Agricultural grain seedling planting and patrolling hexapod robot

Abstract

The invention provides an agricultural grain seedling planting and patrolling hexapod robot, and relates to the technical field of agricultural equipment. The hexapod robot for grain seedling planting and patrolling comprises two bases located in the middle of the robot, a control panel used for controlling the posture of the robot, six mechanical legs arranged on the peripheries of the bases, a plant protection disc arranged at the front ends of the upper surfaces of the bases and mechanical arms arranged on the rear portions of the upper surfaces of the bases. The six-foot robot for agricultural grain seedling planting and patrol inspection is suitable for planting of gramineous crops and farmland patrol inspection, the six-foot mechanical legs are adopted to replace a traditional crawler chassis, and the six-foot robot can stably and smoothly move in different farmland environments and is high in adaptability. The base is provided with the mechanical arm, grain seedlings can be clamped and accurately inserted into designated positions of a farmland, and efficient and automatic planting is achieved. A monitoring camera is installed above the mechanical arm, 360-degree inspection tour can be conducted by adjusting the posture of the arm, and farmland abnormity can be found in time.

Description

Technical Field

[0001] This invention relates to the field of agricultural equipment technology, specifically to a six-legged robot for planting and inspecting agricultural seedlings. Background Technology

[0002] With the continuous growth of the global population and the acceleration of urbanization, agricultural production faces increasingly severe challenges. The ever-expanding demand for food necessitates a significant improvement in farmland yield and quality to meet the basic needs of human survival and development. To address this, a six-legged robot for planting and inspecting rice seedlings has been developed. This intelligent agricultural equipment integrates automated planting and field inspection. Its six coordinately controllable mechanical legs enable stable walking in complex field environments. A robotic arm precisely grasps seedlings from a planting tray and inserts them into the soil to complete automated planting operations. Simultaneously, an inspection camera monitors the crop's growth status in real time, effectively improving the planting efficiency and field management level of rice and other seedling crops.

[0003] A search revealed that most current planting equipment is towed machinery, requiring tractor or manual power to move. For example, patent CN202411919380.9 discloses a convenient corn cultivation planting machine, including a main body, a chute on the main body, a support plate, a mixing box for mixing corn seeds and fertilizer, a vibration mechanism and a guide box to prevent material blockage inside the mixing box, and an intermittent feeding mechanism for intermittently dropping corn seeds. The intermittent feeding mechanism allows for precise control of seed spacing, preventing seeds from competing for growth resources due to close proximity. Existing technologies also include self-propelled seeding equipment that can complete the seeding operation under remote control. For instance, patent CN202411744122.1 discloses a high-precision single-seed seeding device for wheat breeding, suitable for wheat cultivation where seeding quality and precision are extremely important, effectively improving breeding efficiency and success rate.

[0004] Currently, existing planting equipment lacks the ability to inspect farmland simultaneously with sowing. Furthermore, most existing agricultural planting robots can only plant seed crops, failing to quickly plant seedlings. This results in poor adaptability between robots and seedling planting, hindering the rapid loading and planting of seedlings and leading to low work efficiency. To adapt to the planting of gramineous plants, we propose a six-legged robot for agricultural seedling planting and inspection. Summary of the Invention

[0005] Therefore, this invention proposes a six-legged robot for planting and inspecting agricultural seedlings, which can solve the problems mentioned in the background art.

[0006] The technical solution of the present invention is as follows: A six-legged robot for planting and inspecting agricultural seedlings includes a base located in the center and a control panel for controlling the robot's posture. It is characterized by further comprising: six mechanical legs arranged around the base, a plant protection disc located at the front end of the upper surface of the base, and a mechanical arm located at the rear end of the upper surface of the base; the mechanical arm is used to clamp seedlings out of the plant protection disc and insert them into the soil, and the six mechanical legs are used to drive the entire robot along the field ridges.

[0007] Furthermore, the two sets of bases include an upper top plate and a lower bottom plate; the upper top plate and the lower bottom plate are symmetrically distributed vertically, with a certain distance between the two plates in the vertical direction and a gap in the middle for inserting the mechanical leg; preferably, six through holes are evenly opened on the four edges of the upper top plate and the lower bottom plate for connecting the mechanical leg, and four through holes are opened at the rear of the upper top plate, with four studs fixed in the holes for fixing the mechanical arm to the base by means of copper stud connection.

