An automatic seeder

Abstract

The application provides an automatic seeding machine, comprising a vehicle frame, a furrowing mechanism, a seeding mechanism, a walking mechanism and a control module, the vehicle frame comprises a first side frame, a second side frame, a width adjusting frame and a first driver, the width adjusting frame is arranged between the first side frame and the second side frame; the furrowing mechanism comprises a main beam, an adjusting beam, a share, a second driver and a third driver, the share is movably connected with the main beam through the adjusting beam, the adjusting beam drives the share to displace along a first direction under the action of the second driver, the share displaces along a second direction under the action of the third driver, the share comprises a share rod and a share head, the share rod is 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 share rod. The seeding machine can flexibly adapt to various complex terrains and meet the needs of different seeds for furrowing, and the convenience of the seeding machine is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery, and particularly to an automatic seeding machine. BACKGROUND

[0002] Agricultural machinery can improve agricultural productivity and production efficiency, and promote the development of agricultural modernization to a deeper level. Among them, the seeding machine as a planting machine is widely used in production activities.

[0003] However, the existing seeding machine can generally only be applied to work in the scene of wide field, and is difficult to be applied in complex terrain environment; and the existing seeding machine is generally only suitable for the seeding of single crop, and is difficult to meet the seeding requirements of different seeds, which increases the purchase cost of farmers.

[0004] Therefore, the existing seeding machine has the problem of poor convenience. SUMMARY

[0005] The embodiment of the present application provides an automatic seeding machine to solve the problem of poor convenience of the existing seeding machine.

[0006] The embodiment of the present application provides an automatic seeding machine, which comprises:

[0007] A vehicle frame, the vehicle frame comprises a first side frame, a second side frame, a width adjusting frame and a first driver, the width adjusting frame is arranged between the first side frame and the second side frame, and the width adjusting frame is length-adjusted 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 comprises a main beam, an adjusting beam, a share, a second driver and a third driver, the main beam is arranged between the first side frame and the second side frame, and the main beam is parallel to the width adjusting frame, the length of the main beam is less than or equal to the minimum length of the width adjusting frame, the share is movably connected with the main beam through the adjusting beam, and the adjusting beam drives the share to displace along a first direction under the action of the second driver, and the share displaces along a second direction under the action of the third driver, the first direction is the extension direction of the main beam, and the second direction is perpendicular to the extension direction of the main beam, the share comprises a share rod and a share head, the share head is arranged at one end of the share rod close to the bottom of the vehicle frame, and the share rod is a hollow structure with a channel;

[0009] The seeding mechanism comprises a seeding box, a seeding wheel and a first conduit, a first end of the first conduit is communicated with the seeding box through the seeding wheel, a second end of the first conduit is communicated with the 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] The walking mechanism is arranged at the bottom of the frame and arranged at the first side frame and the second side frame respectively;

[0011] The control module is electrically connected with the first driver, the second driver, the third driver, the seeding wheel and the walking mechanism respectively, in the case that the automatic seeding machine travels along a target path through the walking mechanism, the control module adjusts the length of the width adjusting frame to a target length through controlling the first driver, the target length is adapted to the width of the target path, and after adjusting the furrowing interval of the furrowing mechanism through controlling the second driver and adjusting the furrowing depth of the furrowing mechanism through controlling the third driver, the control module controls the seeding wheel to transport the seeds in the seeding box to the first conduit.

[0012] Optionally, the seeding box is a conical structure with two open ends, a first end of the seeding box is close to the top of the frame, a 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 greater 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 loading part comprises a baffle and a movable block, the baffle surrounds to form a containing cavity on the bearing part, the movable block is arranged in the containing cavity, in the expanded state of the movable block, the volume of at least one sub-area in the containing cavity is reduced, in the compressed state of the movable block, the volume of at least one sub-area in the containing cavity is increased, one movable block corresponds to one sub-area, and the volume of the containing cavity is the sum of the volumes of the sub-areas.

[0014] A first port of the control module is electrically connected with the bearing part, the bearing part is controlled to rotate through the control module, so as to drive the loading part to move circularly between the seeding box and the first conduit, a second port of the control module is electrically connected with the movable block of the loading part, and the state of the movable block is controlled through the control module, so as to adjust the volume of the containing cavity.

[0015] Optionally, the furrow opening mechanism further comprises a longitudinal beam, the longitudinal beam is arranged on the width adjusting frame and is perpendicular to the width adjusting frame, a screw rod module is arranged on the longitudinal beam, the main beam is movably connected with the longitudinal beam through the screw rod module, and the screw rod 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 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 rod, 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 comprises 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.

[0017] When the first sub-driver drives the adjusting beam to retract so that the first protrusion is completely placed in the first guide rail, the movement range of the plow share 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 in the first guide rail, the movement range of the plow share along the first direction is greater than or equal to the maximum length range of the width adjusting frame; wherein the second sub-driver is used to drive the plow share to move on the adjusting beam.

[0018] Optionally, the first fertilization mechanism further comprises an angle adjusting plate, the angle adjusting plate is arranged on both sides of the base, and the included angle between the angle adjusting plates ranges from 0 degrees to 180 degrees.

[0019] Optionally, the first fertilization mechanism further comprises an angle adjusting plate, the angle adjusting plate is arranged on both sides of the base, and the included angle between the angle adjusting plates ranges from 0 degrees to 180 degrees.

[0020] The base is a circular structure, the ejector rod is located at the center of the base, and the distribution plate is arranged on the base around the center of the base, the gap cavity is between the adjacent distribution plates, in the vertical direction, the gap cavity is towards the unloading port, and in the horizontal direction, the gap cavity is towards the angle adjusting plate.

[0021] Optionally, it further comprises a covering mechanism arranged at the bottom of the frame and between the furrow opening mechanism and the first fertilization mechanism, the covering mechanism comprises a first covering plate and a second covering plate, the first covering plate and the second covering plate each comprise a plurality of side-by-side arranged sub-covering plates, the first covering plate and the second covering plate are arranged staggered on the same horizontal line, and when the length of the width adjusting frame decreases, the first covering plate and the second covering plate at least partially overlap.

[0022] Optionally, it further comprises a second fertilization mechanism, the second fertilization mechanism comprises a second fertilization box, a flow control valve and a second conduit, the second fertilization box is arranged near the top of the frame through a second fixed support, the first end of the second conduit communicates with the second fertilization box through the flow control valve, the second end of the second conduit communicates with the channel of the plow rod, 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 with the flow control valve, and the control module controls the flow control valve to open the channel between the second fertilization box and the second conduit after controlling the sowing wheel to transport the seeds in the seed box to the first conduit.

[0023] Optionally, it further comprises an identification mechanism, the identification mechanism is electrically connected with the control module, the identification mechanism comprises a distance sensor, and the control module controls the first driver to adjust the interval 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, a support arm damping structure and a tracked walking mechanism.

