Unmanned tracked vehicle robot for farming seeding

Abstract

The invention discloses an unmanned crawler robot for farming seeding, and relates to the technical field of agricultural machinery, the unmanned crawler robot comprises an unmanned crawler seeding vehicle, the top of the unmanned crawler seeding vehicle is fixedly connected with a trapezoidal block, the side wall of the trapezoidal block is fixedly connected with a fixed transverse plate, and the top of the fixed transverse plate is provided with a centrifugal seeding assembly; the centrifugal seeding assembly comprises a stepping motor fixedly connected to the side wall of the trapezoidal block, the centrifugal seeding assembly is arranged to throw seeds out of the seeding device by utilizing centrifugal force, so that the seeds are uniformly dispersed in a certain range, the condition that the seeds are excessively concentrated or are not uniformly dispersed is avoided, the distribution uniformity of the field seeds is ensured, and the seeding efficiency is improved. The centrifugal seeding device can perform seeding operation at a relatively high speed, and compared with traditional manual seeding or some low-speed seeding modes, the seeding speed is greatly improved, a large-area seeding task can be completed in a short time, the centrifugal seeding device is particularly suitable for large-scale agricultural production, and the seeding period can be effectively shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to an unmanned tracked vehicle robot used for farming and sowing. Background Art

[0002] Seeder is a planting machine that sows crop seeds. Seeders used for a certain type of crop are often named after the crop species.

[0003] In traditional agricultural sowing, seeds cannot be evenly spread in the gullies, and the seeds are too concentrated or unevenly dispersed. The uniformity of seed distribution in the field cannot be guaranteed, which is not conducive to the uniform growth of crops. At the same time, it is impossible to complete large-scale sowing tasks in a short period of time. It is not suitable for large-scale agricultural production and sowing under different terrain conditions, such as mountains, hills, and slopes. Traditional agricultural sowing equipment is divided into wheeled sowing equipment or small equipment such as walk-behind tractors. First of all, wheeled sowing equipment is easy to slip and get stuck in complex terrain such as mud, potholes, and steep slopes, and has poor passability; although small equipment such as walk-behind tractors are more flexible, they are difficult to operate and have poor stability in areas with large slopes or undulating terrain. Therefore, when faced with complex terrain environments, traditional agricultural sowing equipment is difficult to enter smoothly, thus failing to ensure timely sowing.

[0004] In traditional farming sowing, it is impossible to cover the newly planted seeds with soil. Therefore, after sowing, the soil surface will be exposed to the outside for a long time, which increases the degree of wind erosion and water erosion. At the same time, the seeds are directly exposed to the external environment and will be pecked by animals such as birds and rodents.

[0005] Compared with traditional sowing equipment, it is impossible to adjust the sowing range according to the different widths of gullies. Therefore, when the gullies are too wide, the traditional sowing equipment will not be able to fill the gullies, and it is also impossible to cover the seeds immediately after sowing. This increases the link of manual intervention and reduces the continuity and efficiency of the sowing operation.

[0006] To this end, an unmanned tracked vehicle robot for agricultural sowing is proposed. Summary of the invention

[0007] The purpose of the present invention is to provide an unmanned tracked vehicle robot for agricultural sowing to solve the problems raised in the above-mentioned background technology.

[0008] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an unmanned tracked vehicle robot for agricultural sowing, comprising an unmanned tracked sowing vehicle, the top of the unmanned tracked sowing vehicle is fixedly connected with a trapezoidal block, the side wall of the trapezoidal block is fixedly connected with a fixed horizontal plate, the top of the fixed horizontal plate is provided with a centrifugal sowing assembly, the centrifugal sowing assembly comprises a stepper motor fixedly connected to the side wall of the trapezoidal block, the output shaft end of the stepper motor is fixedly connected with a disc, the top of the fixed horizontal plate is rotatably connected with a rotating column 1, the interior of the rotating column 1 is penetrated and fixedly connected with a fixed column, the outer side of the fixed column is rotatably connected with a rotating frame, the side of the rotating frame away from the fixed column is fixedly connected with a cylinder 1, the end of the cylinder 1 away from the rotating frame is slidably connected with a sliding rod, and the end of the sliding rod away from the cylinder 1 is fixedly connected with a sphere.

