An agricultural production robot

Abstract

The application provides an agricultural production robot, and belongs to the technical field of planting. The robot comprises an assembly cover, an assembly seat and an annular belt body. A seed storage box is arranged on the assembly cover. Support rods are arranged on both sides of the seed storage box. A conical flat plate is fixedly connected to the left support rod. A conical separation plate is fixedly connected to the right support rod. A passage is arranged at the lower right part of the seed storage box. The application solves the problem that protrusions such as soil piles often exist on the land, and spaces are formed between the driving belt body and the ground during displacement, which reduces the contact area, reduces the friction between the belt body and the ground, and causes the displacement of the robot to be unstable and even to be tilted.

Description

Technical Field

[0001] The invention belongs to the technical field of planting, and in particular relates to an agricultural production robot. Background Art

[0002] A sowing robot is a planting machine that sows crop seeds. With the advancement of modern agriculture, the application of sowing robots is becoming more and more extensive. A hole-seeding seeder is a planting machine that sows seeds in holes according to a certain row spacing and hole spacing. It is mainly used for row crops such as corn, cotton, beets, sunflowers, and beans, and is widely used.

[0003] However, during sowing, the sowing robot must move on the ground, and there are often protrusions on the ground, such as mounds of soil, which will create space between the driving belt and the ground during displacement. This will reduce the contact range, resulting in reduced friction between the belt and the ground and idling, which will cause the robot's displacement to be unstable or even fall over. Therefore, an agricultural production robot is proposed. Summary of the Invention

[0004] The present invention provides an agricultural production robot, which aims to solve the problem that there are often protrusions on the ground, such as mounds of earth, which will create space between the driving belt body and the ground surface during displacement. This will reduce the contact range, resulting in reduced friction between the belt body and the ground surface and idling, which will cause the robot's displacement to be unstable or even tip over.

[0005] An embodiment of the present invention provides an agricultural production robot, comprising an assembly cover, an assembly seat 1, and an annular belt body, wherein a seed storage box is mounted on the assembly cover, support rods are mounted on both sides of the seed storage box, the support rod on the left side is fixedly connected to a conical leveling piece, and the support rod on the right side is fixedly connected to a conical separation piece, a channel is mounted on the lower right portion of the seed storage box, a swing piece is screwed into the channel, a linkage unit is fixedly connected to the inside of the assembly seat 1, a displacement unit is mounted on the side of the linkage unit, the side of the displacement unit is engaged with a protruding block on the inside of the annular belt body, and the inside of the lower portion of the assembly cover is fixedly connected to the side of the assembly seat 1;

[0006] The displacement unit includes a supporting bar, the two ends of which are respectively fixed to the side bar 1 and the side bar 2, the other end of the side bar 1 is screwed to the driving block 1, the other end of the supporting bar is screwed to the driving block 2, and the other end of the side bar 2 is screwed to the linkage unit 2. The compression unit is installed at the lower inner part of the annular belt body;

[0007] The compression unit includes a center rod, the outer wall of the center rod is screwed onto the special-shaped rod 1, the center area of ​​the special-shaped rod 1 is screwed onto the special-shaped rod 2, one end of the special-shaped rod 2 is screwed onto the middle of the driving block 2, the other end of the special-shaped rod 2 is screwed onto the external force top cylinder part 2, the third head of the special-shaped rod 2 is screwed onto the connecting rod 1, one end of the special-shaped rod 1 is screwed onto the connecting rod 2, the other end of the connecting rod 2 is screwed onto the external force top cylinder part 1, the third head of the special-shaped rod 1 is screwed onto the connecting tube, the side of the connecting tube is fixedly connected to a spiral beryllium copper wire, the other end of the spiral beryllium copper wire is fixedly connected to one side of the connecting rod 1, the outer wall of the connecting rod 1 and the center area of ​​the connecting tube are slidingly connected, the lower part of the external force top cylinder part 1 and the tail of the external force top cylinder part 2 are variably engaged and connected with the inner lower part of the annular belt body.