[0025] In the embodiment of the present application, the automatic seeding machine can adjust the overall width of the vehicle frame through the width adjusting frame, and the furrowing mechanism, the seeding mechanism and the walking mechanism arranged on the vehicle frame are synchronously adjusted under the control of the control module to flexibly adapt to various complex terrains; the furrowing pitch of the furrowing mechanism can be adjusted by driving the adjusting beam to drive the share to move along the extension direction of the main beam, and the furrowing depth of the furrowing mechanism can also be adjusted by driving the share to displace along the direction perpendicular to the main beam, so as to meet the furrowing requirements of different seeds and improve the convenience of the seeding machine, and there is no need to purchase a special seeding machine for different terrains and different seeds; in addition, the plow rod is arranged as a hollow structure with a channel, the seeding wheel is started to operate during seeding, so that the seeds in the seeding box are transported to the channel of the plow rod through the first conduit, and finally accurately scattered into the furrow, thereby improving the efficiency and accuracy of seeding. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0027] Figure 1 is one of the structural schematic diagrams of the automatic seeding machine provided by the embodiment of the present application;

[0028] Figure 2 is the second structural schematic diagram of the automatic seeding machine provided by the embodiment of the present application;

[0029] Figure 3 is the third structural schematic diagram of the automatic seeding machine provided by the embodiment of the present application;

[0030] Figure 4 is the fourth structural schematic diagram of the automatic seeding machine provided by the embodiment of the present application;

[0031] Figure 5 is the fifth structural schematic diagram of the automatic seeding machine provided by the embodiment of the present application;

[0032] Figure 6 is the sixth structural schematic diagram of the automatic seeding machine provided by the embodiment of the present application;

[0033] Figure 7 is the seventh structural schematic diagram of the automatic seeding machine provided by the embodiment of the present application;

[0034] Figure 8 is the eighth structural schematic diagram of the automatic seeding machine provided by the embodiment of the present application;

[0035] Figure 9 is a ninth structural schematic view of an automatic seeding machine provided by an embodiment of the present application. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0037] The terms "first", "second", and the like in the specification and claims of the present application 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 under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", and the like are generally of a kind and do not limit the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / ", generally indicates that the front and rear associated objects are in an "or" relationship.

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

[0039] A frame 10, the frame 10 comprises a first side frame 101, a second side frame 102, a width adjusting frame 103 and a first driver, the width adjusting frame 103 is arranged between the first side frame 101 and the second side frame 102, and the width adjusting frame 103 is length-adjusted 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 furrowing mechanism 20 comprises a main beam 201, an adjusting beam 202, a share 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 adjusting frame 103, the length of the main beam 201 is less than or equal to the minimum length of the width adjusting frame 103, the share 203 is movably connected with the main beam 201 through the adjusting beam 202, the adjusting beam 202 drives the share 203 to move in a first direction under the action of the second driver, and the share 203 moves in a second direction under the action of the third driver, the first direction is the extension direction of the main beam 201, and the second direction is perpendicular to the extension direction of the main beam 201, the share 203 comprises a share rod 2031 and a share head 2032, the share head 2032 is arranged at one end of the share rod 2031 close to the bottom of the vehicle frame 10, and the share rod 2031 is a hollow structure with a channel;

[0041] The seeding mechanism 30 comprises a seeding box 301, a seeding wheel 302 and a first conduit 303, the first end of the first conduit 303 is in communication with the seeding box 301 through the seeding wheel 302, the second end of the first conduit 303 is in communication with the channel of the share rod 2031, and 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;

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

[0043] The control module 50 is electrically connected with the first driver, the second driver, the third driver, the seeding wheel 302 and the walking mechanism 40 respectively, in the case that the automatic seeding machine drives along a target path through the walking mechanism 40, the control module 50 adjusts the length of the width adjusting frame 103 to a target length through the control of the first driver, the target length is matched with the width of the target path, and after adjusting the furrowing spacing of the furrowing mechanism 20 through the control of the second driver and adjusting the furrowing depth of the furrowing mechanism 20 through the control of the third driver, the control module 50 controls the seeding wheel 302 to transport the seeds in the seeding box 301 to the first conduit 303.

[0044] For example, the frame 10 can be made of 30*30 aluminum profiles, matched with 3030 angle code, L-shaped connecting plate, and T-shaped connecting plate. Compared with steel structure, the aluminum profile can reduce the weight by 60%, and is corrosion resistant. The assembly is simple and convenient, and matched with special connecting accessories, which can achieve non-drilling connection and be firm 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 each can be formed by assembling multiple profiles. The width adjusting frame 103 can be multiple profiles arranged in a nested manner between the first side frame 101 and the second side frame 102. The length of the width adjusting frame 103 is driven by the first driver to overlap the nested position, so as to adjust the overall length of the width adjusting frame 103, thereby changing the spacing distance between the two side frames. In this way, the automatic seeding machine can adapt to different widths of the field, for example, reducing the width in a narrow field and expanding the width in an open area, to ensure the work efficiency and flexibility.

[0045] For example, the furrowing mechanism 20 is used to cultivate a seeding furrow on the target path, and then seeds are planted in the seeding furrow to complete the seeding process. The furrowing mechanism 20 includes a main beam 201, an adjusting beam 202, a plough share 203, a second driver, and a third driver. The main beam 201 can also be arranged between the first side frame 101 and the second side frame 102, for example, can be fixed on the width adjusting frame 103 outside the frame by a support; and the main beam 201 is parallel to the width adjusting frame 103, so as to reduce the interference between the main beam 201 and the frame 10 when the length of the width adjusting frame 103 is adjusted; at the same time, the length of the main beam 201 is limited to be less than or equal to the minimum length of the width adjusting frame 103, so as to ensure the smooth passing of the automatic seeding machine in a narrow field or an irregular field. When working on an open and flat land, the length of the width adjusting frame 103 is extended by the first driver to increase the spacing distance 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 adjusting beam 202 drives the plough share 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 working range of the furrowing mechanism 20, and better adapt to the seeding requirements under different terrain conditions. In addition, the plough share 203 can move along a direction perpendicular to the main beam (second direction) under the action of the third driver, so as to adjust the furrowing depth. In the face of complex terrains such as different hardness, slope, and humidity of the soil, the depth of the plough share 203 into the soil can be changed by controlling the third driver. For example, the furrowing depth can be appropriately reduced in soft sandy land, and the furrowing depth can be increased in hard clay or mountainous land with slope, to ensure that the seeds can be planted in the soil at a suitable depth, which is beneficial to the germination and growth of the seeds.

[0046] The plough share 203 includes a plough rod 2031 and a plough head 2032. The plough head 2032 is a component directly contacting the soil and performing the furrowing operation. During the operation of the seeding machine, the plough head 2032 cuts into the soil by virtue of its sharp shape and structure, turns up the soil, and forms a furrow for seeding. The plough rod 2031 is a main body support structure of the plough share 203, and stably connects the plough head 2032 at one end close to the bottom of the frame 10. On the one hand, during the furrowing operation, the plough rod 2031 bears the reaction force from the soil, ensures that the plough head 2032 can stably perform the furrowing action, and adjusts the position of the plough share 203 under the action of the second driver and the third driver to adapt to different furrowing spacing and depth requirements.

[0047] On the other hand, the plough rod 2031 is a hollow structure with a channel, is in communication with the seeding mechanism 30, and can also play a role in seed protection. For example, the seeding mechanism 30 includes a seeding box 301, a seeding wheel 302, and a first conduit 303. The first end of the first conduit 303 is in communication with the seeding box 301 through the seeding wheel 302, and the second end of the first conduit 303 is in communication with the channel of the plough rod 2031. During the seeding process, the seeds are transported from the seeding box 301 to the furrow opened by the plough head 2032 through the seeding wheel 302 and the channel of the plough rod 2031. In this way, the two steps of furrowing and seeding are combined, so that the seeds can accurately fall into the seeding furrow opened by the plough head 2032, and the efficiency and accuracy of seeding are improved.