[0009] Furthermore, the centrifugal seeding assembly also includes a sliding groove opened on the disc, a sliding block is slidably connected to the middle part of the disc, an electric telescopic rod is fixedly connected to the middle part of the disc, the top of the rotating column one is fixedly connected to the cylinder two, the outer side of the cylinder two is fixedly connected to the seeding cylinder, the top of the cylinder two is fixedly connected to the funnel, and the side wall of the trapezoidal block is fixedly connected to the seed storage box.

[0010] Furthermore, the side wall of the seed storage box is provided with a soil covering assembly, and the soil covering assembly includes a rotating column two rotatably connected to the side wall of the seed storage box, the outer side of the rotating column two is fixedly connected to a tripod, the bottom of the fixed horizontal plate is fixedly connected to a fixed rod one, the side of the rotating column two away from the seed storage box is fixedly connected to a fixed rod two, the side wall of the seed storage box is fixedly connected to a soil storage box, the bottom of the soil storage box is fixedly connected to a soil lowering pipe, and the outer side of the soil lowering pipe is rotatably connected to a flip circular plate.

[0011] Furthermore, the soil covering assembly also includes a connecting rod fixedly connected to the bottom of the tripod, a distance sensor is installed at the bottom of the fixing rod, and a rubber plate is fixedly connected to the bottom of the connecting rod.

[0012] Furthermore, the sliding block is movably connected to the sphere, and the shape of the rotating frame is set to be convex.

[0013] Furthermore, the side wall of the sliding block is fixedly connected to the output shaft end of the electric telescopic rod, and the top of the funnel and the bottom of the seed storage box are fitted together.

[0014] Furthermore, the outer side of the sowing cylinder is located inside the tripod, and the outer side of the sowing cylinder and the side wall of the tripod are in contact with each other.

[0015] Furthermore, the distance sensor controls the opening and closing of the electric telescopic rod through a controller, and the outer diameter of the flip circular plate is adapted to the inner diameter of the underground pipe.

[0016] Furthermore, one end of the second fixing rod away from the second rotating column is fixedly connected to the flip circular plate, and one end of the second fixing rod away from the second rotating column is rotatably connected to the underground pipe.

[0017] Furthermore, the bottom of the inner cavity of the soil storage box is concave with the center of the lower soil pipe as a reference.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The setting of the centrifugal seeding component utilizes centrifugal force to throw seeds out of the seeding device, so that the seeds are evenly scattered within a certain range, avoiding the situation where the seeds are too concentrated or unevenly dispersed, ensuring the uniform distribution of seeds in the field, and facilitating the uniform growth of crops. The centrifugal seeding device can perform seeding operations at a higher speed. Compared with traditional manual seeding or some low-speed seeding methods, it greatly improves the seeding speed and can complete large-area seeding tasks in a short time. It is especially suitable for large-scale agricultural production, and can effectively shorten the seeding cycle and ensure farming time.

[0020] The setting of the soil covering component can cover the newly sown seeds with soil. At the same time, timely covering the soil after sowing can reduce the exposed area of ​​the soil surface, reduce the degree of wind erosion and water erosion, and avoid direct exposure of seeds to the external environment, preventing birds, rodents and other animals from pecking or digging up the seeds.

[0021] Through the arrangement of the soil covering component and the centrifugal component cooperating with each other, first of all, compared with the existing centrifugal wheel seed throwing, the radius of the centrifugal wheel is relatively fixed, so the throwing range is relatively fixed, but the transversely reciprocating swinging seeding barrel can adjust the swing range according to the width of the soil gully. Therefore, it is realized that not only can the seeds be thrown in an adjustable range according to the width of the soil gully, but the soil covering operation can also be carried out immediately after the seeds are sown, thereby realizing the integrated operation of sowing and soil covering, reducing the link of manual intervention, and improving the continuity and efficiency of the sowing operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present invention;

[0023] Figure 2 It is a cross-sectional schematic diagram of the unmanned crawler seeding vehicle and the trapezoidal block structure of the present invention;

[0024] Figure 3 For the present invention Figure 2 A schematic diagram of the structure enlargement in the middle;

[0025] Figure 4 It is a three-dimensional schematic diagram of the structure of the centrifugal seeding assembly of the present invention;

[0026] Figure 5 For the present invention Figure 4 A magnified schematic diagram of the structure at B in the middle;

[0027] Figure 6 It is a schematic cross-sectional view of the disc structure of the present invention;

[0028] Figure 7 It is a three-dimensional schematic diagram of the soil covering assembly structure of the present invention;

[0029] Figure 8 It is a three-dimensional schematic diagram of the seed storage box, soil storage box and trapezoidal block structure of the present invention;

[0030] Fig. 9 For the present invention Figure 8 A magnified schematic diagram of the structure at C in the middle;

[0031] Fig.10 It is a schematic cross-sectional view of the soil storage box structure of the present invention.