[0008] Furthermore, the outer wall of the center rod is screwed to one end of the supporting bar, the side of the linkage unit 2 is variably engaged with the inside of the annular belt body, the inner top of the annular belt body is variably engaged with the rotating roller, and the rotating roller is screwed to the side of the assembly cover.

[0009] Furthermore, one end of the driving block 2 is fixedly connected to a polygonal column, the outer wall surface of the polygonal column is screwed to a connecting piece, and the side of the connecting piece is fixedly connected to an assembly piece.

[0010] Furthermore, the other end of the polygonal column is fixedly connected to the first disk body, and a toothed belt is installed on the side of the first disk body.

[0011] Furthermore, the other end of the toothed belt is connected to the first engaging linkage module, and the second assembly seat is installed in the center area of ​​one side of the assembly piece.

[0012] Furthermore, the other side of the second assembly seat is fixedly connected to the protective cover, one end of the first engagement linkage module is screwed to the central area of ​​the assembly piece, and the other end of the first engagement linkage module is fixedly connected to the second disk body.

[0013] Furthermore, the top of the second disk body engages with the third disk body, the third disk body is screwed to the inside of the protective cover, and the other end of the third disk body is fixedly connected to the fourth disk body.

[0014] Furthermore, the lower portion of the disc body 4 engages with the engaging module 2, and the engaging module 2 is screwed to the inner side of the protective cover.

[0015] Furthermore, the sides of the engaging module 2 are engaged with the disk body 5, and the central area of ​​each of the disk bodies 5 is fixedly connected to the motor 1.

[0016] Furthermore, one side of the motor 1 is fixedly connected to the side of the protective cover, and one side of the protective cover is fixedly connected to the inside of the assembly cover.

[0017] The beneficial effects of the present invention are:

[0018] 1. The present invention is installed on the lower wall of the annular belt body and displaced to a protruding situation such as a soil mound in a planting area. The annular belt body can protrude inward, and the annular belt body in the protruding area lifts the external force top cylinder part 1 upward. The external force top cylinder part 1 pulls the connecting rod 2 upward. The connecting rod 2 drives the lower end of the special-shaped rod 1 upward, so that the connection between the special-shaped rod 1 and the center rod is swung to a specific direction; the upper end of the special-shaped rod 1 pulls the connecting cylinder and slides on the connecting rod 1, the distance between them is reduced, the spiral beryllium copper wire changes, and elastic potential energy is generated. The elastic potential energy forms a reverse load on the top end of the special-shaped rod 1, reducing the length of the special-shaped rod 1 displaced upward. Thereby, the span of the annular belt body's inward displacement is weakened, and the elastic potential energy drives the connecting rod 1 toward the side, and the high end of the connecting rod 1 special-shaped rod 2 is driven toward the side, so that the special-shaped rod 2 drives the block 2 to swing a specific span, and the special-shaped rod 2 contacts the annular belt body and touches the soil mound and other protrusions. The special-shaped rod 1 and the special-shaped rod 2 form an X-shaped supporting module, which is supported on the inside of the annular belt body. When the annular belt body passes through the protrusion, the annular belt body is touched toward the bottom, thereby weakening the span of the annular belt body's inward displacement, and the annular belt body in the high protruding area touches the wall of the protrusion, ensuring that the contact area is expanded as much as possible, thereby maximizing the friction force, preventing displacement idling, and ensuring the smooth displacement of the robot.

[0019] 2. The present invention installs a displacement unit, and the driving block 1 and the driving block 2 bear the load and engage with the protruding block inside the annular belt body, pulling the annular belt body to rotate. The rotating roller supports the annular belt body inside, so that the lower wall of the annular belt body is tensioned on the side of the driving block 1 and the driving block 2 to prevent the annular belt body from detaching. The side rod 2 is located at the traveling head of the annular belt body. During the period when the annular belt body climbs over the protrusions such as the mounds in the planting area, the linkage unit 2 can swing, touch the annular belt body to touch the protruding wall such as the mounds in the planting area, expand the touch area, increase the friction, and is beneficial to the displacement of the robot.

