Automatic seed and fertilizer integrated robot

Abstract

The application discloses an automatic seed and fertilizer integrated robot and a working method thereof. The device comprises a seeding module, the seeding module comprises a seed box, a rotating shaft and a seeding assembly, the seeding assembly comprises an adjusting cylinder, a seeding cylinder and an expansion element, the seeding cylinder surface is provided with a plurality of seed grooves, the adjusting cylinder end is provided with an adjusting block inserted into the seed groove, and a variable vane moving back and forth is movably inserted on one side of the seed groove. The suction force generated by the non-periodic power supply of the upper different name electromagnet drives the variable vane to move to increase the seed groove capacity, so that the seed sowing quantity is increased in the form of variable, and the repulsive force generated by the continuously powered same name electromagnet below pushes the variable vane to reset, so that the seeds in the expansion space are emptied to avoid residues. Not only the dynamic adjustment of the sowing quantity is realized, but also the logic of "variable seed late seedling" is used to solve the seedling shortage problem from the planting source.

Description

Technical Field

[0001] This invention belongs to the field of automatic planting and fertilizing machine technology, and particularly relates to an automatic integrated planting and fertilizing robot, and the working method of the automatic integrated planting and fertilizing robot. Background Technology

[0002] The integrated seed-fertilizer robot is an agricultural equipment that combines intelligent seeding, precision fertilization, and automated operations. Through intelligent control, it achieves efficient and coordinated operations in the crop planting process. Its core advantage lies in its ability to flexibly adjust the seeding rate and simultaneously complete fertilization operations, reducing manual intervention and improving planting efficiency and accuracy. It is suitable for large-scale planting scenarios of various crops.

[0003] When sowing seeds, the number of seeds for each sowing session is first set. The sowing component uses a specific space to pick out the corresponding number of seeds from the seed box for sowing. After sowing, the seeds go through the germination period, embryo breakthrough, and organ differentiation to mature into seedlings. A very small number of seeds fail to germinate for other reasons and need to be replanted. Since the number of seeds in the seed-fertilizer robot is consistent each time, a small amount of manual sowing is required for replanting. Summary of the Invention

[0004] This invention addresses the problem in existing technologies where the seed-fertilizer integrated robot produces the same number of seeds each time, requiring a small amount of manual sowing for replanting. The invention proposes the following technical solution:

[0005] Automated planting and fertilization robot, including:

[0006] The sowing module includes a seed box, a rotating shaft, and a sowing assembly. The rotating shaft is rotatably inserted into the seed box. The sowing assembly includes an adjusting cylinder, a sowing cylinder, and an expansion component. The surface of the sowing cylinder has several seed slots. The end of the adjusting cylinder is provided with an adjusting block inserted into the seed slot. A reciprocating variable plate is movably inserted into one side of the seed slot. The expansion component is used to drive the uppermost variable plate to move in the opposite direction of the seed slot and reset it at the bottom.

[0007] The central control module includes a main control console, which controls the expansion components to operate non-periodically via wiring.

[0008] The rotating shaft drives the adjusting cylinder and the sowing cylinder to rotate. Seeds in the seed box fall into the seed trough and fall to the bottom as the rotation completes the sowing. The main control console controls the expansion component to work non-periodically, driving the uppermost variable plate to move in the opposite direction of the seed trough, expanding the seed trough's capacity to increase the number of seeds sown by "variable", and then resetting the variable plate at the bottom to restore the seed trough's capacity.

[0009] As a preferred embodiment of the above technical solution, the expansion component includes an electromagnet of different names, an electromagnet of the same name, and multiple moving rods. One end of each moving rod is fixedly connected to a corresponding variable plate, and the other end of each moving rod is fixedly connected to a magnetic block. The electromagnets of different names and the electromagnets of the same name are located above and below the seeding cylinder, respectively. Both the electromagnets of different names and the electromagnets of the same name are installed on the seed box and are connected to the main control console.

[0010] The main control console controls the electromagnet of the same name to be energized non-periodically. The magnetic block that passes by receives the attraction force and drives the moving rod to connect. The variable plate moves accordingly to increase the capacity of the seed slot. After the magnetic block moves to the position of the electromagnet of the same name that is always energized, it is repelled and pushed back to its original position, emptying the seeds in the seed slot to avoid the "variable" remaining.