[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. The height of the first conduit 303 can better cooperate with other components of the seeding machine. The seeding box 301 can be arranged at a higher position on the frame 10. The design that the first end of the first conduit 303 is higher and the second end is lower can reduce the backflow of seeds during the transport process, so that the seeds can be more smoothly transported from the seeding box to the channel of the plough rod 2031 through the first conduit 303, and finally reach the furrow, thereby reducing the possibility of blockage or accumulation of seeds in the conduit and ensuring the continuity and stability of the seeding process.

[0049] For example, the walking mechanism 40 is used to realize the movement of the automatic seeding machine. 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 seeding machine to move forward, backward or turn around according to a predetermined target path, so as to realize the seeding operation in different areas.

[0050] Optionally, the walking mechanism 40 can be one of a wheeled walking mechanism, a support arm damping structure, and a tracked walking mechanism.

[0051] In an example, on the vast and flat wheat planting prairie in the north, the walking mechanism 40 can be a wheeled walking mechanism, which can be composed of 4 pneumatic rubber tires. These tires have thick walls that can withstand heavy weight, and the tread pattern is deep and complex, providing strong grip. For example, the tire diameter can be up to 1.5 meters, and the width is 0.4 meters, and the 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 prairie, the wheeled walking mechanism can quickly drive the seeder forward, with a driving speed of 6-8 kilometers per hour. With its flexible steering system, such as electronic power steering, the operator can easily control the seeder to make precise turns in large fields, quickly switch between different seeding areas, and efficiently complete large-area seeding tasks.

[0052] In another example, in the hilly tea garden in the south, the terrain is uneven and the ground conditions are complex. The walking mechanism 40 can be a shock-absorbing arm structure. The shock-absorbing arm structure is mainly composed of high-strength spring steel arms and hydraulic shock absorbers. The arm is curved, with one end firmly connected to the frame 10 and the other end connected to the wheel. When the seeder climbs or descends the hill in the hilly tea garden, encounters pits or protrusions, the spring steel arm will elastically deform, preliminarily buffering the shock, and then the hydraulic shock absorber intervenes, further absorbing and resolving the remaining impact force. This double shock-absorbing mechanism makes the frame of the seeder always relatively stable, ensuring the stable operation of the seeding and furrowing components on the seeder, ensuring the uniformity of the tea seed seeding depth and spacing, and improving the emergence rate and growth quality of the tea.

[0053] In yet another example, in the terraced fields of the southwest mountainous area, the terrain is steep and the field is small, and in some coastal tidal wetlands, the soil is soft and easy to sink. The walking mechanism 40 can be a tracked walking mechanism. The tracked walking mechanism mainly includes driving wheels, guide wheels, chain wheels, and tracks around them. In mountainous terraced fields, the driving wheels provide powerful power to drive the tracks to rotate, enabling the seeder to climb steep terraced slopes; the guide wheels precisely control the direction of travel, ensuring that the seeder accurately travels between narrow terraced ridges. In the tidal wetlands, the wide tracks make extensive contact with the ground, greatly reducing the ground pressure, such as the track width being up to 0.6 meters, allowing the seeder to travel smoothly on soft wetlands and successfully complete the seeding operation, effectively solving the problem that other walking mechanisms cannot operate in such special terrain.

[0054] The wheel type walking mechanism includes wheels, axles and suspensions. The axles are directly fixed to the frame 10 by welding, bolt connection or other methods. The wheels are indirectly connected to the frame 10 through the suspensions. The axles are connected to the components of the suspensions (such as control arms, leaf springs, etc.), and the suspensions are connected to the frame 10. In this way, the suspensions can effectively buffer and absorb shocks. For example, the walking mechanisms 40 are arranged on the first side frame 101 and the second side frame 102 respectively, and a mechanical connecting rod, a gear and rack mechanism or the like can be used to realize the synchronous adjustment of the wheel spacing and the width of the frame 10 (i.e. the interval distance between the first side frame 101 and the second side frame 102). For example, a transmission shaft is installed between the axles, and a plurality of gears are installed on the transmission shaft. Each axle of the wheel has a gear meshing with the gears on the transmission shaft. 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 axle of the wheel to rotate, so that the axles are synchronously moved outward or inward, thereby realizing the synchronous adjustment of the wheel spacing.

[0055] For example, 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 and realize the automation of the whole operation process of the seeding machine. 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 is fed back to the control module 50. The control module can start to calculate the related parameters of the target path according to the preset program and the perception of the current environment, such as obtaining the terrain information through the sensor.

[0056] In order to enable the seeding machine to smoothly pass through paths with different widths, the control module 50 sends a control signal to the first driver. The first driver drives the width adjusting frame 103 to adjust the length according to the received instruction. The control module 50 will continuously monitor the adjustment process until the length of the width adjusting frame 103 reaches the target length suitable for the width of the target path. This enables the seeding machine to flexibly adapt to various complex terrains. For example, when working on mountain terraces, the widths of the terraces may vary, and the seeding machine can adjust the width adjusting frame 103 according to the actual width of the terraces to smoothly perform the seeding operation on the terraces, without being unable to pass through narrow terrace areas due to the over-wide machine body, or wasting the working area on wide terraces due to the over-narrow machine body. For another example, in an orchard, the seeding machine can also adjust the width to smoothly travel and work between the rows of fruit trees, thereby improving the versatility and working efficiency of the seeding machine.

[0057] In addition, different seeds have different requirements for the furrow spacing and depth of sowing. For example, corn seeds are relatively large in size, and in order to ensure the growth space, a larger furrow spacing is required, generally 30-50 cm, and the sowing depth is preferably 5-8 cm. The size of vegetable seeds is relatively small, and the furrow spacing is generally 10-20 cm, and the sowing depth is 1-3 cm. Therefore, the control module 50 can accurately adjust the furrow 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 furrow spacing to 40 cm, and control the third driver to set the furrow depth to 6 cm. For vegetable seed sowing, the furrow spacing and depth can also be accurately adjusted. After the furrow spacing and depth are adjusted by the furrowing mechanism 20, 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 bar 2031 through the first conduit 303, and finally scatters them into the prepared furrow to complete the sowing operation. In this way, the convenience of using the automatic sowing machine is improved, which can not only adapt to complex terrain environments, but also meet the sowing requirements of different seeds, improve the germination rate and growth quality of seeds, and thus improve the yield and quality of crops.

[0058] In the embodiment of the application, the width of the vehicle frame 10 can be adjusted by the width adjusting frame 103, and the furrowing mechanism 20, the sowing mechanism 30 and the walking mechanism 40 arranged on the vehicle frame 10 are synchronously adjusted under the control of the control module 50, which can flexibly adapt to various complex terrains. The furrowing spacing of the furrowing mechanism 20 can be adjusted by driving the adjusting beam 202 to drive the plow share 203 to move along the extension direction of the main beam 201, and the furrowing depth of the furrowing mechanism 20 can also be adjusted by driving the plow share 203 to displace along a direction perpendicular to the main beam 201, which meets the requirements of different seeds for furrowing and improves the convenience of the sowing machine. It is no longer necessary to purchase a special sowing machine for different terrains and different seeds. In addition, the plow bar 2031 is arranged as a hollow structure with a channel, and the sowing wheel 302 is started to operate during sowing to transport the seeds in the sowing box 301 to the channel of the plow bar 2031 through the first conduit 303, and finally accurately scatter them into the prepared furrow along the plow bar 2031, which improves the efficiency and accuracy of sowing.