[0020] 3. The present invention allows motor 1 to operate, and motor 1 pulls disk body 5 to rotate. Disk body 5 engages with engagement module 2 to rotate in the protective cover, and small disk body Y of engagement module 2 engages with disk body 4 to rotate in the protective cover. Because disk body 4 is connected to disk body 3 with the same rod, disk body 3 rotates together, and engages disk body 2 at the lower part to rotate. Because disk body 2 is connected to the same rod as engagement linkage module, engagement linkage module 1 rotates, engagement linkage module 1 pulls two toothed belts to rotate, and the toothed belt pulls the matching disk body 1 to rotate. Each disk body 1 pulls the polygonal column to rotate in the center area of ​​the connecting piece, one of the two polygonal columns pulls the conical flattening piece to rotate, and the other one of the two polygonal columns pulls the driving block 1 to rotate, thereby allowing the annular belt body to move, and the assembly seat 2 is The linkage structure is assembled on the assembly plate, the assembly plate is assembled in the assembly seat 1, the linkage unit is assembled in the assembly cover, and the protective cover is fixed in the assembly cover to ensure that the linkage unit is firmly assembled and cannot move at will, so that the linkage is more stable. Two motors 1 are installed on one side, and the disk body 5 assembled with the rotating rods of the two motors 1 is installed on both sides of the bite module 2. The two motors 1 rotate in different directions and operate together to bite the two sides of the bite module 2. The load on both sides is the same. Compared with the bite drive of a single motor 1, the bite module 2 will rotate smoothly, reduce the loss of torque, and can move better. The linkage of disk body 5, bite module 2, disk body 4, disk body 3 and disk body 2 can reduce the rotation speed but have a stronger driving displacement ability.

[0021] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the structures particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0023] Figure 1 Schematic diagram of the overall structure of an embodiment of the present invention;

[0024] Figure 2 This is a structural schematic diagram of a seed storage box according to an embodiment of the present invention;

[0025] Figure 3 A schematic diagram of the assembly cover structure of an embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of the assembly cover separation structure according to an embodiment of the present invention;

[0027] Figure 5 A partial structural diagram of an embodiment of the present invention;

[0028] Figure 6 Schematic diagram of the displacement unit structure according to an embodiment of the present invention;

[0029] Figure 7 Schematic diagram of the displacement unit structure according to an embodiment of the present invention;

[0030] Figure 8 This is a schematic structural diagram of a compression unit according to an embodiment of the present invention;

[0031] Figure 9 A schematic diagram of the linkage unit structure according to an embodiment of the present invention;

[0032] Figure 10 This is a schematic diagram of a partially separated structure of a linkage unit according to an embodiment of the present invention;

[0033] Figure 11 This is a schematic diagram of the inner structure of the protective cover according to an embodiment of the present invention;

[0034] Figure numerals: 11, seed storage box; 111, supporting rod; 112, channel; 113, swing plate; 114, conical separation plate; 115, conical leveling plate; 12, assembly cover; 13, assembly seat 1; 14, linkage unit; 142, disk 1; 143, assembly plate; 144, connecting plate; 145, polygonal column; 146, toothed belt; 147, interlocking linkage module 1; 148, assembly seat 2; 149, protective cover; 1410, disk 2; 1421, disk 3; 1422, disk 4; 1423, interlocking module 2; 1424, disk Body five; 1425, motor one; 15, annular belt body; 16, displacement unit; 162, support bar; 163, rotating roller; 164, side rod one; 165, driving block one; 166, driving block two; 167, side rod two; 168, linkage unit two; 169, compression unit; 1692, special-shaped rod one; 1693, connecting rod one; 1694, spiral beryllium copper wire; 1695, connecting cylinder; 1696, special-shaped rod two; 1697, connecting rod two; 1698, external force top cylinder part one; 1699, external force top cylinder part two; 16910, center rod. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the technical solution of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of specific embodiments of the present invention. The same figure marks in the drawings represent the same components. It should be noted that the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the described 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.

