A sowing robot

Abstract

The application discloses a sowing robot, which comprises a frame, a wheel body arranged at the lower part of the frame for traveling, a plurality of operation modules for planting vegetables arranged on the frame from front to back, the wheel body comprising a pair of front wheels and a rear wheel, the pair of front wheels being arranged separately to form an operation space in the middle part for the operation modules, the rear wheel being swingably arranged at the middle part at the rear and connected with a power component for driving traveling and turning, the operation module comprising a plowing mechanism, a sowing mechanism and a soil shoveling mechanism, the plowing mechanism, the sowing mechanism, the soil shoveling mechanism and the rear wheel being sequentially arranged on the axis of the operation space from front to back, and when the sowing robot runs for sowing, the plowing mechanism, the sowing mechanism, the soil shoveling mechanism and the rear wheel sequentially complete the loosening and separation of the soil, sowing, shoveling and concentrating and compacting the soil. The application completes the sowing requirement of small-area and small-range corresponding vegetable planting, and brings convenience for the users.

Description

Technical Field

[0001] This invention relates to an agricultural machinery device, and more specifically to a seeding robot. Background Technology

[0002] With the advancement of technology, more and more mechanized equipment is being applied to agriculture, thereby liberating labor and improving production efficiency. Large machinery and robots used for vegetable cultivation are already widely used in agricultural planting, but their application is mostly limited to large, planned fields. For small-scale vegetable cultivation, there is no need to purchase and use large machinery, which creates a market demand for small planting robots. Conventional small planting robots involve drilling holes in the soil, sowing seeds at the holes, and then filling the holes with soil. This is because the soil has already been tilled before sowing, eliminating the need for further tilling, and it is suitable for seeds that require deep burial. If the land to be planted requires tilling and does not require drilling holes at the planting location, then a corresponding seeding robot model is needed to meet the requirements. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the present invention aims to provide a seeding robot that, through the functional design of a plowing mechanism, a seeding mechanism, a soil-removing mechanism, and a rear wheel, completes the seeding operation of vegetable seeds adapted to this model, thereby meeting the specific usage needs of users.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a seeding robot, comprising a frame and wheels disposed at the lower part of the frame for movement, wherein a plurality of operation modules for vegetable planting are arranged from front to back on the frame, the wheels comprising a pair of front wheels and a rear wheel, the pair of front wheels being separated to form an operating space in the middle for use by the operation modules, the rear wheel being pivotally disposed in the middle of the rear and connected to a power component for driving movement and steering; the operation module includes a plowing mechanism, a seeding mechanism and a soil-removing mechanism, the plowing mechanism, the seeding mechanism, the soil-removing mechanism and the rear wheel being arranged sequentially from front to back on the axis of the operating space;

[0005] The plowing mechanism includes a pair of plowing ramps and a plowing disc. The pair of plowing ramps are raised and lowered and are symmetrically arranged at the front of the operating space. When the pair of plowing ramps descend, they are arranged in a triangle, and when they come into contact with the soil, they scoop up the soil and drop it to the rear. The plowing disc is raised and lowered and is located behind the plowing ramps. When the plowing disc descends, it comes into contact with the soil and separates the soil scooped up by the plowing ramps to both sides.

[0006] The seeding mechanism is located behind the plowing disc and is used to sow seeds into the soil.

[0007] The soil-moving mechanism includes a pair of soil-moving plates. The pair of soil-moving plates can be raised and lowered and are symmetrically arranged at the rear of the operating space. When the pair of soil-moving plates descend, they are arranged in an inverted triangle. When the pair of soil-moving plates descend, they contact the soil and move and concentrate the sown soil towards the center.

[0008] When the seeding robot is in operation, the plowing mechanism, seeding mechanism, soil-pulling mechanism, and rear wheel sequentially complete the loosening and separating of the soil, seeding, soil-pulling and concentrating, and compacting of the soil.

[0009] As an improvement, a pair of ploughing ramps are swayably mounted on the lower part of the frame via their respective first connecting rods. The first connecting rods are connected to the first drive cylinders. When the two first connecting rods are retracted, they form a figure-eight shape, which separates the pair of ploughing ramps. When the first drive cylinders drive the first connecting rods to swing downwards, causing the pair of ploughing ramps to descend to contact the soil, the pair of first connecting rods swing in parallel, and the pair of ploughing ramps approach each other and are arranged in a triangle.