[0032] In the figure:

[0033] 1. Unmanned crawler seeding vehicle; 2. Trapezoidal block; 3. Fixed horizontal plate;

[0034] The centrifugal seeding assembly includes: 4, stepping motor; 5, disc; 6, rotating column 1; 7, fixed column; 8, rotating frame; 9, cylinder 1; 10, sliding rod; 11, sphere; 12, sliding groove; 13, sliding block; 14, electric telescopic rod; 15, cylinder 2; 16, seeding cylinder; 17, funnel; 18, seed storage box;

[0035] The soil covering assembly includes: 19, a second rotating column; 20, a tripod; 21, a first fixing rod; 22, a second fixing rod; 23, a soil storage box; 24, a soil lowering pipe; 25, a flip circular plate; 26, a distance sensor; 27, a connecting rod; and 28, a rubber plate. DETAILED DESCRIPTION

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

[0037] See also Figures 1 to 10, is an embodiment provided by the present invention: an unmanned tracked vehicle robot for agricultural sowing, comprising an unmanned tracked sowing vehicle 1, a trapezoidal block 2 is fixedly connected to the top of the unmanned tracked sowing vehicle 1, a fixed horizontal plate 3 is fixedly connected to the side wall of the trapezoidal block 2, a centrifugal sowing assembly is arranged on the top of the fixed horizontal plate 3, the centrifugal sowing assembly comprises a stepper motor 4 fixedly connected to the side wall of the trapezoidal block 2, a disc 5 is fixedly connected to the output shaft end of the stepper motor 4, a rotating column 6 is rotatably connected to the top of the fixed horizontal plate 3, a fixed column 7 is penetrated and fixedly connected to the inside of the rotating column 6, a rotating frame 8 is rotatably connected to the outer side of the fixed column 7, the shape of the rotating frame 8 is set to be convex, a cylinder 9 is fixedly connected to the side of the rotating frame 8 away from the fixed column 7, a sliding rod 10 is slidably connected to the end of the cylinder 9 away from the rotating frame 8, and a sphere 11 is fixedly connected to the end of the sliding rod 10 away from the cylinder 9.

[0038] The centrifugal seeding assembly also includes a sliding groove 12 eccentrically opened on the disc 5 with the center of the disc 5 as a reference. A sliding block 13 is slidably connected to the middle part of the disc 5. The sliding block 13 is movably connected to the ball 11, so that the sliding rod 10 can perform circular motion on the sliding block 13 through the ball 11. An electric telescopic rod 14 is fixedly connected to the middle part of the disc 5. The side wall of the sliding block 13 is fixedly connected to the output shaft end of the electric telescopic rod 14. The top of the rotating column 6 is fixedly connected to the cylinder 2 15. The outer side of the cylinder 2 15 is fixedly connected to the seeding cylinder 16. The top of the cylinder 2 15 is fixedly connected to the funnel 17. The seeding cylinder 16 and the funnel 17 are respectively connected to the cylinder 2 15. The side wall of the trapezoidal block 2 is fixedly connected to the seed storage box 18, and the seed storage box 18 is located above the disc 5. The top of the funnel 17 and the bottom of the seed storage box 18 fit each other, and the funnel 17 is connected to the seed storage box 18.

[0039] The side wall of the seed storage box 18 is provided with a soil covering assembly, which includes a rotating column 19 rotatably connected to the side wall of the seed storage box 18, and the outer side of the rotating column 19 is fixedly connected to a tripod 20, the outer side of the sowing cylinder 16 is located inside the tripod 20, and the outer side of the sowing cylinder 16 and the side wall of the tripod 20 are in contact with each other, the bottom of the fixed horizontal plate 3 is fixedly connected to a fixed rod 21, and the side of the rotating column 19 away from the seed storage box 18 is fixedly connected to a fixed rod 22, and the side wall of the seed storage box 18 is fixedly connected to the seed storage box 18. A soil storage box 23 is fixedly connected, and a soil descent pipe 24 is fixedly connected to the bottom of the soil storage box 23. The end of the fixed rod 22 away from the rotating column 19 is rotatably connected to the soil descent pipe 24. The bottom of the inner cavity of the soil storage box 23 is concave with the center of the soil descent pipe 24 as a reference. A flip circular plate 25 is rotatably connected to the outer side of the soil descent pipe 24. The outer diameter of the flip circular plate 25 is matched with the inner diameter of the soil descent pipe 24. The end of the fixed rod 22 away from the rotating column 19 is fixedly connected to the flip circular plate 25.