[0059] In other optional embodiments, different land conditions, such as humidity, softness, etc., are also considered to have an impact on the seeding effect. In this example, a soil humidity sensor is installed at the bottom edge of the plowshare 2032, which can capture the change in water content in the soil and transmit the data to the control module 50 in real time. According to these data, the control module 50 can quickly make adjustment decisions on the depth and spacing of the furrow to ensure that the seeding operation always matches the soil humidity conditions. In addition, a soil hardness sensor is installed on the side of the plow bar 2031 close to the plowshare 2032. When the plowshare 203 enters the soil, the soil hardness sensor can sense the resistance it receives. By analyzing the resistance data, the hardness of the soil can be accurately judged, and the data can be fed back to the control module 50, so that it can accurately judge the firmness of the soil, and then scientifically and reasonably adjust the depth and spacing of the furrow, effectively avoiding the obstacles of furrowing caused by hard soil, or the damage to the seeding machine caused by excessive force.

[0060] For example, in areas with high humidity and soft soil, such as fields on the banks of rivers, or farmland just after irrigation, the soil has relatively poor air permeability. At this time, the furrow spacing can be reduced to prevent the seeds from being too far apart and to avoid reducing yield due to space waste. At the same time, the furrow depth also needs to be appropriately shallowed to prevent the seeds from being buried too deep and lacking oxygen, which hinders their normal germination and growth. Taking vegetable planting as an example, in such land conditions, the control module 50 can accurately control the furrow spacing to 10 centimeters by controlling the second driver; with the help of the third driver, the furrow depth is set to 1 centimeter, thereby creating the most suitable seeding environment for vegetable seeds. Conversely, in dry and hard soil, such as dry land that has been lacking irrigation for a long time, the water and nutrients in the soil are unevenly distributed. To ensure that the seeds have enough growing space and access to sufficient nutrients, the furrow spacing needs to be appropriately increased. Deepening the furrow depth allows the seeds to reach the moist area in the deep layer of the soil, providing the necessary moisture conditions for germination. Again taking vegetable planting as an example, in such land conditions, the control module 50 can accurately control the furrow spacing to 15 centimeters by controlling the second driver; with the help of the third driver, the furrow depth is set to 3 centimeters, thereby creating the most suitable seeding environment for vegetable seeds. In this way, the convenience of using the automatic seeding machine is improved, which not only can adapt to complex terrain environments, but also can meet the seeding needs of seeds in different soil conditions, improve the germination rate and growth quality of seeds, and thus improve the yield and quality of crops.

[0061] Optionally, the furrow opening mechanism 20 further comprises a longitudinal beam 204, which is arranged on the width adjusting frame 103 and is perpendicular to the width adjusting frame 103, and a lead screw module 2041 is arranged on the longitudinal beam 204, and the main beam 201 is movably connected with the longitudinal beam 204 through the lead screw module 2041, and the lead screw module 2041 drives the main beam 201 to move along the second direction under the action of the third driver.

[0062] In the embodiment, the main beam 201 is arranged on the longitudinal beam 204, and the longitudinal beam 204 is arranged on the width adjusting frame 103 outside the frame through a support, so that the main beam 201 is connected with the longitudinal beam 204 through the lead screw module 2041, and the cross connection of the longitudinal beam 204 and the main beam 201 gives consideration to the freedom of the share 203 in the first direction and the second direction, and improves the stability of the furrow opening mechanism 20. The lead screw module 2041 has good rigidity and load resistance compared with other transmission modes, and the lead screw module 2041 drives the main beam 201 to move along the direction perpendicular to the main beam (the second direction) under the action of the third driver, so that the share 203 arranged on the main beam 201 can move along the second direction, thereby adjusting the furrow depth. During the depth adjustment of the main beam 201, a larger force can be borne, and deformation or damage is not easy to occur, thereby prolonging the service life of the furrow opening mechanism 20, reducing the maintenance cost, and ensuring the stability and reliability of the seeding machine in long-term high-intensity operation.

[0063] Optionally, along the first direction, the main beam 201 is provided with a first guide rail, one side of the adjusting beam 202 is provided with a first protrusion matched with the first guide rail, the other side of the adjusting beam 202 is provided with a second guide rail, the plow rod 2031 is provided with a second protrusion matched with the second guide rail, 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 comprises 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.

[0064] When the first sub-driver drives the adjusting beam 202 to retract, so that the first protrusion is completely placed in the first guide rail, the movement range of the share 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 in the first guide rail, the movement range of the share 203 along the first direction is greater than or equal to the maximum length range of the width adjusting frame 103; wherein the second sub-driver is used to drive the share 203 to move on the adjusting beam 202.

[0065] The furrowing mechanism 20 can include at least two ploughs 203, and at least one plough 203 is movably connected to the main beam 201 through an adjusting beam 202.

[0066] In an embodiment, the furrowing mechanism 20 includes two ploughs 203, each plough 203 is movably connected to the main beam 201 through a corresponding adjusting beam 202, a first guide rail is formed 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 synchronous adjustment with the width adjusting frame 103 is realized through the cooperation of 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 adjusting frame 103 to contract, so as to reduce the width of the vehicle frame 10. At this time, the control module 50 can synchronously control the first sub-driver arranged in the first guide rail, so that the first sub-driver drives the adjusting beam 202 to retract, and the two adjusting beams 202 on the main beam 201 move towards each other. In this process, the overlapping part of 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 furrowing mechanism 20, corresponding to the shortest length of the width adjusting frame 103 that can be adjusted. The shortest length of the furrowing mechanism 20 is the length of the main beam 201. Conversely, in an open area, the first driver can be controlled by the control module 50 to drive the width adjusting frame 103 to extend, so as to increase the width of the vehicle frame 10. At this time, the control module 50 can synchronously control the first sub-driver arranged in the first guide rail, so that the first sub-driver drives the adjusting beam 202 to extend, and the two adjusting beams 202 on the main beam 201 move in opposite directions. In this process, the overlapping part of 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 furrowing mechanism 20, corresponding to the longest length of the width adjusting frame 103 that can be adjusted. The longest length of the furrowing mechanism 20 is the sum of the length of the main beam 201 and the length of the adjusting beam 202, and the longest length of the furrowing mechanism 20 can be greater than or equal to the longest length of the width adjusting frame 103 that can be adjusted. The length of the furrowing mechanism 20 can be the movement range of the plough 203 in the first direction.

[0067] In another embodiment, the furrowing mechanism 20 includes three ploughs 203, one of which can be directly fixed at the middle position of the main beam 201, and the other two can be respectively connected with the main beam 201 through an adjusting beam 202, and the ploughs 203 connected with the main beam 201 through the adjusting beam 202 are arranged near the 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, first guide rails are arranged at the positions of the two ends of the main beam 201, and the corresponding adjusting beams 202 can move in the first guide rails through first protrusions, and the cooperation of the main beam 201 and the adjusting beam 202 realizes the synchronous adjustment with the width adjusting frame 103. The specific implementation manner is similar to the above-mentioned embodiment, and will not be described here.

[0068] The movement of the adjusting beam 202 on the main beam 201 and the movement of the plough 203 on the adjusting beam 202 can both realize the adjustment of the furrowing distance. First, the first sub-driving member is used to drive the adjusting beam 202 to preliminarily move on the main beam 201, so as to adapt to the length of the width adjusting frame 103 (that is, the interval distance between the first side frame 101 and the second side frame 102, that is, the width of the whole vehicle frame 10); then the second sub-driving member is used to drive the plough 203 to move again on the adjusting beam 202, so that the furrowing distance requirement of different crops can be accurately met, and the land utilization efficiency and the crop growth quality are improved. The cooperation of the first guide rail and the first protrusion and the second guide rail and the second protrusion provides accurate guidance and stable support for the movement of the adjusting beam 202 and the plough 203. During the movement of the adjusting beam 202 and the plough 203, the cooperation of the guide rail and the protrusion can effectively reduce the shaking and deviation, ensure the straightness and consistency of the furrowing operation, and improve the seeding quality. At the same time, the stability of the whole is enhanced, so that the seeding machine can also reliably operate in a complex field operation environment, and the probability of failure is reduced.