[0008] Furthermore, the robotic arm includes a thigh plate, a lower leg plate, a first-stage servo motor, a second-stage servo motor, a third-stage servo motor, and a first-stage fixed angle plate and a second-stage fixed plate for connecting the first-stage servo motor and the second-stage servo motor; the housing of the first-stage servo motor is fixedly connected to the upper end face of the first-stage fixed plate, and the output shaft of the first-stage servo motor is inserted into a through hole opened on the edge of the base and fixedly coaxially with the through hole; the outer side of the second-stage fixed plate is fixedly connected to the outer side of the first-stage fixed plate, and the inner side is fixedly connected to the housing of the second-stage servo motor; the thigh plate has through holes at both ends, one through hole is fitted onto the output shaft of the second-stage servo motor, and the other through hole is fitted onto the output shaft of the third-stage servo motor, and the motor output shaft and the through hole are fixed together without rotation; the housing of the third-stage servo motor is fixed to the side of the upper part of the lower leg plate.

[0009] It should be noted that the first-level servo motor can control the entire mechanical leg to rotate in the horizontal plane and adjust the tilt angle of the entire mechanical leg; the second-level servo motor can control the inner rotation of the thigh plate in the vertical plane, thereby adjusting the height of the lower leg plate in the vertical plane; the second-level servo motor can control the rotation angle of the lower leg plate in the vertical plane to control the ground contact end of the lower leg plate; the three servo motors can drive the robot to move under the coordinated remote control of the control panel.

[0010] Furthermore, the robotic arm includes a steering mechanism, a folding and extending mechanism, a gripping manipulator, and an inspection camera; the steering mechanism is fixed to the top of the stud and can control the rotation of the robotic arm in the horizontal plane; the bottom end of the folding and extending mechanism is fixedly connected to the top end of the steering mechanism, which can control the extension and retraction of the mechanism, thereby adjusting the position of the gripping manipulator; the end of the gripping manipulator is movably connected to the top end of the folding and extending mechanism, and the gripping manipulator can grasp seedlings and, with the cooperation of the steering mechanism and the folding and extending mechanism, insert the seedlings into the soil of the farmland; the camera is fixed to the top of the gripping manipulator, with the lens facing outwards from the robot.

[0011] Furthermore, the steering mechanism includes a lower partition for supporting the entire robotic arm, a coupling flange acting as a coupling, a steering servo providing driving force for the steering mechanism, a dustproof annular sleeve, and an upper partition for connecting the folding mechanism. A through hole is provided in the center of the upper partition. The housing of the steering servo is fixed to the upper surface of the upper partition. The output shaft of the steering servo passes through the through hole of the upper partition, is inserted into the center hole of the coupling flange, and is fixed to the coupling flange in a non-rotatable manner. The annular sleeve is fitted around the outside of the coupling flange and installed on the bottom surface of the upper partition. The bottom surface of the coupling flange is installed in the center of the upper surface of the lower partition. The lower partition is connected to the upper top plate of the base via studs.

[0012] Furthermore, the folding and extending mechanism includes two support plates, two sets of upper arm support frames, two sets of lower arm support frames, a support base for connecting and gripping the manipulator, an extension servo motor that provides driving force for the retraction and extension of the manipulator, a short linkage mechanism for driving the extension or retraction of the lower arm support frames, a long linkage mechanism for controlling the rotation angle of the base, and a directional servo motor for controlling the rotation angle of the manipulator. The two sets of upper arm support frames are symmetrically distributed from left to right, with a certain gap in the middle, and the support plates are provided on both sides. The support plates are installed on the upper surface of the upper partition, and the two extension servos are symmetrically installed on the outer sides of the two support plates. The output shaft of the extension servo motor passes through a through hole opened on the support plate and is fixedly connected to one end of the upper arm support frame. The two sets of lower arm support frames are rotatably connected to the inner side of the other end of the upper arm support frame at the middle rear, and are symmetrically distributed from left to right.