[0036] Reference Figures 1-11 The embodiment of the present invention proposes an agricultural production robot, which includes an assembly cover 12, an assembly seat 13 and an annular belt body 15. The outer wall of the annular belt body 15 is provided with symmetrically arranged friction blocks. A seed storage box 11 is installed on the assembly cover 12. Support rods 111 are installed on both sides of the seed storage box 11. The left supporting rod 111 is fixedly connected to a conical leveling piece 115, and the right supporting rod 111 is fixedly connected to a conical separation piece 114. A channel 112 is installed on the lower right part of the seed storage box 11, and a swing piece 113 is rotated in the channel 112. The swing piece 113 can be driven by an external motor 2 at the rotating connection to swing the swing piece 113 periodically, so that the seeds can be leaked out intermittently. During the swinging, the seeds in the seed storage box 11 will leak out from the channel 112 to the soil pit pried out by the conical separation piece 114, and then the conical leveling piece 115 will cover the soil into the pit.

[0037] The inside of the assembly seat 13 is fixedly connected to the linkage unit 14, and the side of the linkage unit 14 is provided with a displacement unit 16. The side of the displacement unit 16 is engaged with the protruding block inside the annular belt body 15, and the lower inside of the assembly cover 12 is fixedly connected to the side of the assembly seat 13.

[0038] The displacement unit 16 includes a supporting bar 162, the two ends of which are respectively fixed to the side bar 164 and the side bar 2 167. The other end of the side bar 164 is screwed to the driving block 165, the other end of the supporting bar 162 is screwed to the driving block 2 166, and the other end of the side bar 2 167 is screwed to the linkage unit 2 168.

[0039] The inside lower part of the annular belt body 15 is provided with a pressing unit 169, which comprises a centering rod 16910, the outer wall of which is screwed with a special-shaped rod 1692, the centering area of which is screwed with a special-shaped rod 1696, one end of which is screwed with a driving block 166, and the other end of which is screwed with an external force top cylinder part 1699, the third end of which is screwed with a connecting rod 1693, one end of the special-shaped rod 1692 is screwed with a connecting rod 1697, the other end of which is screwed with an external force top cylinder part 1698, both of which are composed of a sheet body and a roller screwed on the sheet body, the third end of the special-shaped rod 1692 is screwed with a connecting cylinder 1695, the side of which is fixedly connected with a spiral beryllium copper wire 1694, the other end of which is fixedly connected with one side of the connecting rod 1693, the outer wall of the connecting rod 1693 is slidably connected with the centering area of the connecting cylinder 1695, the lower part of the external force top cylinder part 1698 and the tail of the external force top cylinder part 1699 are movably connected with the inside lower part of the annular belt body 15, the outer wall of the centering rod 16910 is screwed with one end of the supporting strip 162, the side of the linkage unit 168 is movably connected with the inside of the annular belt body 15, the inside top part of the annular belt body 15 is movably connected with the rotating roller 163, and the rotating roller 163 is screwed with the side of the assembly cover 12.

[0040] Through the provided pressing unit 169, during the displacement of the lower wall surface of the annular belt body 15 to the soil pile of the planting ground or other protruding conditions, the annular belt body 15 can be displaced inward, the annular belt body 15 in the displacement area is lifted upward by the external force top cylinder part 1698, the external force top cylinder part 1698 pulls the connecting rod 1697 upward, and the connecting rod 1697 drives the low end of the special-shaped rod 1692 upward, so that the special-shaped rod 1692 swings to a specific position at the connection of the centering rod 16910.