[0010] As an improvement, the plowing disc is oscillatingly mounted on the lower part of the frame via a second connecting rod. A second drive cylinder is connected to the second connecting rod. The connection points of the second connecting rod, the two first connecting rods, and the lower part of the frame are located on the front and rear sides, respectively. Thus, when the second connecting rod is retracted, the plowing disc is located between the two first connecting rods, while the second connecting rod is located between the two plowing ramps. When the second drive cylinder drives the second connecting rod to swing downward, the plowing disc descends to contact the soil.

[0011] As an improvement, a pair of soil-removing plates are oscillatingly mounted on the lower part of the frame via their respective third links. A third drive cylinder is connected to the third link. When the third drive cylinder drives the third link to swing downward, the soil-removing plates will descend to contact the soil.

[0012] As an improvement, the two third links are in a figure-eight shape when retracted, which causes the pair of soil-dispensing plates to separate. When the soil-dispensing plates are retracted, they are located on both sides of the sowing mechanism. When the third drive cylinder drives the third link to swing downward, causing the pair of soil-dispensing plates to descend to contact the soil, the pair of third links swing in parallel, and the pair of soil-dispensing plates approach each other and are arranged in an inverted triangle.

[0013] As an improvement, the sowing mechanism includes a placement chamber and a discharge roller. The placement chamber is mounted on the frame. The lower part of the placement chamber gradually narrows and forms an opening. A rotating chamber for arranging the discharge roller is formed at the opening. The discharge roller is arranged in the rotating chamber with matching dimensions and its axis is horizontally positioned for rotation. The surface of the discharge roller has a feeding trough for seeds to fall into and receive. When sowing, the discharge roller is driven to rotate, causing the seeds in the placement chamber to be discharged from the feeding trough and fall from the lower end of the opening.

[0014] The beneficial effects of this invention are:

[0015] 1. Through the functional design of the plowing mechanism, sowing mechanism, soil-lifting mechanism, and rear wheel, it fulfills the sowing needs of small-scale, small-area planting of corresponding types of vegetables, and effectively realizes the plowing, soil-lifting, and compaction operations, meeting the specific usage needs of users and ensuring the sowing quality of seeds.

[0016] 2. The equipment has a simple structure, is easy to debug, meets the needs of most people to get started easily, and the equipment cost is well controlled, adapting to its usage scenarios and bringing convenience to users in need. Attached Figure Description

[0017] Figure 1 This is a side view and a partial enlarged view of the present invention.

[0018] Figure 2 This is a bottom view of the structure of the operating module of the present invention when it is lowered for use.

[0019] Figure 3 This is a bottom view of the structure of the operation module of the present invention when it is raised and retracted.

[0020] In the diagram: 1. Frame; 2. Wheel body; 3. Front wheel; 4. Rear wheel; 5. Plowing mechanism; 51. Plowing ramp; 511. First connecting rod; 512. First drive cylinder; 52. Plowing disc; 521. Second connecting rod; 522. Second drive cylinder; 6. Sowing mechanism; 61. Placement chamber; 62. Discharge roller; 63. Opening; 64. Feeding trough; 7. Soil-removing mechanism; 71. Soil-removing plate; 711. Third connecting rod; 712. Third drive cylinder. Detailed Implementation

[0021] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0022] like Figure 1 , 2 As shown in Figure 3, this is a specific embodiment of the seeding robot of the present invention. This embodiment includes a frame 1 and wheels 2 arranged at the lower part of the frame 1 for movement. Several operation modules for vegetable planting are arranged on the frame 1 from front to back. The wheels 2 include a pair of front wheels 3 and a rear wheel 4. The pair of front wheels 3 are separated to form an operating space in the middle for the operation modules. The rear wheel 4 is swayably arranged in the middle of the rear and is connected to a power unit for driving movement and steering. The operation module includes a plowing mechanism 5, a seeding mechanism 6 and a soil-removing mechanism 7. The plowing mechanism 5, the seeding mechanism 6, the soil-removing mechanism 7 and the rear wheel 4 are arranged sequentially from front to back on the axis of the operating space.