[0013] Furthermore, the lower end of the short linkage mechanism is fixedly connected to the connection between the extension servo and the boom support frame, and the upper end is hinged to the rear end of the forearm support frame; the rear end of the long linkage mechanism is hinged to the inner side of the upper part of the support plate, the middle is hinged to the connection between the boom support frame and the forearm support frame, and the front end is hinged to the upper end of the support base; the lower end of the support base is hinged to the front end of the forearm support frame, the housing of the directional servo is fixedly connected to the inner surface of the support base, the output shaft of the directional servo passes through the through hole opened in the middle of the base, and the front end of the output shaft is fitted with a servo disc.

[0014] Furthermore, the gripping manipulator includes grippers for gripping seedlings, a torsion servo motor for driving the grippers to open and close, and a fixed base connected to the servo disk; the rear end of the fixed base is fixedly installed on the front end of the servo disk, the top end of the fixed base is fixedly installed on the rear end of the inspection camera, and the front end of the fixed base is hinged; a steering rudder is sleeved on the top end of the output shaft of the torsion servo motor, and the steering rudder is hinged to one side of the grippers.

[0015] The working principle and beneficial effects of this invention are as follows: This invention provides a six-legged robot for planting and inspecting agricultural seedlings, suitable for planting gramineous crops and inspecting related farmland. The invention features mechanical legs to replace the traditional tracked chassis, enabling stable and smooth movement in various farmland environments, further improving its adaptability. A mechanical arm mounted on the base grips seedlings and accurately inserts them from a plant protection tray into designated locations in the farmland, achieving efficient and automated planting of gramineous crops. A monitoring camera is installed at the upper end of the mechanical arm, allowing for 360-degree inspection by adjusting the arm's posture, enabling timely detection of any abnormalities in the farmland. Attached Figure Description

[0016] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0017] Figure 1 This is a schematic diagram of the overall structure of a six-legged robot for planting and inspecting agricultural seedlings, provided in an embodiment of the present invention. Figure 2 A top view of a six-legged robot for planting and inspecting agricultural seedlings provided in an embodiment of the present invention; Figure 3 A front view of a six-legged robot for planting and inspecting agricultural seedlings provided in an embodiment of the present invention; Figure 4 This is a partial enlarged view of the connection between the base and the mechanical leg provided in an embodiment of the present invention; Figure 5 A side view of a six-legged robot for planting and inspecting agricultural seedlings provided in an embodiment of the present invention. Figure 6 A perspective view of the robotic arm provided in an embodiment of the present invention; Figure 7 An exploded view of the steering mechanism provided in an embodiment of the present invention; Figure 8 An exploded view of the steering mechanism provided in an embodiment of the present invention from another angle; Figure 9 A perspective view of the robotic arm from another angle, provided in an embodiment of the present invention; Figure 10 A perspective view of the robotic arm after removing the gripper, provided in an embodiment of the present invention; Figure 11 A perspective view of the gripping robot provided in an embodiment of the present invention; Figure 12 A perspective view of the gripping robot provided in an embodiment of the present invention from another angle; Figure 13 A perspective view of the mechanical leg provided in an embodiment of the present invention; Figure 14A perspective view of the mechanical leg from another angle provided in an embodiment of the present invention; In the diagram: 1-robotic arm, 2-robotic leg, 3-base, 4-control panel, 5-plant protection disc, 6-arm linkage, 7-lower base plate, 8-upper top plate, 9-HD camera, 10-casing of the first-stage servo motor, 12-output shaft of the first-stage servo motor, 13-arm support frame, 14-arm support frame, 15-support base, 16-steering mechanism, 17-long linkage mechanism, 18-steering servo motor, 19-upper partition, 20-ring sleeve, 21-lower partition, 22-coupling flange, 23-arm linkage, 24-connecting plate, 25-small coupling flange, 26-support plate, 27-reinforcement sleeve, 28-thin bushing, 29-short linkage, 30-output shaft of the steering servo motor, 31-rotation servo motor, 32-casing of the torsion servo motor, 33-right gripper, 34-left gripper. 35-Grip, 36-Fixed seat, 37-Grip, 38-Steering servo housing, 39-Torsion servo, 40-Rotation servo housing, 41-Rotation servo output shaft, 42-Serge rudder, 43-Thigh plate, 44-Lower leg plate, 45-Primary servo, 46-Secondary servo, 47-Tertiary servo, 48-Primary fixed plate, 49-Secondary fixed plate, 50-Tertiary servo housing, 51-Secondary servo housing, 53-Tertiary servo output shaft, 54-Secondary servo output shaft, 55-Triangular link, 56-Fixed sleeve, 57-Short link mechanism, 58-Folding mechanism, 59-Grip manipulator, 60-Tortiary servo output shaft, 61-Extending servo, 62-Tortiary servo output shaft, 63-Steering rudder, 64-Small link. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0019] This invention provides a six-legged robot for planting and inspecting agricultural seedlings. It includes two sets of bases 3 located in the center of the robot. A robotic arm 1 is fixedly mounted on the rear end of the upper surface of each base 3. Six robotic legs 2 are rotatably connected between the two sets of bases 3, and the six robotic legs 2 are evenly distributed on the outer side of each base 3. (See reference...) Figure 1 and Figure 2 The right side of the robotic arm 1 is equipped with a control panel 4 for visualization. The bottom of the control panel 4 is fixed to the upper surface of the base 3 by bolts. A high-definition camera 9 is installed at the top of the robotic arm 1. The monitoring image of the high-definition camera 9 can be transmitted to a remote control terminal through the control panel 4 to realize unmanned and automated planting of seedlings and farmland inspection.