[0041] The upper end of the special-shaped rod 1692 pulls the coupling cylinder 1695 and slides on the coupling rod 1693. The distance between them is reduced, and the spiral beryllium copper wire 1694 changes, generating elastic potential energy. The elastic potential energy forms a reverse load on the top end of the special-shaped rod 1692, reducing the length of the special-shaped rod 1692 moving upward, thereby reducing the span of the annular belt 15 moving inward. The elastic potential energy drives the coupling rod 1693 toward the side, and the coupling rod 1693 drives the upper end of the special-shaped rod 2 1696 toward the side, allowing the special-shaped rod 2 1696 to drive the The block 2 166 is made to swing a specific span, and the special-shaped rod 2 1696 contacts the annular belt body 15 and touches the soil mound and other protrusions. The special-shaped rod 1 1692 and the special-shaped rod 2 1696 form an X-shaped supporting module, which is supported inside the annular belt body 15. When the annular belt body 15 passes through the protrusion, the annular belt body 15 is pressed downward to weaken the span of the annular belt body 15 displacement inward, and the annular belt body 15 in the high protruding area touches the wall of the protrusion to ensure that the contact area is expanded as much as possible, thereby maximizing the friction force, preventing displacement idling, and ensuring the smooth displacement of the robot.

[0042] The displacement unit 16 includes a supporting bar 162, the two ends of which are respectively fixed to side bar 164 and side bar 2 167, the other end of side bar 164 is screwed to driving block 165, the other end of the supporting bar 162 is screwed to driving block 2 166, and the other end of side bar 2 167 is screwed to linkage unit 2 168. A compression unit 169 is installed at the inner tail of the annular belt body 15, the outer wall of the center rod 16910 is screwed to one end of the supporting bar 162, the outer wall of linkage unit 2 168 is movably engaged with the inner wall of the annular belt body 15, the inner top of the annular belt body 15 is movably engaged with the rotating roller 163, and the rotating roller 163 is screwed to the side of the assembly cover 12.

[0043] By installing the displacement unit 16, the driving block 165 and the driving block 2 166 bear the load and engage with the protruding block inside the annular belt body 15, pulling the annular belt body 15 to rotate, and the rotating roller 163 supports the annular belt body 15 inside, so that the lower wall of the annular belt body 15 is tensioned on the side of the driving block 165 and the driving block 2 166 to prevent the annular belt body 15 from detaching. The side rod 2 167 is at the traveling head of the annular belt body 15. During the period when the annular belt body 15 climbs over the protrusions such as the mounds in the planting area, the linkage unit 2 168 can swing, touching the annular belt body 15 to touch the protruding walls such as the mounds in the planting area, expanding the touch area, increasing friction, and being beneficial to the displacement of the robot.

[0044] The driving block two 166 is fixedly connected with the polygonal prism 145 at one end, the outer wall surface of the polygonal prism 145 is rotatably connected with the connecting sheet 144, the side of the connecting sheet 144 is fixedly connected with the assembling sheet 143, the other end of the polygonal prism 145 is fixedly connected with the disc body one 142 with reserved tooth gap, the side of the disc body one 142 is provided with the toothed belt 146, the other end of the toothed belt 146 is connected with the occlusion linkage module one 147, the occlusion linkage module one 147 is composed of two disc bodies X with reserved tooth gap and a column body, the middle area of one side of the assembling sheet 143 is provided with the assembling seat two 148, the other side of the assembling seat two 148 is fixedly connected with the protective cover 149, one end of the occlusion linkage module one 147 is rotatably connected with the middle area of the assembling sheet 143, the other end of the occlusion linkage module one 147 is fixedly connected with the disc body two 1410 with reserved tooth gap, the top of the disc body two 1410 is occluded with the disc body three 1421 with reserved tooth gap, the disc body three 1421 is rotatably connected with the inside of the protective cover 149, the other end of the disc body three 1421 is fixedly connected with the disc body four 1422 with reserved tooth gap, the lower part of the disc body four 1422 is occluded with the occlusion module two 1423, the occlusion module two 1423 is composed of two disc bodies Y with different sizes and a column body, the occlusion module two 1423 is rotatably connected with the inside of the protective cover 149, the side of the occlusion module two 1423 is occluded with the disc body five 1424 with reserved tooth gap, the middle area of each disc body five 1424 is fixedly connected with the motor one 1425, one side of the motor one 1425 is fixedly connected with the side of the protective cover 149, one side of the protective cover 149 is fixedly connected with the inside of the assembling cover 12.