[0040] The covering assembly also includes a connecting rod 27 fixedly connected to the bottom of the tripod 20. A distance sensor 26 is installed at the bottom of the fixed rod 21. The distance sensor 26 calculates the distance to the object by emitting infrared rays and then detecting the time of the reflected infrared rays. The distance sensor 26 controls the opening and closing of the electric telescopic rod 14 through a controller. A rubber plate 28 is fixedly connected to the bottom of the connecting rod 27.

[0041] The above implementation works as follows:

[0042] The initialization steps are as follows:

[0043] The unmanned crawler seeding vehicle 1 drives to the land that needs to be sown, and the staff fills the inner cavity of the seed storage box 18 with the seeds to be sown. At the same time, the staff also fills the inner cavity of the soil storage box 23 with leaf mold. The leaf mold is made of organic matter such as fallen leaves and dead grass that has been piled up and decomposed for a long time. It is rich in humus, loose and fertile, and has good air permeability and water retention, which is conducive to seed germination and seedling growth.

[0044] The working steps are as follows:

[0045] The working steps of centrifugal seeding are as follows:

[0046] When the unmanned crawler seeding vehicle 1 carrying the seed storage box 18 filled with seeds begins to move along the soil where the furrows have been dug, the stepper motor 4 starts to start after being energized, and the output end of the stepper motor 4 begins to rotate and drives the disc 5 to move synchronously. At this time, the rotation of the disc 5 drives the eccentrically arranged sliding groove 12 thereon to move synchronously. Because the electric telescopic rod 14 is now in a closed state, the sliding block 13 is restricted by the electric telescopic rod 14 and cannot slide on the sliding groove 12. The sliding groove 12 drives the sliding block 13 to perform circular motion with the center of the disc 5 as the axis. When the sliding block 13 is continuously moving in a circle, the sliding block 13 drives the sphere 11 to also perform circular motion with the center of the disc 5 as the axis, and the sphere 11 drives the sliding rod 10 to perform an arc motion.

[0047] Therefore, the sliding rod 10 presents an arc motion, so that the sliding rod 10 continuously slides in the inner cavity of the cylinder 19, avoiding the displacement difference caused by the arc motion of the sliding rod 10 causing the sliding rod 10 to get stuck, thereby realizing the sliding rod 10 driving the cylinder 19 to move synchronously, so that the cylinder 19 drives the rotating frame 8 to perform vertical reciprocating rotation in the vertical direction with the connection between the fixed column 7 and the rotating frame 8 as the center, and the cylinder 19 drives the rotating frame 8 to perform horizontal reciprocating rotation in the horizontal direction, so that the rotating frame 8 drives the fixed column 7 to rotate horizontally, and the fixed column 7 drives the rotating column 16 to reciprocate in the horizontal direction with the connection between the rotating column 16 and the fixed cross plate 3 as the axis, so the rotating column 16 drives the cylinder 2 15 to perform horizontal reciprocating rotation with the connection between the cylinder 2 15 and the rotating column 16 as the center.

[0048] As described above, the seeds waiting to be sown at this moment fall from the inner cavity of the seed storage box 18 into the funnel 17 due to their own gravity, and at the same time, the seeds waiting to be sown roll vertically downward from the funnel 17 into the inner cavity of the cylinder 15, so that when the cylinder 15 and the rotating column 16 are connected at the connection point to perform horizontal reciprocating rotation, the seeds in the inner cavity of the cylinder 15 perform circular motion with the center of the cylinder 15 as the axis, so the seeds waiting to be sown are subjected to the centrifugal force from the cylinder 15. When the seeds to be sown are thrown to the inner wall of the sowing cylinder 16 by centrifugal force, the cylinder 15 at this time drives the sowing cylinder 16 to swing back and forth with the center of the cylinder 15 as the axis, so that the seeds waiting to be sown are thrown out of the inner wall of the sowing cylinder 16 again by centrifugal force, so that the seeds waiting to be sown are again subjected to their own gravity and fall onto the land waiting to be sown. At the same time, the seeds that are constantly shaking in the inner cavity of the cylinder 15 can shake out the agglomerated seeds to avoid accumulation in the sowing cylinder 16 and the cylinder 15.

