and the staff can more conveniently operate and adjust different mechanisms.

[0085] The first fertilizer box 601 is arranged at a position close to the top of the frame 10 by the first fixed bracket, and this high-position arrangement utilizes the effect of gravity. Solid fertilizer is stored in the first fertilizer box 601. When the fertilizer discharge port is opened, the solid fertilizer can fall naturally under the effect of gravity, and no additional power device is required to push the fertilizer discharge, thereby reducing energy consumption and complexity. In addition, the first fertilizer box 601 can also adopt a conical design with a large top and a small bottom, so that the solid is more easily moved to the fertilizer discharge port under the effect of its own gravity, effectively avoiding the accumulation of solid fertilizer in the first fertilizer box 601. In addition, a detachable expansion board can also be provided on the first fertilizer box 601, and the expansion board can be disassembled and assembled according to the number of solid fertilizers. When the expansion board is assembled, the first fertilizer box 601 can store more solid fertilizers, reducing the number of frequent fertilizer additions and improving the continuity of the fertilization operation.

[0086] The fertilizer discharge port opened at the bottom of the first fertilizer box 601 is a channel for fertilizer discharge. The fertilizer discharge port can be a rectangular opening of 4cm*8cm, which can ensure that the fixed fertilizer is discharged evenly and stably. The valve plate 602 is set at the fertilizer discharge port. By controlling the opening and closing degree of the valve plate 602, the discharge amount of the fertilizer can be adjusted. Under different soil conditions, crop varieties and planting densities, the demand for solid fertilizers is different. By adjusting the opening size of the fertilizer discharge port of the valve plate 602, the amount of fertilizer can be accurately controlled to meet different fertilization needs and avoid fertilizer waste or insufficient fertilization. The size of the valve plate 602 can be 4cm*8cm. In this way, when fertilization operations are not required, the valve plate 602 can completely close the fertilizer discharge port to prevent fertilizer from leaking during transportation or idleness.

[0087] Wherein, illustratively, the valve plate 602 may include a first sub-plate and a second sub-plate, the first sub-plate and the second sub-plate are movably connected, one end of the push rod 6032 may abut against the connection between the first sub-plate and the second sub-plate, and a protruding structure may be provided at the connection between the push rod 6032 and the valve plate 602. When the valve plate 602 completely closes the fertilizer discharge port, the angle between the first sub-plate and the second sub-plate may be 180 degrees, and when the push rod 6032 is rotated, the protruding structure pushes the valve plate 602 upward, so that when the connection between the first sub-plate and the second sub-plate moves upward, the angle between the first sub-plate and the second sub-plate decreases, for example, the angle between the first sub-plate and the second sub-plate may be 60 degrees, thereby realizing the opening of the fertilizer discharge port by the valve plate 602. When the amount of fertilizer discharge needs to be further increased, the push rod 6032 can be controlled to rotate so that the protruding structure further pushes up the valve plate 602, thereby further reducing the angle between the first sub-plate and the second sub-plate, until the angle between the first sub-plate and the second sub-plate is 0 degrees, and the valve plate 602 is in a state of fully opening the fertilizer discharge port. By adjusting the angle between the first sub-plate and the second sub-plate, the amount of fertilizer can be accurately controlled to meet different fertilization needs, avoid fertilizer waste or insufficient fertilization, and improve the convenience of using the planter.

[0088] The rotation of the rotating platform 603 can be driven by a power device such as a motor provided at the bottom of the base 6031, which is easy to realize automatic control.

[0089] In addition, illustratively, when the rotating table 603 rotates, the top rod 6032 drives the valve plate 602 to displace periodically, thereby periodically opening and closing the fertilizer discharge port, so that the solid fertilizer is evenly distributed in the soil. This simple structure reduces the probability of failure and improves reliability and stability; and under the regulation of the control module 50, the frequency of opening and closing the fertilizer discharge port through the valve plate 602 is adapted to the sowing frequency of the sowing mechanism 30, so that the fixed fertilizer can be evenly distributed near the sown seeds, reducing the situation where the local fertilizer concentration is too high or too low.