[0011] As a preferred embodiment of the above technical solution, the surface of the movable rod is provided with an anti-slip layer, and the insertion point of the seeding cylinder is roughened.

[0012] As a preferred embodiment of the above technical solution, an adjustment knob is fixedly connected to the end of the adjustment cylinder, and the adjustment knob is threaded onto the surface of the rotating shaft.

[0013] As a preferred embodiment of the above technical solution, a fertilization module is also included. The fertilization module includes a fertilizer box and a driven shaft that is rotatably inserted into the fertilizer box. An extension tube is provided at the bottom of the fertilizer box, a fertilizer cylinder is provided on the surface of the driven shaft, and a plurality of fertilizer grooves are provided on the surface of the fertilizer cylinder.

[0014] As a preferred embodiment of the above technical solution, a drive module is also included, the drive module including a variable speed motor connected to the main control panel, the variable speed motor being used to drive the rotating shaft to rotate.

[0015] As a preferred embodiment of the above technical solution, a connecting module is also included. The connecting module includes a driving pulley and a driven pulley. The driving pulley is fixedly connected to the rotating shaft, and the driven pulley is fixedly connected to the driven shaft. The driving pulley and the driven pulley are connected by a belt.

[0016] As a preferred embodiment of the above technical solution, it also includes a ditching module and a mounting frame. The mounting frame is used to install the sowing module, the central control module, the fertilization module, the drive module, and the ditching module. The ditching module includes a ditching plow, and retaining plates are installed on both sides of the ditching plow. The extension pipe is located between the two retaining plates.

[0017] The working method of the automated planting and fertilization robot includes the following steps:

[0018] S1. Set the sowing spacing: Set the rotation speed of the rotating shaft to control the time it takes for the seeds to fall into the seed trough and rotate as they fall, thereby controlling the sowing spacing.

[0019] S2, Place the seeds: Place the seeds in the seed box, and the seeds to be sown at one time will enter the top seed trough;

[0020] S3. Sowing operation: The rotating shaft drives the adjusting cylinder and the sowing cylinder to rotate, and the seeds in the seed box continuously fall into the seed trough, and fall to the bottom of the seed box as they rotate to complete the sowing.

[0021] S4. Start Variable: The main control panel controls the expansion component to work non-periodically, driving the uppermost variable plate to move in the opposite direction of the seed slot, expanding the seed slot's capacity to increase the number of seeds sown by "variable", and keeping the capacity unchanged during rotation to avoid squeezing the seeds and causing damage.

[0022] S5. Sowing complete: After sowing is complete, remove the remaining seeds from the seed box and rotate the rotating shaft to drop the seeds from the seed trough, avoiding any seeds remaining in the sowing component.

[0023] The beneficial effects of this invention are as follows:

[0024] 1. By using the attraction force generated by the non-periodic energization of the electromagnet above, the magnetic block drives the variable plate to move and increase the seed slot capacity, thereby increasing the number of seeds sown by "variable". Meanwhile, the repulsive force generated by the continuously energized electromagnet below pushes the variable plate to reset, emptying the seeds in the expanded space to avoid residue. This not only achieves dynamic adjustment of the sowing amount, but also solves the problem of missing seedlings from the source of planting through the logic of "variable seedlings for later replanting", breaking through the limitations of traditional seeders that "fixed amount sowing and manual replanting after missing seedlings".

[0025] 2. The adjusting cylinder is threaded onto the rotating shaft via an adjusting knob at the end. The relative position of the adjusting cylinder and the sowing cylinder can be changed by rotating the adjusting knob, thereby adjusting the insertion depth of the adjusting block in the seed trough. This allows for flexible adjustment of the initial capacity of the seed trough, adapting to the sowing needs of different crops and expanding the applicability of the equipment.