[0020] See Figure 1 and Figure 2 The front part of the upper surface of the base 3 is connected to the plant protection tray 5, which contains pre-prepared seedlings for the robotic arm 1 to grip.

[0021] See Figure 3 and Figure 4 The two sets of bases 3 consist of an upper top plate 8 and a lower bottom plate 7, with the lower bottom plate 7 located directly below the upper top plate 8 and symmetrically distributed vertically. Six through holes are evenly distributed along the edges of the upper top plate 8 and the lower bottom plate 7 for connecting the mechanical legs 2. Four threaded holes are provided at the rear end of the upper top plate 8, arranged in a rectangular pattern, with four studs fixed in each hole for mounting the mechanical arm 1. Two through holes are provided on the right side of the four threaded holes for mounting the control panel 4.

[0022] See Figure 13 and Figure 14 Each mechanical leg 2 includes a thigh plate 43, a lower leg plate 44, a primary servo 45, a secondary servo 46, a tertiary servo 47, and a primary fixing plate 48 and a secondary fixing plate 49 for connecting the primary servo 45 and the secondary servo 46. The housing 10 of the primary servo is fixedly connected to the upper end face of the primary fixing plate 48, and the output shaft 12 of the primary servo is inserted into a through hole opened on the edge of the base 3 and fixed coaxially with the through hole. The outer side of the secondary fixing plate 49 is fixedly connected to the outer side of the primary fixing plate 48 by bolts, and the inner side of the secondary fixing plate 49 is fixedly connected to the housing 51 of the secondary servo by bolts. The thigh plate 43 has through holes at both ends, and the output shaft 54 ​​of the secondary servo is inserted into the through hole at one end and the two are fixedly connected; the housing 50 of the tertiary servo is fixed to the upper end of the lower leg plate 44, and a through hole is opened at the center of the upper end of the lower leg plate 44. The output shaft 53 of the third-level servo motor is simultaneously inserted into the through hole at the upper end of the lower leg plate 44 and the through hole at the other end of the thigh plate 43, and is fixedly connected to the through hole on the thigh plate 43.

[0023] Specifically, the output shaft 12 of the first-stage servo and the through hole on the edge of the upper top plate 8 can be coaxially connected by an interference fit. The output shaft 54 ​​of the second-stage servo and the output shaft 53 of the third-stage servo can also be connected to the holes at both ends of the thigh plate 43 by the same connection method. However, the third-stage servo 47 and the hole at the upper end of the lower leg plate 44 should be coaxially connected by a clearance fit so that the lower leg plate 44 and the thigh plate 43 can rotate relative to each other.