[0045] When the motor one 1425 is operated through the linkage unit 14, the motor one 1425 drives the disc body five 1424 to rotate, the disc body five 1424 drives the occlusion module two 1423 to rotate in the protective cover 149, the small disc body Y of the occlusion module two 1423 drives the disc body four 1422 to rotate in the protective cover 149, because the disc body four 1422 is connected with the disc body three 1421 with the same rod body, the disc body three 1421 rotates together, and the disc body two 1410 at the lower part rotates, because the disc body two 1410 is connected with the occlusion linkage module one 147 with the same rod body, the occlusion linkage module one 147 rotates, the occlusion linkage module one 147 drives the two toothed belts 146 to rotate, the toothed belt 146 drives the disc body one 142 to rotate, each disc body one 142 drives the polygonal prism 145 to rotate in the middle area of the connecting sheet 144, one of the two polygonal prisms 145 drives the driving block one 165 to rotate, thereby enabling the annular belt body 15 to displace, the assembling seat two 148 assembles the linkage structure on the assembling sheet 143, the assembling sheet 143 is assembled in the assembling seat one 13, the linkage unit 14 is assembled in the assembling cover 12, the protective cover 149 is fixedly connected in the assembling cover 12, and the linkage unit 14 is assembled stably and cannot be operated at will, so that the linkage is more stable.

[0046] Two motors 1425 are installed on one side, the rotating shafts of the two motors 1425 are equipped with disc bodies five 1424, which are installed on both sides of the clamping module two 1423. The two motors 1425 rotate in different directions and work together to clamp both sides of the clamping module two 1423, bearing the same load. Compared with the clamping driven by a single motor 1425, the rotation of the clamping module two 1423 is stable, reducing the loss of torque, and better action. The linkage of the disc body five 1424, the clamping module two 1423, the disc body four 1422, the disc body three 1421, and the disc body two 1410 can reduce the rotation speed but have stronger displacement driving ability.

[0047] During use, the swing piece 113 can be driven to periodically swing by the external motor two at the rotating joint, so that the seeds can be intermittently discharged. When the swing piece 113 swings, the seeds in the seed storage box 11 will leak out of the channel 112 to the soil pit protruding from the conical separation piece 114, and then the conical flattening piece 115 will cover the soil into the pit.

[0048] When the motor one 1425 operates, the motor one 1425 drives the disc body five 1424 to rotate, the disc body five 1424 clamps the clamping module two 1423 to rotate in the protective cover 149, the small disc body Y of the clamping module two 1423 clamps the disc body four 1422 to rotate in the protective cover 149, because the disc body four 1422 and the disc body three 1421 are connected by the same rod body, the disc body three 1421 rotates together, and the lower disc body two 1410 rotates, because the disc body two 1410 and the clamping linkage module one 147 are connected by the same rod body, the clamping linkage module one 147 rotates, the clamping linkage module one 147 drives the two toothed belts 146 to rotate, the toothed belts 146 drive the matching disc body one 142 to rotate, each disc body one 142 drives the multiple prisms 145 in the central area of the connecting piece 144 to rotate, one of the two multiple prisms 145 drives the 165 to rotate, and the other multiple prism 145 drives the driving block one 165 to rotate, thereby enabling the annular belt body 15 to displace;

[0049] The assembly seat two 148 assembles the linkage structure on the assembly piece 143, the assembly piece 143 is assembled in the assembly seat one 13, the linkage unit 14 is assembled in the assembly cover 12, and the protective cover 149 is fixedly connected in the assembly cover 12, ensuring that the linkage unit 14 is stably assembled and cannot be arbitrarily moved, so that the linkage is more stable during linkage;