[0026] 3. The sowing and fertilization modules achieve mechanical linkage through the connecting module transmission, ensuring the synchronization of seed and fertilizer placement positions and rhythms. At the same time, the central control module controls the fertilization and sowing spacing through the adjustment of the variable speed motor, and in conjunction with the non-periodic control of the expansion component, it realizes the combination of standardized mechanical actions and intelligent variable control. This ensures the stability of basic operations and can dynamically optimize the sowing amount based on soil moisture, seed characteristics, etc., reflecting the core logic of precision agriculture. Attached Figure Description

[0027] Figure 1 The diagram shown is a schematic representation of the overall structure of the embodiment;

[0028] Figure 2 The diagram shown is an internal structural diagram of the seed box in the embodiment;

[0029] Figure 3 The image shown is a right sectional view of the seeding assembly in the embodiment;

[0030] Figure 4 The diagram shown is a schematic representation of the various parts of the seeding assembly in the embodiment;

[0031] Figure 5 The diagram shown is an internal structural diagram of the fertilizer tank in an embodiment.

[0032] In the diagram: 10. Seed box; 20. Rotating shaft; 30. Seeding assembly; 31. Adjusting cylinder; 311. Adjusting block; 32. Seeding cylinder; 321. Seed trough; 33. Variable plate; 34. Expansion piece; 341. Electromagnet of the same name; 342. Electromagnet of the same name; 343. Moving rod; 344. Magnetic block; 35. Adjusting knob; 40. Main control panel; 51. Fertilizer box; 52. Driven shaft; 53. Extension tube; 54. Fertilizer cylinder; 541. Fertilizer trough; 61. Driving pulley; 62. Driven pulley; 63. Belt; 71. Furrowing plow; 72. Retaining plate; 80. Mounting frame. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings.

[0034] Figures 1-4 The automated planting and fertilization robot includes:

[0035] The sowing module includes a seed box 10, a rotating shaft 20, and a sowing assembly 30. The rotating shaft 20 is rotatably inserted into the seed box 10. The sowing assembly 30 includes an adjusting cylinder 31, a sowing cylinder 32, and an expansion member 34. The surface of the sowing cylinder 32 is provided with a plurality of seed slots 321. The end of the adjusting cylinder 31 is provided with an adjusting block 311 inserted into the seed slot 321. A reciprocating variable plate 33 is movably inserted into one side of the seed slot 321. The expansion member 34 is used to drive the uppermost variable plate 33 to move in the opposite direction to the seed slot 321 and reset it at the bottom.

[0036] The central control module includes a main control console 40, which controls the expansion component 34 to operate non-periodically via a circuit.

[0037] The rotating shaft 20 drives the adjusting cylinder 31 and the sowing cylinder 32 to rotate. Seeds in the seed box 10 fall into the seed trough 321 and fall to the bottom as the rotation completes the sowing. The main control console 40 controls the expansion component 34 to work non-periodically, driving the uppermost variable piece 33 to move in the opposite direction to the seed trough 321, expanding the capacity of the seed trough 321 to increase the number of seeds sown by "variable", and resetting the variable piece 33 at the bottom to restore the capacity of the seed trough 321.

[0038] It also includes a drive module, which includes a variable speed motor connected to the main control panel 40, and the variable speed motor is used to drive the rotating shaft 20 to rotate.

[0039] It also includes a ditching module and a mounting frame 80. The mounting frame 80 is used to install the sowing module, the central control module, the fertilization module, the drive module and the ditching module. The ditching module includes a ditching plow 71. Both sides of the ditching plow 71 are equipped with soil retaining plates 72. The extension pipe 53 is located between the two soil retaining plates 72.

[0040] When the operation begins, the furrowing plow 71 opens a furrow as it moves forward. The retaining plate 72 prevents the soil from falling back and avoids affecting the operation of the extension pipe 53 of the fertilization module. The speed of the variable speed motor is set by the main control console 40, and the sowing spacing is set by the rotation speed of the rotating shaft 20. When the variable speed motor drives the rotating shaft 20 to rotate, the sowing cylinder 32 rotates accordingly. The seeds in the seed box 10 fall into the seed groove 321 on the surface of the sowing cylinder 32. As the sowing cylinder 32 rotates, the seeds are carried downwards and fall into the furrow to complete the sowing.