[0069] In an example, the main beam 201 can be driven to displace along the second direction under the action of the third driver through the lead screw module 2041, so that the plough 203 on the main beam 201 is adjusted in the whole furrowing depth.

[0070] In another example, the furrowing mechanism 20 can further include a fourth driver, a chain is arranged on the share 203, the share 203 is connected with the adjusting beam 202 through the chain, and the fourth driver is used to drive the chain so that the share 203 can be displaced on the adjusting beam 202 in the second direction. When the furrowing depth is adjusted, first, the main beam 201 can be displaced in the second direction under the action of the third driver through the lead screw module 2041, so that the adjusting beam 202 and the shares 203 are preliminarily moved in the height direction as a whole through the main beam 201; then each share 203 is displaced in the second direction on the adjusting beam 202 under the action of the fourth driver, so as to realize further height adjustment of each share 203. In this way, each share 203 can be independently adjusted in the furrowing depth according to different terrains. For example, in the terrain with protrusions or depressions, after the furrowing depth is preliminarily determined through the lead screw module 2041, the connection positions of the shares 203 in the second direction (i.e. the height direction) with the adjusting beam 202 can be further adjusted according to the terrain at the positions of the shares 203 respectively through the chains on the shares 203, so that the earth penetration depths of different shares 203 can be independently controlled according to different terrains, suitable sowing environments are created for seeds in protruding or depressed positions, and the seed germination rate and survival rate are improved.

[0071] Optionally, the sowing box 301 is a tapered structure with both ends open, the first end of the sowing box 301 is close to the top of the vehicle frame 10, the second end of the sowing box 301 is close to the bottom of the vehicle frame 10, the size of the first end of the sowing box 301 is larger than the size of the second end of the sowing box 301, and the sowing wheel 302 is arranged at the second end of the sowing box 301. The tapered design of large size at the top and small size at the bottom can utilize the principle of gravity, so that the seeds are more easily moved to the bottom of the sowing box 301 under the action of their own gravity, and are naturally slid to the sowing wheel 302 arranged at the second end, effectively avoiding the accumulation of seeds in the sowing box, ensuring the stable and continuous supply of seeds to the sowing wheel, and improving the sowing efficiency; and the sowing box 301 can be arranged at the gap position of the vehicle frame 10, which is compatible with the vehicle frame structure, fully utilizes the space of the vehicle frame 10, and makes the overall structure of the sowing machine compact, so that the operator can conveniently add seeds from the top opening, and the operation is convenient.

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

[0073] The first port of the control module 50 is electrically connected with the bearing part, and the rotation of the bearing part is controlled by the control module 50 to drive the loading part to move circularly between the seed box 301 and the first conduit 303. The second port of the control module 50 is electrically connected with 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 cavity.

[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. The baffle surrounds the bearing part to form an accommodating cavity, in other words, the seeding wheel 302 includes a plurality of arrayed accommodating cavities around the axis of the bearing part, and the volume of each accommodating cavity can be adjusted by the corresponding movable block. The rotation of the bearing part can drive the loading part to move circularly between the seed box 301 and the first conduit 303, so that one accommodating cavity is aligned with the discharge port of the seed box 301 to load the seeds in the seed box 301 into the accommodating cavity, and at the same time, another accommodating cavity is aligned with the feeding port of the first conduit 303 to unload the seeds in the current accommodating cavity into the first conduit 303. The continuous seeding operation is realized, 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 driving speed of the walking mechanism 40 can be controlled by the control module 50 to adjust the seeding spacing on the path of the seeding machine, so as to adapt to the seeding requirements of different seeds. For example, for seeds with larger seeding spacing requirements, the rotation speed of the bearing part can be reduced and the driving speed of the walking mechanism 40 can be increased to increase the seeding spacing on the path of the seeding machine; on the contrary, for seeds with smaller seeding spacing requirements, the rotation speed of the bearing part can be increased and the driving speed of the walking mechanism 40 can be reduced to reduce the seeding spacing on the path of the seeding machine.

[0076] In an example, six accommodating cavities A can be arranged on the seeding wheel 302 around the axis of the bearing part, and the accommodating cavities A are equally spaced. Two movable blocks 3021 are arranged in each accommodating cavity A, and the two movable blocks 3021 can be arranged side by side. One movable block 3021 corresponds to one sub-region in the current accommodating cavity A, that is, the volume of one accommodating cavity A is the sum of the volumes of the sub-regions of the two corresponding movable blocks 3021. In this way, for different types of seeds, the volume of the accommodating cavity 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 realizing precision seeding.

[0077] For example, for larger seeds such as corn seeds, the control module 50 controls the two movable blocks 3021 in each accommodating cavity A to be in the compressed state through the second port, so as to increase the volume of each accommodating cavity A, and the volume of the accommodating cavity A is the maximum volume at this time; and the bearing part is controlled to rotate through the first port, and the loading part passes through the seeding box 301 and the first conduit 303 in turn, when rotating to the discharge port of the seeding box 301, the corn seeds fall into the accommodating cavity A with the adjusted volume, and with the continuous rotation of the bearing part, the accommodating cavity A loaded with the corn seeds is aligned with the inlet of the first conduit 303, so that the corn seeds fall into the first conduit 303 smoothly, ensuring that the number of corn seeds loaded each time is within the preset range (for example, 3-4), and precision seeding is realized. It should be understood that if one of the two movable blocks 3021 in the accommodating cavity A is in the compressed state and the other is in the expanded state, the number of corn seeds loaded each time will be 1-2, which is easy to cause the survival rate of corn seeds to be low.

[0078] For example, for smaller seeds such as cabbage seeds, the control module 50 controls one of the two movable blocks 3021 in each accommodating cavity A to be in the compressed state and the other to be in the expanded state through the second port, so as to reduce the volume of each accommodating cavity A, and the volume of the accommodating cavity A is 1 / 2 of the maximum volume at this time; and the bearing part is controlled to rotate through the first port, and the loading part passes through the seeding box 301 and the first conduit 303 in turn, when rotating to the discharge port of the seeding box 301, the cabbage seeds fall into the accommodating cavity A with the adjusted volume, and with the continuous rotation of the bearing part, the accommodating cavity A loaded with the cabbage seeds is aligned with the inlet of the first conduit 303, so that the cabbage seeds fall into the first conduit 303 smoothly, ensuring that the number of cabbage seeds loaded each time is within the preset range (for example, 3-4), and precision seeding is realized. It should be understood that if both of the two movable blocks 3021 in the accommodating cavity A are in the compressed state, the number of cabbage seeds loaded each time will be 6-8, which is easy to cause the waste of cabbage seeds.

[0079] In the seeding process, the control module 50 can also make real-time adjustments according to the preset seeding density and the actual seeding situation. For example, a sensor arranged on the walking mechanism 40 is used to monitor the speed of the seeding machine, if the speed is increased, the control module 50 appropriately increases the volume of the accommodating cavity, so as to ensure that the seeding amount per unit area is unchanged; if it is found that there is a deviation in the seeding amount in a certain area, the seeding amount can be adjusted in time by adjusting the state of the movable block, so as to ensure the germination rate of the seeds in the whole area.

[0080] Wherein, 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 adaptive cavity volume based on the parameters, and adjusts the state of each movable block 3021 according to the calculation result, so as to realize precision sowing.