[0024] It should be noted that the first-level servo motor 45 and the upper top plate 8 form a rotatable mechanism, which can control the entire mechanical leg 2 to rotate in the horizontal plane and adjust the tilt angle of the entire mechanical leg 2; the second-level servo motor 46 and one end of the thigh plate 43 form a rotatable mechanism, which can control the inner rotation of the thigh plate 43 in the vertical plane, thereby adjusting the height of the lower leg plate 44 in the vertical plane; the third-level servo motor 47, the other end of the thigh plate 43, and the lower leg plate 44 form a rotatable mechanism, which can control the rotation angle of the lower leg plate 44 in the vertical plane, so as to control the ground contact end of the lower leg plate 44; the three servo motors can drive the robot to move under the coordinated remote control of the control panel 4.

[0025] See Figure 6 The robotic arm 1 includes a steering mechanism 16 for controlling the rotation of the robotic arm 1 in the horizontal plane, a folding mechanism 58 for controlling the extension and retraction of the robotic arm 1, a gripping robotic hand 59 for gripping seedlings, and a high-definition camera 9.

[0026] See Figure 7 and Figure 8 The steering mechanism 16 includes a lower partition 21 for supporting the entire robotic arm 1, a coupling flange 22 acting as a coupling, a steering servo 63 18 providing driving force to the steering mechanism 16, a dustproof annular sleeve 20, and an upper partition 19 for connecting the folding mechanism 58. Specifically, the lower partition 21 is fixed to the upper top plate 8 of the base 7 by studs, and the coupling flange 22 is fixedly connected to the upper surface of the lower partition 21. The housing 38 of the steering servo is fixedly installed in the middle of the upper surface of the upper partition 19. The upper partition 19 has a through hole in the middle, through which the output shaft 30 of the steering servo 63 18 passes and is inserted into the central hole at the top of the coupling flange 22. The annular sleeve 20 is connected to the lower part of the upper partition 19.

[0027] See Figures 5 to 9 For further information Figure 5 , Figure 6 and Figure 9 The folding mechanism 58 includes two support plates 26, two sets of large arm support frames 14, two sets of small arm support frames 13, an extension servo motor 61 that provides driving force for the retraction and extension of the robotic arm 1, a short linkage mechanism 57 that drives the small arm support frame 13 to extend or retract, a support base 15 for connecting the gripper 59, a long linkage mechanism 17 that controls the rotation angle of the support base 15, and a directional servo motor 31 that controls the rotation angle of the gripper 59.

[0028] See Figure 7 and Figure 8Two sets of boom support frames 14 are symmetrically distributed on the left and right sides, with a certain gap in the middle, and small coupling flanges 25 are provided on both sides. Two support plates 26 are located on the outside of the two small coupling flanges 25 respectively. The bottom ends of the two support plates 26 are fixedly connected to the two ends of the upper partition plate 19. A reinforcing sleeve 27 is connected between the two support plates 26 to enhance the structural strength of the support plates 26. An extension servo motor 61 is fixedly installed on the outside of each support plate 26. A through hole is opened at the front of the support plate 26, allowing the output shaft of the extension servo motor 61 to pass through the inside of the support plate 26. The center hole of the small coupling flange 25 is concentrically fixed with the output shaft of the extension servo motor 61 that passes through the inside of the support plate 26, so that the boom can rotate under the drive of the extension servo motor 61.

[0029] Two references Figure 6 and Figure 7 The forearm support frame 13 is rotatably hinged to the inner side of the other end of the boom support frame 14 at the upper middle part, and is also symmetrically distributed from left to right. To increase the strength of the forearm support frame 13, three fixed sleeves 56 are connected between the two sets of forearm support frames 13, located at the front, middle and end of the forearm support frame 13 respectively. The short linkage mechanism 57 includes two connecting plates 24 and a short linkage 29. The two connecting plates 24 are located inside the boom support frame 14. Specifically, the two ends of the two connecting plates 24 have through holes. The two through holes at one end are fixed to the output shafts of the left and right extension servos 61, and the two through holes at the other end are fixed with a thin bushing 28 in the middle. The two ends of the short linkage 29 also have through holes. The through hole at one end is rotatably sleeved on the thin bushing 28, and the through hole at the other end is rotatably sleeved on the fixed sleeve 56 at the end of the forearm support frame 13.