[0090] Optionally, the first fertilizing mechanism 60 further includes an angle adjustment plate 604, the angle adjustment plate 604 is arranged on both sides of the base 6031, and the angle between the angle adjustment plates 604 ranges from 0 degrees to 180 degrees;

[0091] The base 6031 is a circular structure, the top rod 6032 is located at the center of the base 6031, and distribution plates 6033 are arranged in an array on the base 6031 around the center of the base. There is a gap cavity between adjacent distribution plates 6033. In the vertical direction, the gap cavity faces the fertilizer unloading port, and in the horizontal direction, the gap cavity faces the angle adjustment plate 604.

[0092] In this embodiment, the circular base 6031 can provide stable support for the entire rotating table 603, ensure the stability of the top rod 6032, the distribution plate 6033 and other components during the rotation process, and reduce shaking and deviation; the top rod 6032 is set at the center position, and the distribution plate 6033 is arranged in an array symmetrically around the center, so that the layout of each component is more reasonable and uniform, ensuring that the rotating table 603 is balanced when the force is rotated; the distribution plate 6033 divides the area on the base 6031 into a plurality of gap cavities, which can guide the solid fertilizer falling from the fertilizer unloading port into the gap cavity, and when the rotating table 603 rotates, the solid fertilizer is discharged from the gap cavity under the action of centrifugal force, which helps to achieve orderly distribution of fertilizer, avoid random scattering of fertilizer, and improve the accuracy and uniformity of fertilization.

[0093] Among them, two angle adjustment plates 604 are further arranged on both sides of the base 6031 respectively, and the angle between the angle adjustment plates 604 can be changed between 0 degrees and 180 degrees. By changing the size of the angle, the scattering angle and direction of the fertilizer discharged from the gap cavity can be adjusted, so that the fertilizer can be more accurately applied to different positions according to actual needs. For example, the coverage range of fertilization can be adjusted according to the planting row spacing and plant spacing of seeds, ensuring that solid fertilizer can accurately fall near the crop root system and improve fertilizer utilization rate; in different terrains and planting patterns, such as slopes, terraces or irregular planting areas, the angle of the angle adjustment plate 604 can also be flexibly adjusted to make the fertilization direction adapt to the terrain and planting layout, thereby ensuring the uniformity and effectiveness of fertilization.

[0094] Specifically, the rotating platform 603 rotates to drive the push rod 6032 to make a circular motion, and the push rod 6032 periodically pushes up the valve plate 602 to regularly open the fertilizer discharge port; when the fertilizer discharge port is opened, the solid fertilizer falls from the fertilizer discharge port at the bottom of the first fertilizer box 601 under the action of gravity, and directly enters the gap cavity between the distribution plates 6033, and the solid fertilizer is orderly separated by the distribution plates 6033 to avoid a large amount of fertilizer accumulation; as the rotating platform 603 continues to rotate, the solid fertilizer in the gap cavity is dispersed and spread under the action of centrifugal force; because the angle adjustment plate 604 is provided, for example, the angle between the angle adjustment plates 604 is set to 120 degrees, the spreading range of the solid fertilizer can be controlled between the angle adjustment plates 604, so that the solid fertilizer can be evenly spread in the sowing area in a fan shape, and the angle can be adjusted according to different fertilization requirements, so as to achieve different coverage ranges and meet the fertilizer quantity requirements of different crops and different growth stages. The uniformity and flexibility of fertilization are improved.