[0041] The working method of the automated planting and fertilization robot includes the following steps:

[0042] S1. Set the sowing spacing: Set the rotation speed of the rotating shaft 20 to control the time it takes for the seeds to fall into the seed trough 321 and rotate as they fall, thereby controlling the sowing spacing.

[0043] S2. Place the seeds: Place the seeds in the seed box 10, and the seeds to be sown at one time will enter the seed trough 321 at the top.

[0044] S3. Sowing operation: The rotating shaft 20 drives the adjusting cylinder 31 and the sowing cylinder 32 to rotate, and the seeds in the seed box 10 continuously fall into the seed trough 321, and fall to the bottom of the seed box 10 as they rotate to complete the sowing.

[0045] S4, Start Variable: The main control panel 40 controls the expansion component 34 to work non-periodically, driving the uppermost variable piece 33 to move in the opposite direction to the seed slot 321, expanding the capacity of the seed slot 321 to increase the number of seeds sown by "variable", and keeping the capacity unchanged during rotation, without squeezing the seeds to avoid damage.

[0046] S5. Sowing complete: After sowing is completed, remove the remaining seeds from the seed box 10 and rotate the rotating shaft 20 to drop the seeds from the seed groove 321, so as to avoid the seeds remaining in the sowing component 30.

[0047] Figures 2-4 In the process, the expansion component 34 includes anisotropic electromagnets 341, homotropic electromagnets 342, and multiple moving rods 343. One end of each moving rod 343 is fixedly connected to a corresponding variable plate 33, and the other end of each moving rod 343 is fixedly connected to a magnetic block 344. The surface of each moving rod 343 is provided with an anti-slip layer. The insertion point of the seeding cylinder 32 is rough. The anisotropic electromagnets 341 and homotropic electromagnets 342 are located above and below the seeding cylinder 32, respectively. Both the anisotropic electromagnets 341 and homotropic electromagnets 342 are mounted on the seed box 10 and are connected to the main control console 40.

[0048] The main control console 40 controls the electromagnet 341 to be energized non-periodically. The magnetic block 344 that passes by receives the attraction force, which drives the moving rod 343 to connect. The variable plate 33 moves accordingly to increase the accommodating space of the seed slot 321. After the magnetic block 344 moves to the position of the electromagnet 342 that is always energized, it is repelled and pushed back to its original position, emptying the seeds in the seed slot 321 to avoid the "variable" remaining.

[0049] When variable seeding is required, the main control console 40 controls the non-periodic energization of the opposite electromagnet 341. When the magnetic block 344 above the seed trough 321 passes the opposite electromagnet 341, it is attracted by the attraction and moves the moving rod 343. The moving rod 343 moves the variable plate 33 in the opposite direction of the seed trough 321, increasing the capacity of the seed trough 321 and allowing more seeds to enter the seed trough 321. When the magnetic block 344 moves to the position of the same electromagnet 342 below that is always energized, it is repelled by the repulsive force, which moves the moving rod 343 and the variable plate 33 back to their original positions, restoring the capacity of the seed trough 321 to its original state. At the same time, the seeds in the seed trough 321 are emptied to avoid "variable" residue. The extra seeds grow together. When there are ungerminated areas later, the extra "variable" seeds can be used to replant, ensuring that the crops grow at the same time.

[0050] The attraction generated by the non-periodic energization of the electromagnet 341 above causes the magnetic block 344 to move the variable plate 33 to increase the capacity of the seed trough 321, thereby increasing the number of seeds sown by "variable". Meanwhile, the repulsive force generated by the continuously energized electromagnet 342 below pushes the variable plate 33 to reset, emptying the seeds in the expanded space to avoid residue. This not only achieves dynamic adjustment of the sowing amount, but also solves the problem of missing seedlings from the source of planting through the logic of "variable seedlings for later replanting", breaking through the limitations of traditional seeders that "fixed amount sowing and manual replanting after missing seedlings".

[0051] Figures 1-4 In the middle, an adjustment knob 35 is fixedly connected to the end of the adjustment cylinder 31, and the adjustment knob 35 is threaded onto the surface of the rotating shaft 20.