[0023] The plowing mechanism 5 includes a pair of plowing ramps 51 and a plowing disc 52. The pair of plowing ramps 51 are raised and lowered and are symmetrically arranged at the front of the operating space. When the pair of plowing ramps 51 descend, they are arranged in a triangle, and when they come into contact with the soil, they scoop up the soil and drop it to the rear. The plowing disc 52 is raised and lowered and is located behind the plowing ramps 51. When the plowing disc 52 descends, it comes into contact with the soil and separates the soil scooped up by the plowing ramps 51 to both sides.

[0024] The seeding mechanism 6 is located behind the plowing disc 52 and is used to sow seeds into the soil.

[0025] The soil-moving mechanism 7 includes a pair of soil-moving plates 71. The pair of soil-moving plates 71 are vertically adjustable and symmetrically arranged at the rear of the operating space. When the pair of soil-moving plates 71 descend, they are arranged in an inverted triangle. When the pair of soil-moving plates 71 descend, they contact the soil and move and concentrate the sown soil towards the center.

[0026] When the seeding robot is in operation, the plowing mechanism 5, the seeding mechanism 6, the soil-pulling mechanism 7, and the rear wheel 4 sequentially complete the loosening and separating of the soil, the seeding, the soil-pulling and concentrating, and the soil compaction.

[0027] When using this invention, with the improvement of living standards, more and more people are returning to the outdoors as a way to relax outside of their daily work, and some people choose to return to the countryside to grow vegetables in an outdoor setting. For this kind of small-scale vegetable planting needs, users want a more convenient way of operation, without having to do any tedious extra land preparation work themselves, so that a sowing robot can complete as many of the necessary procedures before and after sowing as possible.

[0028] In terms of technical implementation, the seeding robot of this invention first adopts a three-wheel support and movement method. A pair of front wheels 3 provide front structural support and stability, and the space between the pair of front wheels 3 serves as the operating space. When the robot moves, the plowing mechanism 5, seeding mechanism 6, soil-moving mechanism 7, and rear wheel 4, which are sequentially arranged on the axis of the operating space, can perform their respective functions. One rear wheel 4 provides rear support, and the power unit is connected to the rear wheel 4. The rotation and swing of the rear wheel 4 enable movement and turning. The single-wheel design allows the robot to have a more flexible rotation state, a smaller rotation radius, and is more adaptable to the needs of small-area sites. Furthermore, when performing seeding operations in a straight line, the rear wheel 4 undertakes the final soil compaction process after passing the seeding position, simplifying the requirements of the operation module. The robot does not need to have an additional compaction mechanism, effectively controlling equipment costs and reducing the size of the equipment.

[0029] When the robot performs the sowing operation, the soil is first loosened by the front plowing mechanism 5. Specifically, it features an innovative design with a pair of triangularly arranged plowing ramps 51. After descending to the working position, these ramps maintain an incline relative to the ground. As the robot moves, the triangular plowing ramps 51 scoop up the soil. Most of the soil accumulated on the plowing ramps 51 falls backward, while a small portion disperses to the sides. Following the plowing ramps 51 is a plowing disc 52, which is supported on the ground and rotates as the robot moves, separating the soil loosened by the plowing ramps 51 to the sides. This creates a sowing trough by the thickness of the plowing disc 52. Next comes the sowing mechanism 6, which continuously outputs seeds that fall into the trough created by the plowing disc 52. Next is the soil-dispensing mechanism 7, which features a pair of soil-dispensing plates 71 arranged in an inverted triangle. After descending to the working position, these plates maintain elastic contact with the soil, gathering it towards the center of the inverted triangle as they move. The two soil-dispensing plates 71 can be positioned with a slight gap between them or at a downward angle. As the soil volume increases, the gap or slightly lifting of the soil-dispensing plates 71 allows them to move backward, concentrating the soil and covering the seeds. Finally, the rear wheels 4 pass over the seed location, compacting the soil to achieve better coverage and control over soil density. This invention fulfills the sowing needs for small-scale, small-area planting of specific vegetable varieties, effectively implementing plowing, sowing, dispensing, and compaction operations, meeting specific user requirements, and ensuring seed sowing quality.