[0050] Two motors one 1425 are installed on one side, the rotating shafts of the two motors one 1425 are equipped with disc five 1424, which are installed on both sides of occlusion module two 1423. The two motors one 1425 rotate in different directions and work together to occlude both sides of occlusion module two 1423, which carry the same load. Compared with occlusion driven by a single motor one 1425, the rotation of occlusion module two 1423 is stable, torque loss is reduced, and better movement is achieved. The linkage of disc five 1424, occlusion module two 1423, disc four 1422, disc three 1421, and disc two 1410 can reduce the rotation speed but have stronger displacement driving ability.

[0051] Drive block one 165 and drive block two 166 occlude the protruding blocks inside the load-carrying annular belt body 15 to pull the annular belt body 15 to rotate. The rotating roller 163 supports the annular belt body 15 inside to tension the lower wall of the annular belt body 15 on the side of drive block one 165 and drive block two 166, preventing the annular belt body 15 from disengaging. Side rod two 167 is at the running head of the annular belt body 15. During the annular belt body 15 climbing over the protrusions such as the soil of the planting ground, linkage unit two 168 can swing to touch the protrusion wall of the planting ground, expand the contact area, increase the friction, and benefit the displacement of the robot.

[0052] During the period when the lower wall surface of the annular belt body 15 is displaced to a protruding situation such as a mound in the planting area, the annular belt body 15 can protrude inward, and the annular belt body 15 in the protruding area thereof lifts the external force top cylinder part 1698 upward, and the external force top cylinder part 1698 pulls the connecting rod 2 1697 upward, and the connecting rod 2 1697 drives the lower end of the special-shaped rod 1692 upward, so that the special-shaped rod 1692 swings to a specific direction at the connection point around the center rod 16910, and the upper end of the special-shaped rod 1692 pulls the connecting cylinder 1695, slides on the connecting rod 1693, and the distance between them is reduced, and the spiral beryllium copper wire 1694 changes, generating elastic potential energy, which forms a reverse load on the top end of the special-shaped rod 1692, thereby weakening the length of the special-shaped rod 1692 displaced upward. , thereby weakening the span of the annular belt body 15 displacing inward, and the elastic potential energy drives the connecting rod 1 1693 toward the side, and the connecting rod 1 1693 drives the high end of the special-shaped rod 2 1696 toward the side, so that the special-shaped rod 2 1696 drives the block 2 166 to swing a specific span, and the special-shaped rod 2 1696 resists the annular belt body 15 and touches the soil mound and other protrusions. The special-shaped rod 1 1692 and the special-shaped rod 2 1696 form an X-shaped supporting module, which is supported on the inside of the annular belt body 15. When the annular belt body 15 passes through the protrusion, the annular belt body 15 is touched toward the bottom, thereby weakening the span of the annular belt body 15 displacing inward, and the annular belt body 15 in the high protruding area touches the wall of the protrusion, ensuring that the contact area is expanded as much as possible, thereby maximizing the friction force, preventing displacement idling, and ensuring the smooth displacement of the robot.