[0030] See Figure 9 The long linkage mechanism 17 includes a boom link 6, a triangular link 55, and a forearm link 23. One end of the boom link 6 is hinged to the top of the support plate 26, and the other end is hinged to the rear end of the triangular link 55. The middle of the triangular link 55 is hinged to the connection between the boom support frame 14 and the forearm support frame 13. The front end of the triangular link 55 is hinged to one end of the forearm link 23. The bottom of the support base 15 is hinged to the gap at the front end of the two sets of forearm support frames 13, and the top of the support base 15 is hinged to the other end of the forearm link 23.

[0031] See Figure 10 The housing 40 of the directional servo is fixed to the inner side of the support base 15. The output shaft 41 of the directional servo passes through the through hole in the middle of the support base 15 to the outer side of the support base 15. The front end of the output shaft 41 of the directional servo is fitted with a servo disc 42.

[0032] See Figure 11 and Figure 12The robotic arm includes grippers 37 for holding seedlings, a torsion servo motor 39 for driving the grippers 37 to open and close, and a mounting base 36 for connecting to a servo disc 42. The rear end of the mounting base 36 is fixedly connected to the front end of the servo disc 42. A high-definition camera 9 is mounted on the top of the mounting base 36, and the torsion servo motor 39 is mounted on the lower surface in the middle of the mounting base 36. The housing 32 of the torsion servo motor 39 is fixed to the lower surface of the mounting base 36. The output shaft 60 of the torsion servo motor passes through a through hole in the middle of the mounting base 36, and a rudder 63 is fitted onto the front end of the output shaft 60 of the torsion servo motor.

[0033] The gripper 37 includes a left gripper 34 and a right gripper 33, both of which are rotatably connected to the front end of the fixed base 36. The inner sides of both the left gripper 34 and the right gripper 33 are provided with teeth 35, and the two grippers are engaged together by the teeth 35. A small connecting rod 64 is rotatably connected to the rear of the left gripper 34, and the other end of the small connecting rod 64 is hinged to the rudder of the torsion servo 39.

[0034] It should be noted that the working principle of a six-legged robot for planting and inspecting agricultural seedlings is as follows: After receiving instructions, the robot's control panel 4 coordinates the movement of the servo motors on its six mechanical legs 2. The first-level servo motor 45 adjusts the overall tilt angle of the legs to adapt to the terrain of the field ridges, while the second- and third-level servo motors 47 move in coordination, simulating the walking gait of a multi-legged insect, thus enabling the entire robot to stably cross ridges and overcome obstacles in the farmland until it reaches the predetermined planting point.

[0035] Once the robot has come to a stable stop, the planting operation begins. The steering mechanism 16 of the robotic arm 1 first activates, driving the entire arm to rotate horizontally, adjusting the end gripper 59 to align with the plant protection tray 5 at the front of the base 3. Then, the extension servo 61 of the folding mechanism 58 drives the linkage, causing the robotic arm 1 to extend forward and precisely position itself above a seedling in the plant protection tray 5. Next, the torsion servo 39 of the gripper 59 actuates, driving the gripper 37 to close, steadily grasping the seedling from the plant protection tray 5.

[0036] After successful seedling collection, the folding and spreading mechanism 58 retracts, lifting the seedling from the plant protection tray 5. Next, the steering mechanism 16 rotates again, adjusting the robotic arm 1 to the target position facing the soil of the paddy field. Then, the folding and spreading mechanism 58 extends again, moving the robotic arm holding the seedling downwards close to the soil surface. Finally, with a precise downward pressing motion, the seedling is inserted into the muddy field. Subsequently, the steering servo motor 31 controls the gripper 37 to open, completing the planting of a single seedling.