[0081] It should be understood that the sowing wheel 302 can also be provided with other numbers of accommodation cavities A around the axis of the bearing part, for example, the sowing wheel 302 can be provided with 5, 7, 8 or 10 accommodation cavities A around the axis of the bearing part. By adaptively adjusting the rotation speed of the bearing part through the control module 50, the same technical effects can also be achieved, and details are not repeated here.

[0082] It should be understood that each accommodation cavity A can also be provided with other numbers of movable blocks 3021, for example, each accommodation cavity A can also be provided with 3 movable blocks 3021 side by side; for example, each accommodation cavity A can also be provided with 4 movable blocks 3021, and arranged in 2 rows and 2 columns. The specific number can be determined according to the size of the seeding machine and the actual sowing demand, and the same technical effects can also be achieved, and details are not repeated here.

[0083] Optionally, it further comprises a first fertilization mechanism 60, which is arranged on the side of the vehicle frame 10 away from the furrow opening mechanism 20. The first fertilization mechanism 60 comprises a first fertilization box 601, a valve plate 602 and a rotating table 603. The first fertilization box 601 is arranged near the top of the vehicle frame 10 through a first fixed support. The bottom of the first fertilization box 601 is provided with a fertilizer discharge opening. The valve plate 602 is arranged at the fertilizer discharge opening. The rotating table 603 comprises a base 6031 and a top rod 6032. The base 6031 is arranged near the bottom of the vehicle frame 10. The top rod 6032 extends from the base 6031 to the fertilizer discharge opening and abuts against the valve plate 602. When the rotating table 603 rotates, the top rod 6032 drives the valve plate 602 to periodically displace, so as to periodically open and close the fertilizer discharge opening.

[0084] In this embodiment, the first fertilization mechanism 60 can be used for solid fertilizer fertilization. After the solid fertilizer is applied to the soil, a series of dissolution, transformation and other processes are needed before it can be absorbed and utilized by the seeds. This allows nutrients to be released slowly over a long period of time, continuously providing nutrition for plants and meeting the needs of plants at different growth stages, reducing the frequency of fertilization. For example, some slow-release compound fertilizers can continuously release nitrogen, phosphorus, potassium and other main nutrients for several months. By arranging the first fertilization mechanism 60 on the side of the frame 10 away from the furrowing mechanism 20, the seeding and fertilization operations are relatively independent, avoiding mutual interference. For example, during the operation of the seeding machine, the furrowing mechanism 20 is responsible for furrowing, while the first fertilization mechanism 60 is fertilizing on the other side. The two can be performed simultaneously and do not affect each other, improving the operation efficiency. At the same time, it is also convenient for installation, maintenance and repair, and the staff can more conveniently operate and adjust different mechanisms.

[0085] The first fertilization box 601 is arranged near the top of the frame 10 by the first fixed support. This high position arrangement utilizes the action of gravity. The solid fertilizer is stored in the first fertilization box 601, and when the fertilizer discharge opening is opened, the solid fertilizer can naturally fall under the action of gravity, without the need for additional power devices to push the fertilizer out, reducing energy consumption and complexity. Moreover, the first fertilization box 601 can also be designed in a tapered shape with a large upper part and a small lower part, so that the solid fertilizer is more easily moved to the fertilizer discharge opening under the action of its own gravity, effectively preventing the accumulation of solid fertilizer in the first fertilization box 601. In addition, the first fertilization box 601 can also be provided with a detachable expansion plate, which can be assembled or disassembled according to the amount of solid fertilizer. In the case of assembling the expansion plate, the first fertilization box 601 can store more solid fertilizer, reducing the frequency of adding fertilizer and improving the continuity of fertilization operation.

[0086] The fertilizer discharge opening formed at the bottom of the first fertilization box 601 is a channel for discharging fertilizer, which can be a rectangular opening with a size of 4cm*8cm, which can ensure that the fertilizer is discharged uniformly and stably. The valve plate 602 is arranged at the fertilizer discharge opening, and 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 fertilizer is different. By adjusting the opening size of the valve plate 602 to the fertilizer discharge opening, precise control of the fertilization amount can be achieved to meet different fertilization needs and avoid waste of fertilizer or insufficient fertilization. The size of the valve plate 602 can be 4cm*8cm, so that when fertilization operation is not needed, the valve plate 602 can completely close the fertilizer discharge opening to prevent leakage of the fertilizer during transportation or idle.

[0087] In the example, the valve plate 602 can include a first sub-plate and a second sub-plate, the first sub-plate is movably connected with the second sub-plate, one end of the top rod 6032 can abut at the connection between the first sub-plate and the second sub-plate, and the connection between the top rod 6032 and the valve plate 602 can be provided with a protruding structure. In the case that the valve plate 602 completely closes the fertilizer discharge port, the included angle between the first sub-plate and the second sub-plate can be 180 degrees, and when the top rod 6032 is rotated, the protruding structure lifts the valve plate 602 upward, so that the included angle between the first sub-plate and the second sub-plate decreases when the connection between the first sub-plate and the second sub-plate moves upward, for example, the included angle between the first sub-plate and the second sub-plate can be 60 degrees, thereby realizing the opening of the valve plate 602 to the fertilizer discharge port. In the case that it is necessary to continue to increase the fertilizer discharge amount, the top rod 6032 can be controlled to rotate, so that the protruding structure further lifts the valve plate 602 upward, thereby further reducing the included angle between the first sub-plate and the second sub-plate, until the included angle between the first sub-plate and the second sub-plate is 0 degree, and then the valve plate 602 completely opens the fertilizer discharge port. By adjusting the included angle between the first sub-plate and the second sub-plate, the precise control of the fertilization amount is realized, different fertilization requirements are met, the waste of fertilizer or the insufficient fertilization is avoided, and the convenience of the use of the seeding machine is improved.

[0088] In the example, the rotation of the rotating table 603 can be driven by a power device such as a motor arranged at the bottom of the base 6031, and the automatic control is easy to realize.

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

[0090] Optionally, the first fertilization mechanism 60 further includes angle adjusting plates 604, the angle adjusting plates 604 are arranged on both sides of the base 6031, and the included angle between the angle adjusting plates 604 ranges from 0 degree to 180 degrees.

[0091] The base 6031 is a circular structure, the top rod 6032 is located at the center of the base 6031, the distribution plates 6033 are arranged in an array on the base 6031 around the center of the base, the adjacent distribution plates 6033 have gap cavities therebetween, in the vertical direction, the gap cavities are directed to the fertilizer discharge port, and in the horizontal direction, the gap cavities are directed to the angle adjusting plates 604.

[0092] In this embodiment, the circular structure of the base 6031 can provide stable support for the entire rotating table 603, ensuring the stability of components such as the jacks 6032 and the distribution plates 6033 during rotation, reducing shaking and deviation; the jacks 6032 are arranged at the center position and the distribution plates 6033 are arranged symmetrically around the center, making the layout of each component more reasonable and uniform, ensuring that the rotating table 603 is balanced when rotating; the distribution plates 6033 separate the area on the base 6031 into multiple gap cavities, which can guide the solid fertilizers falling from the fertilizer discharge port into the gap cavities, and under the action of centrifugal force, the solid fertilizers are discharged from the gap cavities when the rotating table 603 rotates, which helps to realize the orderly distribution of fertilizers and avoid random scattering, improving the accuracy and uniformity of fertilization.