[0049] The setting of the centrifugal seeding component utilizes centrifugal force to throw seeds out of the seeding device, so that the seeds are evenly scattered within a certain range, avoiding the situation where the seeds are too concentrated or unevenly dispersed, ensuring the uniform distribution of seeds in the field, and facilitating the uniform growth of crops. The centrifugal seeding device can perform seeding operations at a higher speed. Compared with traditional manual seeding or some low-speed seeding methods, it greatly improves the seeding speed and can complete large-area seeding tasks in a short time. It is especially suitable for large-scale agricultural production, and can effectively shorten the seeding cycle and ensure farming time.

[0050] The centrifugal assembly and the unmanned crawler seeding vehicle 1 cooperate with each other to achieve seeding under different terrain conditions, such as mountains, hills, slopes, etc., and seeding can be guaranteed regardless of whether it is in flat farmland or complex terrain environment.

[0051] The working steps of the soil covering component are as follows:

[0052] As described above, when the seeding cylinder 16 swings back and forth with the center of the cylinder 15 as the axis, the seeding cylinder 16 hits the tripod 20 and drives the tripod 20 to swing back and forth with the center of the rotating column 19 as the axis, so that the tripod 20 drives the rotating column 19 to rotate back and forth with its own center as the axis, so that the rotation of the rotating column 19 drives the fixed rod 22 to rotate synchronously, and the fixed rod 22 drives the flip circular plate 25 to continuously rotate in the inner cavity of the lower soil pipe 24.

[0053] Therefore, at this moment, the leaf mold in the inner cavity of the soil storage box 23 gathers on the lower soil pipe 24. In the initial state, the flip circular plate 25 isolates the lower soil pipe 24 from the outside world, and the leaf mold covers the upper surface of the flip circular plate 25. When the flip circular plate 25 continues to rotate, the rotation of the flip circular plate 25 no longer isolates the lower soil pipe 24 from the outside world. As a result, the leaf mold in the inner cavity of the lower soil pipe 24 begins to fall along the surface of the flip circular plate 25 due to its own gravity along the rotation of the flip circular plate 25.

[0054] At the same time, because the unmanned crawler seeding vehicle 1 is constantly moving, and because the seeding tube 16 is lower than the soil pipe 24 from the ground, the seeds fall onto the land waiting for seeding first, and then the leaf mold is covered after the seeding.

[0055] The working steps of the soil covering component and the centrifugal seeding component are as follows:

[0056] In real life, the gullies waiting for sowing are often of different widths. Therefore, we also need to evenly cover the gullies during sowing and covering. When facing gullies of different widths, the crawlers of the unmanned crawler sowing vehicle 1 are traveling on both sides of the gully. Therefore, the fixed rod 1 is located in the middle of the gully. When the distance sensor 26 calculates the distance to the object by emitting infrared rays and then detecting the time of the reflected infrared rays, the distance sensor 26 calculates the width of the gully. At this time, the distance sensor 26 controls the electric motor through the controller. The telescopic rod 14 is started. When the gully is too wide, the output shaft end of the electric telescopic rod 14 starts to extend after being powered on, so that the seeding cylinder 16 pushes the sliding block 13 to a position away from the center of the disc 5 and slides on the sliding groove 12. Therefore, the sliding block 13 is farther from the center of the disc 5, and the radius of the circular motion is larger. Therefore, the above working steps are repeated, and the swing range of the seeding cylinder 16 is larger. At the same time, during the reciprocating swing of the tripod 20, the tripod 20 drives the connecting rod 27 to move synchronously, so the connecting rod 27 drives the rubber plate 28 to continuously spread the fallen covering soil to both sides of the gully. When the width of the gully is shorter, the above steps can be repeated in reverse.

[0057] The setting of the soil covering component can cover the newly sown seeds with soil. At the same time, timely covering the soil after sowing can reduce the exposed area of ​​the soil surface, reduce the degree of wind erosion and water erosion, and avoid direct exposure of seeds to the external environment, preventing birds, rodents and other animals from pecking or digging up the seeds.

[0058] Through the arrangement in which the soil covering component and the centrifugal component cooperate with each other, firstly, compared with the existing centrifugal wheel seed throwing, the radius of the centrifugal wheel is relatively fixed, so that the throwing range is relatively fixed, but the laterally reciprocating swinging seeding barrel 16 can adjust the swing range according to the width of the soil gully. Therefore, it is achieved that not only the seeds can be thrown in an adjustable range according to the width of the soil gully, but also the soil covering operation can be performed immediately after the seeds are sown, thereby realizing the integrated operation of sowing and soil covering, reducing the link of manual intervention, and improving the continuity and efficiency of the sowing operation.