[0037] Throughout the movement and planting process, the inspection camera mounted on top of the robotic arm operates continuously. It changes its perspective as the robotic arm 1 moves, capturing real-time images of the surrounding crop growth, field pests and diseases, and water shortages. This video data is transmitted to a remote control terminal via control panel 4, enabling synchronous inspection and monitoring of the field environment.

[0038] After planting a seedling, the robot repeats the process: its robotic leg 2 moves to the next planting point, and the robotic arm 1 again performs the operations of picking up the seedling, turning, and planting it. This cycle continues until the entire field is planted, achieving automated and unmanned high-efficiency planting and field inspection.

[0039] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A six-legged robot for planting and inspecting agricultural seedlings, comprising a base (3) located in the center and a control panel (4) for controlling the robot's posture, characterized in that, Also includes: The robot has six mechanical legs (2) around the base (3), a plant protection plate (5) at the front end of the upper surface of the base (3), and a mechanical arm (1) at the rear of the upper surface of the base (3). The mechanical arm (1) is used to clamp the seedlings out of the plant protection plate (5) and insert them into the soil. The six mechanical legs (2) are used to drive the entire robot to move along the field ridge.

2. The six-legged robot for planting and inspecting agricultural seedlings according to claim 1, characterized in that, The two sets of bases (3) include an upper top plate (8) and a lower bottom plate (7); the upper top plate (8) and the lower bottom plate (7) are symmetrically distributed vertically, and the two plates have a certain distance in the vertical direction with a gap in the middle for inserting the mechanical leg (2); the upper top plate (8) and the lower bottom plate (7) have six through holes evenly opened on their four sides for connecting the mechanical leg (2); the upper top plate (8) has four through holes at the rear, and four studs are fixed in the holes for fixing the mechanical arm (1) on the base (3) by means of copper stud connection.

3. The six-legged robot for planting and inspecting agricultural seedlings according to claim 1, characterized in that, The robotic arm (1) includes a thigh plate (43), a lower leg plate (44), a primary servo motor (45), a secondary servo motor (46), a tertiary servo motor (47), and a primary fixing plate and a secondary fixing plate (49) for connecting the primary servo motor (45) and the secondary servo motor (46); the housing of the primary servo motor is fixedly connected to the upper end face of the primary fixing plate (48), and the output shaft (55) of the primary servo motor is inserted into the through hole opened on the edge of the base (3) and is fixed coaxially with the through hole. The outer side of the secondary fixing plate (49) is fixedly connected to the outer side of the primary fixing plate (48), and the inner side is fixedly connected to the outer shell (51) of the secondary servo. The thigh plate (43) has through holes at both ends. One end of the through hole is fitted onto the output shaft (54) of the secondary servo, and the other end of the through hole is fitted onto the output shaft (53) of the tertiary servo. The motor output shaft and the through hole are fixed together without rotation. The outer shell (52) (50) of the tertiary servo is fixed to the side of the upper part of the lower leg plate (44).

4. The six-legged robot for planting and inspecting agricultural seedlings according to claim 3, characterized in that, The first-level servo motor (45) can control the entire mechanical leg (2) to rotate in the horizontal plane and adjust the tilt angle of the entire mechanical leg (2); the second-level servo motor (46) can control the thigh plate (43) to rotate in the vertical plane, thereby adjusting the height of the lower leg plate (44) in the vertical plane; the second-level servo motor (46) can control the rotation angle of the lower leg plate (44) in the vertical plane to control the ground contact end of the lower leg plate (44); the three servo motors can drive the robot to move under the coordinated remote control of the control panel (4).

5. The six-legged robot for planting and inspecting agricultural seedlings according to claim 1, characterized in that, The robotic arm (1) includes a steering mechanism (16), a folding and unfolding mechanism (58), a gripping manipulator (59), and a high-definition camera (9) for capturing inspection images. The steering mechanism (16) is fixed to the top of the stud and can control the rotation of the robotic arm (1) in the horizontal plane. The bottom end of the folding and unfolding mechanism (58) is fixedly connected to the top end of the steering mechanism (16) and can control the extension and retraction of the machine, thereby adjusting the position of the gripping manipulator (59). The end of the gripping manipulator (59) is movably connected to the top end of the folding and unfolding mechanism (58). The gripping manipulator (59) can grip seedlings and can insert the seedlings into the soil of the farmland with the cooperation of the steering mechanism (16) and the folding and unfolding mechanism (58). The high-definition camera (9) is fixed to the top of the gripping manipulator (59) with the lens facing outwards from the robot.