[0093] Further, two angle adjustment plates 604 are arranged on both sides of the base 6031, and the included angle between the angle adjustment plates 604 can be changed between 0 degrees and 180 degrees. By changing the included angle, the scattering angle and direction of the fertilizers discharged from the gap cavities can be adjusted, so that the fertilizers can be more accurately applied to different positions according to actual needs. For example, the coverage of fertilization can be adjusted according to the planting row spacing and plant spacing of seeds, etc., to ensure that the solid fertilizers can accurately fall near the crop roots, improving the utilization rate of fertilizers; in different terrains and planting modes, such as slope land, terrace or irregular planting area, the included angle of the angle adjustment plates 604 can also be flexibly adjusted, so that the fertilization direction is adapted to the terrain and planting layout, ensuring the uniformity and effectiveness of fertilization.

[0094] Specifically, the rotating table 603 rotates to drive the jacks 6032 to move in a circular motion, and the jacks 6032 periodically lift the valve plate 602 to regularly open the fertilizer discharge port; when the fertilizer discharge port is opened, the solid fertilizers fall from the fertilizer discharge port at the bottom of the first fertilizer box 601 under the action of gravity, directly entering the gap cavities between the distribution plates 6033, and the solid fertilizers are orderly separated by the distribution plates 6033 to avoid large accumulation of fertilizers; as the rotating table 603 continues to rotate, the solid fertilizers in the gap cavities are dispersed and scattered under the action of centrifugal force; due to the arrangement of the angle adjustment plates 604, for example, the included angle between the angle adjustment plates 604 is set to 120 degrees, the scattering range of the solid fertilizers can be controlled between the angle adjustment plates 604, so that the solid fertilizers can be uniformly scattered in a fan shape in the seeding area, and the angle can be adjusted according to different fertilization needs, so as to realize different coverage ranges and meet the needs of different crops and different growth stages for the amount of fertilizers. The uniformity and flexibility of fertilization are improved.

[0095] Optionally, the second fertilization mechanism 70 is further included, which comprises a second fertilization box 701, a flow control valve and a second conduit 702. The second fertilization box 701 is arranged near the top of the frame 10 by a second fixed support. The first end of the second conduit 702 is in communication with the second fertilization box 701 through the flow control valve. The second end of the second conduit 702 is in communication with the channel of the plow rod 2031. 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 with the flow control valve. After the control module 50 controls the sowing wheel 302 to transport the seeds in the seed box 301 to the first conduit 303, the control module 50 controls the flow control valve to open the channel between the second fertilization box 701 and the second conduit 702.

[0096] In the embodiment, the second fertilization mechanism 70 can be used for liquid fertilizer fertilization. The nutrient components 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 by the seeds. The liquid fertilizer does not need to go through the process of dissolution and transformation like solid fertilizer, greatly shortening the time for plants to obtain nutrients and providing nutrients for plants more quickly to promote plant growth. In the example, the second end of the second conduit 702 is in communication with the channel of the plow rod 2031, so that each seed can accurately obtain an appropriate amount of water and fertilizer near it, avoiding the problem of uneven distribution of fertilizer in the traditional fertilization method. For example, in corn planting, the corn seeds can obtain the required nutrients and water from the surrounding soil in the early stage of germination, greatly improving the germination rate of the seeds and the survival rate of the seedlings. It should be understood that the concentration of the liquid fertilizer needs to be controlled to avoid the situation that the seeds are burned due to too high concentration.

[0097] The second fertilizer box 701 is arranged near the top of the vehicle frame 10 by the second fixed support, and the fertilizer can flow naturally under the action of gravity without additional power lifting device, thereby reducing energy consumption and complexity. The first end of the second conduit 702 is higher than the second end from the ground, forming a certain height difference, so that the fertilizer can flow more smoothly from the second fertilizer box 701 to the second conduit 702 through the flow control valve under the action of gravity, and finally into the channel of the plow rod 2031, ensuring the smoothness of fertilizer transportation. The second conduit 702 is connected to the channel of the plow rod 2031, so that the fertilizer can be directly delivered to the soil near the seeds at the same time of seeding, realizing seed and fertilizer intercropping, so that the seeds can obtain nutrients in time during the germination and early growth stage, promoting the germination of seeds and the growth of seedlings, and improving the survival rate and early growth speed of crops. In addition, the flow control valve can accurately control the supply amount of water and fertilizer according to the needs of different crop varieties, different soil fertility and different growth stages. For example, for seeds with high water demand and high nutrient demand, the delivery amount of water and fertilizer can be increased to meet the growth needs of different seeds.

[0098] Optionally, the seed planter further comprises a covering mechanism 80 arranged at the bottom of the vehicle frame 10 and located between the furrowing mechanism 20 and the first fertilizer applying mechanism 60. The covering mechanism 80 comprises a first covering plate and a second covering plate, each of which comprises a plurality of sub-covering plates arranged side by side. The first covering plate and the second covering plate are arranged staggered on the same horizontal line, and at least partially overlap each other when the length of the width adjusting frame decreases.

[0099] In this embodiment, when the furrowing mechanism 20 completes furrowing, the seed planter continues to move forward, and the covering mechanism 80 moves above the furrow. At this time, the first covering plate and the second covering plate play a role to adjust the height of the covering plate so that the covering plate can be as close to the ground as possible. During the movement of the walking mechanism 40, the covering mechanism 80 pushes the soil on both sides of the furrow into the furrow, so that the seeds and fertilizer in the furrow are completely covered by the soil, and the covering operation is completed.

[0100] When the length of the width adjusting frame 103 decreases, the first covering plate and the second covering plate at least partially overlap each other to adapt to the furrowing requirements of different widths. When narrow furrowing is performed, the overlapping part can ensure the uniformity and integrity of covering; when wide furrowing is performed, the first covering plate and the second covering plate are unfolded to jointly complete the covering work of a large area.

[0101] In an example, in a terrain with large undulations such as mountains, hills, etc., the ground is uneven. Multiple side-by-side sub-land covering plates can each independently contact the ground and adjust the height according to the undulations of the terrain. When encountering a raised ground, the sub-land covering plates can be lifted upwards to avoid being stuck or damaged; when encountering a low-lying place, the sub-land covering plates can sink to ensure that the soil is covered to the desired location, thereby ensuring uniform soil covering in the entire working area.

[0102] In another example, considering that different terrains are often accompanied by different soil textures and moisture conditions. For example, sandy soil by the river or clay in low-lying places, the fluidity and viscosity of the soil are different. Multiple sub-land covering plates can adjust the angle according to the specific conditions of the soil. For sandy soil with greater fluidity, the gap between adjacent sub-land covering plates can be appropriately reduced, for example, the sub-land covering plates are positively rotated around the respective corresponding axes, so that in the first direction, the sub-land covering plates are connected in a straight line (or close to a straight line), ensuring that the sand can be effectively covered; for soil with greater viscosity, the gap between adjacent sub-land covering plates can be appropriately increased, for example, the sub-land covering plates are negatively rotated around the respective corresponding axes, so that in the direction of travel of the seeding machine, the sub-land covering plates are parallel (or close to parallel) to break and evenly spread the viscous soil, avoiding the phenomenon of soil clumping or uneven soil covering.