[0095] Optionally, it also includes: a second fertilizing mechanism 70, the second fertilizing mechanism 70 includes a second fertilizing box 701, a flow control valve and a second conduit 702, the second fertilizing box 701 is arranged at a position close to the top of the frame 10 through a second fixed bracket, the first end of the second conduit 702 is connected to the second fertilizing box 701 through the flow control valve, the second end of the second conduit 702 is connected to the channel of the plow rod 2031, and the height of the first end of the second conduit 702 from the ground is greater than the height of the second end of the second conduit 702 from the ground, the control module 50 is electrically connected to the flow control valve, and after controlling the seeding wheel 302 to transport the seeds in the seeding box 301 to the first conduit 303, the control module 50 controls the flow control valve to open the channel between the second fertilizing box 701 and the second conduit 702.

[0096] In this embodiment, the second fertilization mechanism 70 can be used for liquid fertilizer fertilization. The nutrients in the liquid fertilizer exist in the form of ions or small molecules, which can be quickly dissolved in the soil solution and directly absorbed and utilized by the seeds. It does not need to go through the process of dissolution and conversion like solid fertilizers, which greatly shortens the time for plants to obtain nutrients, can provide nutrients to plants more quickly, and promote plant growth. In this example, the second end of the second conduit 702 is connected to the channel of the plow rod 2031, so that each seed can accurately obtain the right amount of water and fertilizer near it, avoiding the problem of uneven fertilizer distribution in traditional fertilization methods. For example, in corn planting, corn seeds can obtain the required nutrients and water from the soil around them at the early stage of germination, which greatly improves the germination rate of seeds and the survival rate of seedlings. It should be understood that the concentration of liquid fertilizer needs to be controlled to avoid the situation where the concentration is too high and causes seed burns.

[0097] Among them, the second fertilizer box 701 is arranged at a position close to the top of the frame 10 through the second fixed bracket. By using the gravity, the fertilizer can flow naturally to the second conduit 702 under the gravity, without the need for an additional power lifting device, thereby reducing energy consumption and complexity. The height of the first end of the second conduit 702 from the ground is greater than the height of the second end from the ground, forming a certain height difference. Under the action of gravity, the fertilizer can flow more smoothly from the second fertilizer box 701 through the flow control valve into the second conduit 702, and finally enter the channel of the plow bar 2031, thereby ensuring the smoothness of fertilizer transportation. The second conduit 702 is connected to the channel of the plow bar 2031, so that the fertilizer can be directly transported to the soil near the seeds at the same time of sowing, so as to achieve the simultaneous sowing of seeds and fertilizers, so that the seeds can obtain nutrients in time in the early stage of germination and growth, promote the germination of seeds and the growth of seedlings, and improve the survival rate and early growth rate of crops. In addition, the flow control valve can accurately control the supply of water and fertilizer according to the needs of different crop varieties, different soil fertility and different growth stages. For example, for seeds that require large amounts of water and nutrients, the amount of water and fertilizer delivered can be increased to meet the growth needs of different seeds.

[0098] Optionally, it also includes: a soil covering mechanism 80, which is arranged at the bottom of the frame 10 and between the ditching mechanism 20 and the first fertilizing mechanism 60, and the soil covering mechanism 80 includes a first soil covering plate and a second soil covering plate, and the first soil covering plate and the second soil covering plate each include a plurality of sub-soil covering plates arranged side by side, and the first soil covering plate and the second soil covering plate are staggered on the same horizontal line, and when the length of the width adjustment frame is reduced, the first soil covering plate and the second soil covering plate at least partially overlap.

[0099] In this embodiment, after the furrowing mechanism 20 has completed furrowing, the seed drill continues to move forward, and the soil covering mechanism 80 moves to the top of the furrowed furrow. At this time, the first and second soil covering plates come into play, and the height of the soil covering plates is adjusted so that the soil covering plates fit the ground as much as possible. As the walking mechanism 40 moves, the soil covering mechanism 80 pushes the soil on both sides of the furrow into the furrow, so that the seeds and fertilizers in the furrow are completely covered by the soil, completing the soil covering operation.