[0059] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An unmanned crawler robot for agricultural sowing, comprising an unmanned crawler sowing vehicle (1), characterized in that: The top of the unmanned crawler seeding vehicle (1) is fixedly connected to a trapezoidal block (2), the side wall of the trapezoidal block (2) is fixedly connected to a fixed transverse plate (3), the top of the fixed transverse plate (3) is provided with a centrifugal seeding assembly, the centrifugal seeding assembly comprises a stepper motor (4) fixedly connected to the side wall of the trapezoidal block (2), the output shaft end of the stepper motor (4) is fixedly connected to a disc (5), the top of the fixed transverse plate (3) is rotatably connected to a rotating column (6), the interior of the rotating column (6) is penetrated and fixedly connected to a fixed column (7), the outer side of the fixed column (7) is rotatably connected to a rotating frame (8), the side of the rotating frame (8) away from the fixed column (7) is fixedly connected to a cylinder (9), the end of the cylinder (9) away from the rotating frame (8) is slidably connected to a sliding rod (10), and the end of the sliding rod (10) away from the cylinder (9) is fixedly connected to a sphere (11).

2. The unmanned crawler robot for agricultural sowing according to claim 1, characterized in that: The centrifugal seeding assembly also includes a sliding groove (12) opened on the disc (5), a sliding block (13) is slidably connected to the middle of the disc (5), an electric telescopic rod (14) is fixedly connected to the middle of the disc (5), a cylinder (15) is fixedly connected to the top of the rotating column (6), a seeding cylinder (16) is fixedly connected to the outer side of the cylinder (15), a funnel (17) is fixedly connected to the top of the cylinder (15), and a seed storage box (18) is fixedly connected to the side wall of the trapezoidal block (2).

3. The unmanned crawler robot for agricultural sowing according to claim 2, characterized in that: The side wall of the seed storage box (18) is provided with a soil covering assembly, the soil covering assembly comprises a second rotating column (19) rotatably connected to the side wall of the seed storage box (18), a tripod (20) is fixedly connected to the outer side of the second rotating column (19), a first fixed rod (21) is fixedly connected to the bottom of the fixed horizontal plate (3), a second fixed rod (22) is fixedly connected to the side of the second rotating column (19) away from the seed storage box (18), a soil storage box (23) is fixedly connected to the side wall of the seed storage box (18), a soil lowering pipe (24) is fixedly connected to the bottom of the soil lowering pipe (24), and a flip circular plate (25) is rotatably connected to the outer side of the soil lowering pipe (24).

4. The unmanned crawler robot for agricultural sowing according to claim 3, characterized in that: The soil covering assembly also includes a connecting rod (27) fixedly connected to the bottom of the tripod (20), a distance sensor (26) is installed at the bottom of the fixing rod (21), and a rubber plate (28) is fixedly connected to the bottom of the connecting rod (27).

5. The unmanned crawler robot for agricultural sowing according to claim 2, characterized in that: The sliding block (13) is movably connected to the spherical body (11), and the shape of the rotating frame (8) is set to be convex.

6. The unmanned crawler robot for agricultural sowing according to claim 2, characterized in that: The side wall of the sliding block (13) is fixedly connected to the output shaft end of the electric telescopic rod (14), and the top of the funnel (17) and the bottom of the seed storage box (18) are in contact with each other.

7. The unmanned crawler robot for agricultural sowing according to claim 3, characterized in that: The outer side of the sowing cylinder (16) is located inside the tripod (20), and the outer side of the sowing cylinder (16) and the side wall of the tripod (20) are in contact with each other.

8. The unmanned crawler robot for agricultural sowing according to claim 4, characterized in that: The distance sensor (26) controls the opening and closing of the electric telescopic rod (14) through a controller, and the outer diameter of the flip circular plate (25) is adapted to the inner diameter of the underground pipe (24).

9. The unmanned crawler robot for agricultural sowing according to claim 4, characterized in that: One end of the second fixing rod (22) away from the second rotating column (19) is fixedly connected to the flip circular plate (25), and one end of the second fixing rod (22) away from the second rotating column (19) is rotatably connected to the soil lowering pipe (24).

10. The unmanned crawler robot for agricultural sowing according to claim 4, characterized in that: The bottom of the inner cavity of the soil storage box (23) is concave with the center of the lower soil pipeline (24) as a reference.

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