[0030] As an improved specific implementation, a pair of ploughing ramps 51 are swayably mounted on the lower part of the frame 1 via their respective first connecting rods 511. A first drive cylinder 512 is connected to the first connecting rod 511. When the two first connecting rods 511 are retracted, they form a figure-eight shape, thereby separating the pair of ploughing ramps 51. When the first drive cylinder 512 drives the first connecting rod 511 to swing downward, thereby causing the pair of ploughing ramps 51 to descend to contact the soil, the pair of first connecting rods 511 swing in parallel, and the pair of ploughing ramps 51 approach each other and are arranged in a triangle.

[0031] like Figure 1 , 2As shown in Figure 3, the representation of the structures in the figure has a perspective and simplification effect, and is mainly for illustrative purposes. By swinging the first connecting rod 511 and cooperating with the first driving cylinder 512, the two plowing ramps 51 are arranged in a V-shape when rising and retracting, which can effectively utilize the space on both sides for storage without interfering with the storage of the plowing disc 52. Furthermore, the way the first driving cylinder 512 is connected to the first connecting rod 511 from the side at an angle gives the first driving cylinder 512 and the first connecting rod 511 a relatively stable triangular support structure, which helps to keep the plowing ramps 51 in stable contact with the soil. When the plowing ramps 51 are subjected to force during movement, the force can be effectively divided into two parts and transmitted to the relatively vertically arranged first connecting rod 511 and the inclined first driving cylinder 512 and shaft, which helps to disperse the force, reduce the shear force parallel to the ground, and improve the durability of the components. Preferably, the first connecting rod 511 can be configured as a structure with multiple sets of rods connected together, and elastic elements can be provided to realize the elastic state between the multiple sets of rods, thereby reducing the hard contact between the first connecting rod 511 and the ploughing ramp 51 and the ground.

[0032] As an improved specific implementation, the plowing disc 52 is swayably mounted on the lower part of the frame 1 via the second connecting rod 521. The second driving cylinder 522 is connected to the second connecting rod 521. The connection positions of the second connecting rod 521 and the two first connecting rods 511 to the lower part of the frame 1 are located on the front and rear sides respectively. Thus, when the second connecting rod 521 is retracted, the plowing disc 52 is located between the two first connecting rods 511, and the second connecting rod 521 is located between the two plowing ramps 51. When the second driving cylinder 522 drives the second connecting rod 521 to swing downward, the plowing disc 52 descends to contact the soil.

[0033] like Figure 1 , 2As shown in Figure 3, the representation of the structures in the figure has a perspective and simplification effect, and is mainly for illustrative purposes. By swinging the second connecting rod 521 and cooperating with the second drive cylinder 522, the plowing disc 52 is positioned between the two first connecting rods 511 and the plowing ramp 51 when it rises and retracts. Under the premise of not interfering with each other, this arrangement makes good use of the space below, allowing the first connecting rods 511 and the second connecting rod 521 to be swinged separately and to achieve good storage and lowering after swinging back and forth. The way the second drive cylinder 522 is connected to the second connecting rod 521 at an angle from the side gives the second drive cylinder 522 and the second connecting rod 521 a relatively stable triangular support structure, which helps to keep the plowing disc 52 in stable contact with the soil. When the plowing disc 52 is subjected to force during movement, the force can be effectively divided into two parts and transmitted to the relatively vertically arranged second connecting rod 521 and the inclined second drive cylinder 522 and shaft, which helps to disperse the force, reduce the shear force parallel to the ground, and improve the durability of the components. Preferably, the second link 521 can be configured as a structure with multiple sets of links connected together, and an elastic element can be provided to realize the elastic state between the multiple sets of links, thereby reducing the hard contact between the second link 521 and the plowing disc 52 and the ground.

[0034] As an improved specific implementation, a pair of soil-removing plates 71 are swayably mounted on the lower part of the frame 1 via their respective third connecting rods 711. A third drive cylinder 712 is connected to the third connecting rod 711. When the third drive cylinder 712 drives the third connecting rod 711 to swing downward, the soil-removing plate 71 will descend to contact the soil.