[0100] When the length of the width adjustment frame 103 is reduced, the first covering plate and the second covering plate at least partially overlap to meet the requirements of trenching of different widths. When trenching in a narrow width, the overlapping part can ensure the uniformity and integrity of the covering; when trenching in a wide width, the first covering plate and the second covering plate are unfolded to jointly complete the covering of a large area.

[0101] In one example, in mountains, hills and other undulating terrains, the ground is uneven. Multiple sub-covering plates arranged side by side can contact the ground independently and adjust their height according to the undulations of the terrain. When encountering raised ground, the sub-covering plate can be lifted up to avoid being stuck or damaged; when encountering low-lying areas, the sub-covering plate can sink to ensure that the soil is covered to the required position, thereby ensuring uniform soil covering in the entire operating area.

[0102] In another example, different terrains are often accompanied by different soil textures and moisture conditions. For example, the fluidity and viscosity of the soil in the sandy land by the river or the clay in the low-lying area are different. The angles of multiple sub-covering plates can be adjusted according to the specific conditions of the soil. For sandy land with greater fluidity, the gaps between adjacent sub-covering plates can be appropriately reduced. For example, the sub-covering plates rotate forward around their respective corresponding axes so that in the first direction, the sub-covering plates are connected in a straight line (or close to a straight line) to ensure that the sand can be effectively covered; for soil with greater viscosity, the sub-covering plates can appropriately increase the gaps between adjacent sub-covering plates. For example, the sub-covering plates rotate in the opposite direction around their respective corresponding axes so that in the direction of travel of the seeder, the sub-covering plates are parallel (or close to parallel) to break up the sticky soil and spread it evenly to avoid soil caking or uneven soil covering.

[0103] In another example, on a sloped terrain, the sliding force and accumulation of soil at different locations are different. Multiple sub-covering plates can be adjusted in height and angle according to the change in slope. The sub-covering plates located above the slope can push the soil downward, while the sub-covering plates located below the slope can prevent excessive accumulation of soil, play a role in regulating and uniformly covering the soil, and the thickness of the covering soil can be kept relatively consistent in areas with different slopes, which is conducive to crop growth.

[0104] Optionally, it also includes: an identification mechanism, which is electrically connected to the control module 50, and the identification mechanism includes a distance sensor. The control module 50 controls the first driver to adjust the spacing distance between the first side frame 101 and the second side frame 102 according to the distance information of the target path collected by the distance sensor.

[0105] In one embodiment, in a complex and changeable farmland environment, the terrain may be undulating, curved, etc., and the target path may also be irregular. The distance sensor can sense these changes in real time, and the control module timely adjusts the frame spacing according to the sensor data, so that the seeder can adapt to different terrains and paths, improve the versatility and adaptability of the seeder, and reduce the need for manual intervention. Among them, the distance sensor can be set at the front center of the frame 10, and / or the outer surface of the first side frame 101 and the second side frame 102, close to the front end. The distance sensor can sense the condition of the target path ahead earlier, providing the control module 50 with sufficient reaction time to adjust the spacing distance between the first side frame 101 and the second side frame 102 to adapt to the terrain changes or path requirements that are about to be encountered, and ensure that the seeder maintains a suitable distance from the path boundary on both sides during the journey to avoid collision or deviation from the path.

[0106] In another embodiment, the identification mechanism may further include a visual sensor, and the control module 50 controls the furrowing spacing and furrowing depth of the furrowing mechanism 20 according to the seed category information collected by the visual sensor. The visual sensor may be installed at a suitable position on the seeding machine, such as near the seed box or above the furrowing mechanism 20, so that the seeds can be clearly photographed. The visual sensor is used to collect real-time images of the passing seeds to obtain the image information of the seeds. After the visual sensor collects the seed image, the image data is transmitted to the control module. The image processing algorithm in the control module analyzes the image and extracts the key features of the seeds, such as the shape, size, color, etc. of the seeds. Different categories of seeds often have differences in these features. By accurately extracting these features, a basis can be provided for subsequent seed category judgment. The control module compares the extracted seed features with various seed feature templates pre-stored in the database. The database contains typical feature information of various common seeds. Through the pattern matching algorithm, the control module can determine the category to which the current seed belongs. After determining the seed type, the control module will find the appropriate furrowing spacing and depth for this type of seed based on the built-in planting parameter database; then the control module controls the furrowing mechanism to execute the corresponding furrowing instructions, thus improving the convenience of the seeder.