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

[0104] Optionally, it further comprises an identification mechanism electrically connected with the control module 50, the identification mechanism comprising a distance sensor, and the control module 50 controls the first driver to adjust the interval 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 an embodiment, in a complex and variable farmland environment, the terrain may have ups and downs, bends, etc., and the target path may also be irregular. The distance sensor can perceive these changes in real time, and the control module adjusts the frame interval in a timely manner according to the sensor data, so that the seeding machine can adapt to different terrains and paths, improve the versatility and adaptability of the seeding machine, and reduce the need for manual intervention. Among them, the distance sensor can be arranged at the central position of the front end of the vehicle frame 10, and / or on the outer surface of the first side frame 101 and the second side frame 102, close to the front end. Through the distance sensor, the condition of the front target path can be perceived earlier, providing sufficient reaction time for the control module 50 to adjust the interval distance between the first side frame 101 and the second side frame 102 to adapt to the terrain changes or path requirements that will be encountered, and to ensure that the seeding machine maintains a suitable distance from the path boundary on both sides during travel, avoiding collision or deviation from the path.

[0106] In another embodiment, the identification mechanism can also include a visual sensor, and the control module 50 controls the furrow opening interval and depth of the furrow opening mechanism 20 according to the category information of the seeds collected by the visual sensor. Among them, the visual sensor can be installed on the seeding machine at a suitable position, such as near the seed box or above the furrow opening mechanism 20, so as to clearly capture the seeds. Through the visual sensor, the image information of the seeds is acquired through real-time image collection of the passing seeds. After the visual sensor collects the seed image, it transmits the image data 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 differ in these features, and through accurate extraction of these features, a basis can be provided for subsequent seed category judgment. The control module compares the extracted seed features with the various seed feature templates pre-stored in the database. The database contains typical feature information of various common seeds, and through a pattern matching algorithm, the control module can determine the category of the current seed. After determining the category of the seed, the control module looks up the appropriate furrow opening interval and depth for this category of seed according to the built-in planting parameter database; then the control module controls the furrow opening mechanism to execute the corresponding furrow opening instruction. The convenience of the seeding machine is improved.

[0107] It should be noted that in this document, the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article or apparatus that includes a series of elements not only includes those elements, but also includes other elements not explicitly listed, or inherent to such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of another identical element in the process, method, article or apparatus that includes the element.

[0108] The embodiments of the present application are described above with reference to the accompanying drawings, but the present application is not limited to the above-described specific embodiments, and the above-described specific embodiments are merely illustrative, but not restrictive, and a person of ordinary skill in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims, which all belong to the protection of the present application.

Claims

1. An automatic seeder, characterized in that, include: A frame, the frame including a first side frame, a second side frame, a width adjustment frame and a first driver, the width adjustment frame being disposed 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; A ditching mechanism includes a main beam, an adjusting beam, a plowshare, a second driver, and a third driver. The main beam is parallel to the width adjusting frame. The plowshare is movably connected to the main beam through the adjusting beam. Under the action of the second driver, the adjusting beam drives the plowshare to move in a first direction. Under the action of the third driver, the plowshare moves in a second direction. The plowshare includes a plow handle and a plow head. The plow handle is a hollow structure with a channel. A seeding mechanism, comprising a seeding box, a seeding wheel, and a first guide tube, wherein a first end of the first guide tube is connected to the seeding box via the seeding wheel, and a second end of the first guide tube is connected to the channel of the plow stick; A walking mechanism is disposed at the bottom of the vehicle frame and is respectively disposed on the first side frame and the second side frame; The control module is electrically connected to the first driver, the second driver, the third driver, the seeding wheel, and the walking mechanism. When the automatic seeder travels along the target path via the walking mechanism, the control module controls the first driver to adjust the length of the width adjustment frame to the target length, which 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. The trenching mechanism also includes a longitudinal beam, which is mounted on the width adjustment frame and is perpendicular to the width adjustment frame. The longitudinal beam is intersected with the main beam. A screw module is mounted on the longitudinal beam, and the main beam is movably connected to the longitudinal beam through the screw module. Under the action of the third actuator, the screw module drives the main beam to move along the second direction. Along the first direction, a first guide rail is provided on the main beam, a first protrusion adapted to 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, and a second protrusion adapted to the second guide rail is provided on the plow bar, wherein 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-driving component and a second sub-driving component, wherein the first sub-driving component is disposed in the first guide rail, and the second sub-driving component is disposed in the second guide rail; When the first sub-drive unit drives the adjusting beam to retract, so that the first protrusion is completely placed on the first guide rail, the range of movement of the plowshare along the first direction is the length range of the main beam; when the first sub-drive unit drives the adjusting beam to extend, so that the first protrusion is not completely placed on the first guide rail, the range of movement of the plowshare along the first direction is greater than or equal to the maximum length range of the width adjusting frame; wherein, the second sub-drive unit is used to drive the plowshare to move on the adjusting beam; The seeding box is a conical structure with openings at both ends. The first end of the seeding box is close to the top of the frame, and 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. The seeding wheel is located at the second end of the seeding box. The seeding wheel includes a bearing section and a loading section. The loading section is arranged around the axis of the bearing section, and each loading section includes a baffle and a movable block. The baffle forms a receiving cavity around the bearing section. The movable block is disposed 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. The volume of the receiving cavity is the sum of the volumes of all the sub-regions. The first port of the control module is electrically connected to the bearing part, and the bearing part is rotated by the control module to drive the loading part to circulate between the seed box and the first guide tube. 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 cavity. It also includes: a first fertilization mechanism, which is located on the side of the vehicle frame away from the trenching mechanism. The first fertilization mechanism includes a first fertilizer box, a valve plate, and a rotating platform. The first fertilizer box is located near the top of the vehicle frame via a first fixed bracket. A fertilizer discharge port is provided at the bottom of the first fertilizer box. The valve plate is located at the fertilizer discharge port. The rotating platform includes a base and a push rod. The base is located near the bottom of the vehicle frame. The push rod extends from the base to the fertilizer discharge port and abuts against the valve plate. When the rotating platform rotates, the push rod drives the valve plate to periodically displace, so as to periodically open and close the fertilizer discharge port. The first fertilization mechanism also includes an angle adjustment plate, which is disposed on both sides of the base, and the included angle between the angle adjustment plates is between 0 degrees and 180 degrees. The base is a circular structure, and the top rod is located at the center of the base. Distributing plates are arranged in an array around the center of the base, and there are gap cavities between adjacent distributing plates. In the vertical direction, the gap cavities face the fertilizer unloading port, and in the horizontal direction, the gap cavities face the angle adjustment plate.

2. The automatic seeder according to claim 1, characterized in that, Also includes: A soil covering mechanism is provided at the bottom of the vehicle frame and located between the trenching mechanism and the first fertilization mechanism. The soil covering mechanism includes a first soil covering plate and a second soil covering plate. Both the first soil covering plate and the second soil covering plate include multiple 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. When the length of the width adjustment frame decreases, the first soil covering plate and the second soil covering plate at least partially overlap.

3. The automatic seeder according to claim 1, characterized in that, Also includes: The second fertilization mechanism includes a second fertilizer box, a flow control valve, and a second conduit. The second fertilizer box is mounted near the top of the vehicle frame via a second fixed bracket. The first end of the second conduit is connected to the second fertilizer box via the flow control valve, and the second end of the second conduit is connected to the channel of the plow handle. 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. After the control module controls the seeding wheel to transport the seeds in the seeding box to the first conduit, it controls the flow control valve to open the channel between the second fertilizer box and the second conduit.

4. The automatic seeder according to claim 1, characterized in that, Also includes: The identification mechanism is electrically connected to the control module. The identification mechanism includes a distance sensor. The control module controls the first driver to adjust the interval between the first side frame and the second side frame based on the distance information of the target path collected by the distance sensor.

5. The automatic seeder according to claim 1, characterized in that, The walking mechanism is one of the following: wheeled walking mechanism, outrigger shock absorption structure, and tracked walking mechanism.

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