6. The six-legged robot for planting and inspecting agricultural seedlings according to claim 5, characterized in that, The steering mechanism (16) includes a lower partition (21) for supporting the entire robotic arm (1), a coupling flange (22) acting as a coupling, a steering servo (18) providing driving force for the steering mechanism (16), a dustproof ring sleeve (20), and an upper partition (19) for connecting the folding mechanism (58); a through hole is provided in the center of the upper partition (19), and the housing (60) of the steering servo is fixed to the upper surface of the upper partition (19). The output shaft (30) of the machine passes through the through hole of the upper partition (19) and is inserted into the center hole of the coupling flange (22), and is fixed together with the coupling flange (22) in a non-rotatable manner; the annular sleeve (20) is fitted on the outside of the coupling flange (22) and installed on the bottom surface of the upper partition (19); the bottom surface of the coupling flange (22) is installed in the middle of the upper surface of the lower partition (21), and the lower partition (21) is connected to the upper top plate (8) of the base (3) by studs.

7. The six-legged robot for planting and inspecting agricultural seedlings according to claim 5, characterized in that, The folding mechanism (58) includes two support plates (26), two sets of large arm support frames (14), two sets of small arm support frames (13), an extension servo motor (61) that provides driving force for the retraction and extension of the robotic arm (1), a short linkage mechanism (57) that drives the small arm support frame (13) to extend or retract, a long linkage mechanism (17) that controls the rotation angle of the base (3), a directional servo motor (31) that controls the rotation angle of the gripping manipulator (59), and a support base (15) for connecting the gripping manipulator (59); the two sets of large arms are in a position on the support frame (14). The two support plates (26) are symmetrically distributed on the left and right sides with a certain gap in the middle. The support plates (26) are installed on the upper surface of the upper partition (19). The two extension servos (61) are symmetrically installed on the outside of the two support plates (26). The output shaft of the extension servo (61) passes through the through hole opened on the support plate (26) and is fixedly connected to one end of the boom support frame (14). The two sets of forearm support frames (13) are rotatably connected to the inner side of the other end of the boom support frame (14) at the middle upper part and are symmetrically distributed on the left and right sides.

8. The six-legged robot for planting and inspecting agricultural seedlings according to claim 7, characterized in that, The lower end of the short linkage mechanism (57) is fixedly connected to the connection between the extension servo (61) and the upper arm support frame (14), and the upper end is hinged to the rear end of the lower arm support frame (13); the rear end of the long linkage mechanism (17) is hinged to the inner side of the upper part of the support plate (26), the middle is hinged to the connection between the upper arm support frame (14) and the lower arm support frame (13), and the front end is hinged to the upper end of the support seat (15); the lower end of the support seat (15) is hinged to the front end of the lower arm support frame (13), the housing (40) of the directional servo is fixedly connected to the inner surface of the support seat (15), the output shaft (41) of the directional servo passes through the through hole opened in the middle of the base (3), and the front end of the output shaft is fitted with a servo disc (42).

9. The six-legged robot for planting and inspecting agricultural seedlings according to claim 5, characterized in that, The gripping manipulator (59) includes a gripper (37) for gripping seedlings, a torsion servo motor (39) for driving the gripper (37) to open and close, and a fixed base (36) for connecting to the servo disk (42). The rear end of the fixed base (36) is fixedly installed on the front end of the servo disk (42), and the rear end of the high-definition camera (9) is fixedly installed on the top end of the fixed base (36). The front end of the fixed base (36) is hinged to the gripper (37). The housing (32) of the torsion servo motor is installed on the lower surface of the fixed base (36), and a steering rudder (63) is sleeved on the top end of the output shaft (62) of the torsion servo motor. The steering rudder (63) is hinged to one side of the gripper (37).

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