[0107] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0108] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. An automatic seed drill, characterized in that: include: A frame, the frame comprising a first side frame, a second side frame, a width adjustment frame and a first driver, the width adjustment frame is arranged between the first side frame and the second side frame, and the width adjustment frame is adjusted in length under the action of the first driver; A furrowing mechanism, the furrowing mechanism comprising a main beam, an adjusting beam, a plowshare, a second driver and a third driver, the main beam being parallel to the width adjusting frame, the plowshare being movably connected to the main beam through the adjusting beam, and the adjusting beam driving the plowshare to move in a first direction under the action of the second driver, and the plowshare moving in a second direction under the action of the third driver, the plowshare comprising a plow bar and a plowshare, the plow bar being a hollow structure having a channel; A sowing mechanism, the sowing mechanism comprising a sowing box, a sowing wheel and a first conduit, a first end of the first conduit is connected to the sowing box through the sowing wheel, and a second end of the first conduit is connected to a channel of the plow bar; A walking mechanism, the walking mechanism is arranged at the bottom of the frame and is respectively arranged on the first side frame and the second side frame; A control module, wherein the control module is electrically connected to the first driver, the second driver, the third driver, the seeding wheel and the traveling mechanism respectively. When the automatic seeding machine travels along the target path via the traveling mechanism, the control module controls the first driver to adjust the length of the width adjustment frame to the target length, and the target length is adapted to the width of the target path. After adjusting the furrowing spacing of the furrowing mechanism by controlling the second driver and adjusting the furrowing depth of the furrowing mechanism by controlling the third driver, the control module controls the seeding wheel to transport the seeds in the seeding box to the first guide tube.

2. The automatic seed drill according to claim 1, characterized in that: The seeding box is a conical structure with two ends open, the first end of the seeding box is close to the top of the frame, the second end of the seeding box is close to the bottom of the frame, the size of the first end of the seeding box is larger than the size of the second end of the seeding box, and the seeding wheel is arranged at the second end of the seeding box; The seeding wheel comprises a bearing part and a loading part, the loading part is arranged around the axis of the bearing part, and each of the loading parts comprises a baffle and a movable block, the baffle is arranged around the bearing part to form a receiving cavity, the movable block is arranged in the receiving cavity, when the movable block is in an expanded state, the volume of at least one sub-region in the receiving cavity is reduced, when the movable block is in a compressed state, the volume of at least one sub-region in the receiving cavity is increased, one movable block corresponds to one sub-region, and the volume of the receiving cavity is the sum of the volumes of the sub-regions; The first port of the control module is electrically connected to the bearing part, and the bearing part is controlled to rotate by the control module to drive the loading part to circulate between the seed box and the first conduit. The second port of the control module is electrically connected to the movable block of the loading part, and the state of the movable block is controlled by the control module to adjust the volume of the accommodating chamber.

3. The automatic seed drill according to claim 1, characterized in that: The ditching mechanism also includes a longitudinal beam, which is arranged on the width adjustment frame and is perpendicular to the width adjustment frame. A screw module is arranged on the longitudinal beam, and the main beam is movably connected to the longitudinal beam through the screw module. The screw module drives the main beam to move along the second direction under the action of the third driver.