[0053] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. An agricultural production robot, comprising an assembly cover (12), an assembly seat (13) and an annular belt body (15), characterized in that: A seed storage box (11) is mounted on the assembly cover (12), and supporting rods (111) are mounted on both sides of the seed storage box (11). The supporting rod (111) on the left is fixedly connected to a conical leveling piece (115), and the supporting rod (111) on the right is fixedly connected to a conical separating piece (114). A channel (112) is mounted on the lower right side of the seed storage box (11), and a swinging piece (113) is screwed into the channel (112). The inside of the assembly seat (13) is fixedly connected to a linkage unit (14), and a displacement unit (16) is mounted on the side of the linkage unit (14). The side of the displacement unit (16) is engaged with the protruding block on the inside of the annular belt body (15), and the inside of the lower part of the assembly cover (12) is fixedly connected to the side of the assembly seat (13). The displacement unit (16) includes a supporting bar (162), the two ends of the supporting bar (162) are respectively fixed to the side bar 1 (164) and the side bar 2 (167), the other end of the side bar 1 (164) is screwed to the driving block 1 (165), the other end of the supporting bar (162) is screwed to the driving block 2 (166), the other end of the side bar 2 (167) is screwed to the linkage unit 2 (168), and the lower part of the inner side of the annular belt body (15) is provided with a compression unit (169); The compression unit (169) includes a center rod (16910), the outer wall of the center rod (16910) is screwed to the special-shaped rod one (1692), the center area of ​​the special-shaped rod one (1692) is screwed to the special-shaped rod two (1696), one end of the special-shaped rod two (1696) is screwed to the middle of the driving block two (166), the other end of the special-shaped rod two (1696) is screwed to the external force top cylinder part two (1699), the third end of the special-shaped rod two (1696) is screwed to the connecting rod one (1693), one end of the special-shaped rod one (1692) is screwed to the connecting rod two (1697), and the connecting rod The other end of the second (1697) is screwed to the external force top tube part one (1698), and the third end of the special-shaped rod one (1692) is screwed to the connecting tube (1695). The side of the connecting tube (1695) is fixedly connected to the spiral beryllium copper wire (1694). The other end of the spiral beryllium copper wire (1694) is fixedly connected to one side of the connecting rod one (1693). The outer wall of the connecting rod one (1693) and the central area of ​​the connecting tube (1695) are slidingly connected. The lower part of the external force top tube part one (1698) and the tail of the external force top tube part two (1699) are movably engaged with the lower inner part of the annular belt body (15).

2. The agricultural production robot according to claim 1, characterized in that: The outer wall of the center rod (16910) is screwed to one end of the supporting bar (162), the side of the linkage unit 2 (168) is variably engaged with the inside of the annular belt body (15), the top inside of the annular belt body (15) is variably engaged with the rotating roller (163), and the rotating roller (163) is screwed to the side of the assembly cover (12).

3. The agricultural production robot according to claim 2, characterized in that: One end of the driving block 2 (166) is fixedly connected to the polygonal column (145), the outer wall of the polygonal column (145) is screwed to the connecting piece (144), and the side of the connecting piece (144) is fixedly connected to the assembly piece (143).

4. The agricultural production robot according to claim 3, characterized in that: The other end of the polygonal column (145) is fixedly connected to the disk body (142), and a toothed belt (146) is installed on the side of the disk body (142).

5. The agricultural production robot according to claim 4, characterized in that: The other end of the toothed belt (146) is connected to the engaging linkage module 1 (147), and the center area of ​​one side of the assembly piece (143) is provided with an assembly seat 2 (148).

6. The agricultural production robot according to claim 5, characterized in that: The other side of the second assembly seat (148) is fixedly connected to the protective cover (149), one end of the first bite linkage module (147) is screwed to the central area of ​​the assembly piece (143), and the other end of the first bite linkage module (147) is fixedly connected to the second disk body (1410).

7. The agricultural production robot according to claim 6, characterized in that: The top of the second disk body (1410) engages with the third disk body (1421), the third disk body (1421) is screwed to the inside of the protective cover (149), and the other end of the third disk body (1421) is fixedly connected to the fourth disk body (1422).

8. The agricultural production robot according to claim 7, characterized in that: The lower portion of the disc body 4 (1422) engages with the engaging module 2 (1423), and the engaging module 2 (1423) is screwed to the inside of the protective cover (149).

9. The agricultural production robot according to claim 8, characterized in that: The sides of the engaging module 2 (1423) are engaged with the disk body 5 (1424), and the central area of ​​each disk body 5 (1424) is fixedly connected to the motor 1 (1425).

10. The agricultural production robot according to claim 9, characterized in that: One side of the motor 1 (1425) is fixedly connected to the side of the protective cover (149), and one side of the protective cover (149) is fixedly connected to the inside of the assembly cover (12).

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