[0035] like Figure 1 , 2 As shown in Figure 3, the representation of the structures in the figure has a perspective and simplification effect, and is mainly for illustrative purposes. The way the third drive cylinder 712 is inclined from the side to connect to the third connecting rod 711 gives the third drive cylinder 712 and the third connecting rod 711 a relatively stable triangular support structure. This helps to keep the soil-removing plate 71 in stable contact with the soil. When the soil-removing plate 71 is subjected to force during movement, the force can be effectively divided into two parts and transmitted to the relatively vertically arranged third connecting rod 711 and the inclined third drive cylinder 712 and shaft. This helps to disperse the force, reduce the shear force parallel to the ground, and improve the durability of the components. Preferably, the third connecting rod 711 can be set as a structure with multiple sets of rods connected together, and elastic elements can be set to realize the elastic state between the multiple sets of rods, reducing the hard contact between the third connecting rod 711 and the soil-removing plate 71 and the ground.

[0036] As an improved specific implementation, the two third connecting rods 711 are in a figure-eight shape when retracted, which causes the pair of soil-dispensing plates 71 to separate. When the soil-dispensing plates 71 are retracted, they are located on both sides of the sowing mechanism 6. When the third drive cylinder 712 drives the third connecting rods 711 to swing downward, causing the pair of soil-dispensing plates 71 to descend to contact the soil, the pair of third connecting rods 711 swing in parallel, and the pair of soil-dispensing plates 71 approach each other and are arranged in an inverted triangle.

[0037] like Figure 1 , 2 As shown in Figure 3, by swinging the third link 711 and cooperating with the third drive cylinder 712, the soil-removing plate 71 is positioned on both sides of the sowing mechanism 6 when it rises and retracts. Under the premise of not interfering with each other, this arrangement makes good use of the space below. It allows the sowing mechanism 6 and the soil-removing mechanism 7 to overlap to a certain extent in structure, which can effectively utilize space, reduce the overall length of the robot, and thus reduce the size of the equipment.

[0038] As an improved specific implementation, the sowing mechanism 6 includes a placement cavity 61 and a discharge roller 62. The placement cavity 61 is disposed on the frame 1. The lower cavity of the placement cavity 61 gradually narrows and forms an opening 63. A rotating cavity for arranging the discharge roller 62 is formed at the opening 63. The discharge roller 62 is arranged in the rotating cavity with matching dimensions and its axis is horizontally arranged to rotate. The surface of the discharge roller 62 has a feeding groove 64 for seeds to fall into and receive. When sowing, the discharge roller 62 is driven to rotate, causing the seeds in the placement cavity 61 to be sent out by the feeding groove 64 and fall from the lower end of the opening 63.

[0039] like Figure 1 As shown, the placement cavity 61 is used to place seeds, and a lid is provided at the top for preservation. The opening 63 forms a rotating cavity in the middle that matches the shape and size of the discharge roller 62. The two ends of the discharge roller 62 are rotatable. When seeds fall to the upper end of the opening 63, they are blocked by the discharge roller 62 and fall into the feeding trough 64 according to their size. During sowing, the discharge roller 62 is activated to rotate, drawing the seeds from the feeding trough 64 into the rotating cavity. As the rotation continues, the seeds fall and are sown when they reach the lower end of the opening 63. The discharge roller 62 can be configured to accommodate multiple sizes of the feeding trough 64, allowing for interchangeable feeding troughs. Different sizes of feeding troughs 64 are used depending on the type of vegetable to be planted, thus controlling the number of seeds sown.