4. The automatic seed drill according to claim 1, characterized in that: Along the first direction, a first guide rail is arranged on the main beam, a first protrusion matched with the first guide rail is arranged on one side of the adjusting beam, a second guide rail is arranged on the other side of the adjusting beam, a second protrusion matched with the second guide rail is arranged on the plow bar, and the first protrusion is movably connected in the first guide rail, and the second protrusion is movably connected in the second guide rail; the second driver includes a first sub-driver and a second sub-driver, the first sub-driver is arranged in the first guide rail, and the second sub-driver is arranged in the second guide rail; When the first sub-driver drives the adjusting beam to retract so that the first protrusion is completely placed on the first guide rail, the movement range of the plowshare along the first direction is the length range of the main beam; when the first sub-driver drives the adjusting beam to extend so that the first protrusion is not completely placed on the first guide rail, the movement range of the plowshare along the first direction is greater than or equal to the maximum length range of the width adjustment frame; wherein, the second sub-driver is used to drive the plowshare to move on the adjusting beam.

5. The automatic seeder according to any one of claims 1 to 4, characterized in that: Also includes: A first fertilizing mechanism, the first fertilizing mechanism is arranged on a side of the frame away from the ditching mechanism, the first fertilizing mechanism includes a first fertilizing box, a valve plate and a rotating table, the first fertilizing box is arranged at a position close to the top of the frame through a first fixed bracket, a fertilizer unloading port is opened at the bottom of the first fertilizing box, the valve plate is arranged at the fertilizer unloading port, the rotating table includes a base and a push rod, the base is arranged at a position close to the bottom of the frame, the push rod extends from the base to the fertilizer unloading port until it abuts against the valve plate, and when the rotating table rotates, the push rod drives the valve plate to periodically displace to periodically open and close the fertilizer unloading port.

6. The automatic seed drill according to claim 5, characterized in that: The first fertilizing mechanism further includes angle adjustment plates, which are arranged on both sides of the base, and the angle between the angle adjustment plates ranges from 0 degrees to 180 degrees; The base is a circular structure, the top rod is located at the center of the base, distribution plates are arranged in an array on the base around the center of the base, and there is a gap cavity between adjacent distribution plates. In the vertical direction, the gap cavity faces the fertilizer unloading port, and in the horizontal direction, the gap cavity faces the angle adjustment plate.

7. The automatic seed drill according to claim 5, characterized in that: Also includes: A soil covering mechanism, which is arranged at the bottom of the frame and between the trenching mechanism and the first fertilizing mechanism, and includes a first soil covering plate and a second soil covering plate, each of the first soil covering plate and the second soil covering plate includes a plurality of sub-soil covering plates arranged side by side, the first soil covering plate and the second soil covering plate are staggered on the same horizontal line, and when the length of the width adjustment frame is reduced, the first soil covering plate and the second soil covering plate at least partially overlap.

8. The automatic seeder according to any one of claims 1 to 4, characterized in that: Also includes: The second fertilizing mechanism comprises a second fertilizing box, a flow control valve and a second conduit, the second fertilizing box is arranged at a position close to the top of the frame through a second fixed bracket, the first end of the second conduit is communicated with the second fertilizing box through the flow control valve, the second end of the second conduit is communicated with the channel of the plow bar, and the height of the first end of the second conduit from the ground is greater than the height of the second end of the second conduit from the ground, the control module is electrically connected to the flow control valve, and after controlling the seeding wheel to transport the seeds in the seeding box to the first conduit, the control module controls the flow control valve to open the channel between the second fertilizing box and the second conduit.

9. The automatic seeder according to any one of claims 1 to 4, characterized in that: Also includes: An identification mechanism, wherein the identification mechanism is electrically connected to the control module, the identification mechanism includes a distance sensor, and the control module controls the first driver to adjust the spacing distance between the first side frame and the second side frame according to the distance information of the target path collected by the distance sensor.

10. The automatic seed drill according to any one of claims 1 to 4, characterized in that: The traveling mechanism is one of a wheeled traveling mechanism, a support arm shock absorbing structure and a crawler traveling mechanism.

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