[0040] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A seeding robot, comprising a frame (1) and wheels (2) disposed at the lower part of the frame (1) for travel, wherein a plurality of operating modules for vegetable planting are arranged from front to back on the frame (1), characterized in that: The wheel body (2) includes a pair of front wheels (3) and a rear wheel (4). The pair of front wheels (3) are separated to form an operating space in the middle for the operation module. The rear wheel (4) is swingably set in the middle of the rear and is connected to a power unit for driving and steering. The operation module includes a plowing mechanism (5), a sowing mechanism (6) and a soil-removing mechanism (7). The plowing mechanism (5), the sowing mechanism (6), the soil-removing mechanism (7) and the rear wheel (4) are arranged sequentially from front to back on the axis of the operating space. The plowing mechanism (5) includes a pair of plowing ramps (51) and a plowing disc (52). The pair of plowing ramps (51) are raised and lowered and are symmetrically arranged in front of the operating space. When the pair of plowing ramps (51) descend, they are arranged in a triangle, and when they come into contact with the soil, they scoop up the soil and drop it to the rear. The plowing disc (52) is raised and lowered and is located behind the plowing ramps (51). When the plowing disc (52) descends, it comes into contact with the soil and separates the soil scooped up by the plowing ramps (51) to both sides. The sowing mechanism (6) is located behind the plowing disc (52) and is used to sow seeds into the soil. The soil-moving mechanism (7) includes a pair of soil-moving plates (71). The pair of soil-moving plates (71) can be raised and lowered and are symmetrically arranged at the rear of the operating space. When the pair of soil-moving plates (71) descend, they are arranged in an inverted triangle. When the pair of soil-moving plates (71) descend, they contact the soil and move and concentrate the soil after sowing towards the center. When the seeding robot is running to sow seeds, the plowing mechanism (5), the sowing mechanism (6), the soil-pulling mechanism (7), and the rear wheel (4) sequentially complete the loosening and separating of the soil, sowing, soil-pulling and concentrating, and soil compaction. A pair of plowing ramps (51) are swayably mounted on the lower part of the frame (1) via their respective first connecting rods (511). A first driving cylinder (512) is connected to the first connecting rod (511). When the two first connecting rods (511) are retracted, they form an eight-shaped shape, thereby separating the pair of plowing ramps (51). When the first driving cylinder (512) drives the first connecting rod (511) to swing downward, thereby causing the pair of plowing ramps (51) to descend to contact the soil, the pair of first connecting rods (511) swing in parallel, and the pair of plowing ramps (51) approach each other and are arranged in a triangle. The plowing disc (52) is swayably mounted on the lower part of the frame (1) via the second connecting rod (521). The second connecting rod (521) is connected to the second driving cylinder (522). The connection positions of the second connecting rod (521), the two first connecting rods (511) and the lower part of the frame (1) are located on the front and rear sides respectively. When the second connecting rod (521) is retracted, the plowing disc (52) is located between the two first connecting rods (511), and the second connecting rod (521) is located between the two plowing ramps (51). When the second driving cylinder (522) drives the second connecting rod (521) to swing downward, the plowing disc (52) will descend to contact the soil.

2. The seeding robot according to claim 1, characterized in that: A pair of soil-removing plates (71) are swayably mounted on the lower part of the frame (1) via their respective third links (711). A third drive cylinder (712) is connected to the third link (711). When the third drive cylinder (712) drives the third link (711) to swing downward, the soil-removing plate (71) will descend to contact the soil.

3. A seeding robot according to claim 2, characterized in that: When the two third links (711) are retracted, they form a figure-eight shape, which causes the pair of soil-removing plates (71) to separate. When the soil-removing plates (71) are retracted, they are located on both sides of the sowing mechanism (6). When the third drive cylinder (712) drives the third link (711) to swing downward, causing the pair of soil-removing plates (71) to descend to contact the soil, the pair of third links (711) swing in parallel, and the pair of soil-removing plates (71) approach each other and are arranged in an inverted triangle.

4. A seeding robot according to claim 1, characterized in that: The sowing mechanism (6) includes a placement cavity (61) and a discharge roller (62). The placement cavity (61) is set on the frame (1). The lower cavity of the placement cavity (61) gradually narrows and forms an opening (63). A rotating cavity for arranging the discharge roller (62) is formed at the opening (63). The discharge roller (62) is set in the rotating cavity with matching size and its axis is set horizontally for rotation. The surface of the discharge roller (62) has a feeding groove (64) for seeds to fall into and receive. When sowing, the discharge roller (62) is driven to rotate so that the seeds in the placement cavity (61) are sent out by the feeding groove (64) and fall from the lower end of the opening (63).

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