[0052] During operation, the position of the adjusting block 311 in the seed trough 321 can be adjusted by rotating the adjusting knob 35 to initially adjust the capacity of the seed trough 321 to meet the sowing needs of different types of seeds.

[0053] The adjusting cylinder 31 is threaded onto the rotating shaft 20 via the adjusting knob 35 at its end. The relative position of the adjusting cylinder 31 and the sowing cylinder 32 can be changed by rotating the adjusting knob 35, thereby adjusting the insertion depth of the adjusting block 311 in the seed trough 321. This allows for flexible adjustment of the initial capacity of the seed trough 321, adapting to the sowing needs of different crops and expanding the applicability of the equipment.

[0054] Figure 1 and Figure 5 The system also includes a fertilization module, which includes a fertilizer box 51 and a driven shaft 52 rotatably inserted into the fertilizer box 51. An extension tube 53 is provided at the bottom of the fertilizer box 51, and a fertilizer cylinder 54 is provided on the surface of the driven shaft 52. Several fertilizer grooves 541 are provided on the surface of the fertilizer cylinder 54.

[0055] It also includes a connection module, which includes a driving pulley 61 and a driven pulley 62. The driving pulley 61 is fixedly connected to the rotating shaft 20, and the driven pulley 62 is fixedly connected to the driven shaft 52. The driving pulley 61 and the driven pulley 62 are connected by a belt 63.

[0056] When the rotating shaft 20 rotates, the driving pulley 61 rotates accordingly. The driving pulley 61 drives the driven pulley 62 to rotate through the belt 63. The driven pulley 62 drives the driven shaft 52 and the fertilizer cylinder 54 to rotate. The fertilizer in the fertilizer box 51 falls into the fertilizer groove 541 on the surface of the fertilizer cylinder 54. As the fertilizer cylinder 54 rotates, the fertilizer falls from the fertilizer groove 541 and into the trench through the extension pipe 53, completing the fertilization work before the seeds are sown.

[0057] The sowing and fertilization modules achieve mechanical linkage through the connecting module transmission, ensuring that the seed and fertilizer placement positions and rhythms are synchronized. At the same time, the central control module controls the fertilization and sowing spacing through the adjustment of the variable speed motor, and together with the non-periodic control of the expansion component 34, it realizes the combination of standardized mechanical actions and intelligent variable control. This ensures the stability of basic operations and can dynamically optimize the sowing amount according to soil moisture, seed characteristics, etc., reflecting the core logic of precision agriculture.

[0058] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it.

Claims

1. An automated planting and fertilization integrated robot, characterized in that, include: The sowing module includes a seed box (10), a rotating shaft (20), and a sowing assembly (30). The rotating shaft (20) is rotatably inserted into the seed box (10). The sowing assembly (30) includes an adjusting cylinder (31), a sowing cylinder (32), and an expansion component (34). The surface of the sowing cylinder (32) is provided with several seed slots (321). The end of the adjusting cylinder (31) is provided with an adjusting block (311) inserted into the seed slot (321). A reciprocating variable plate (33) is movably inserted into one side of the seed slot (321). The expansion component (34) is used to drive the uppermost variable plate (33) to move in the opposite direction to the seed slot (321) and reset it at the bottom. The central control module includes a main control console (40), which controls the expansion component (34) to work non-periodically via a line control. The rotating shaft (20) drives the adjusting cylinder (31) and the sowing cylinder (32) to rotate. The seeds in the seed box (10) fall into the seed trough (321) and fall to the bottom as they rotate to complete the sowing. The main control panel (40) controls the expansion component (34) to work non-periodically, driving the uppermost variable piece (33) to move in the opposite direction to the seed trough (321) to expand the capacity of the seed trough (321) to increase the number of seeds sown by "variable". The variable piece (33) is reset at the bottom to restore the capacity of the seed trough (321). The expansion component (34) includes an electromagnet of different names (341), an electromagnet of the same name (342), and multiple moving rods (343). One end of the moving rod (343) is fixedly connected to the corresponding variable plate (33), and the other end of the moving rod (343) is fixedly connected to a magnetic block (344). The electromagnet of different names (341) and the electromagnet of the same name (342) are located above and below the seeding cylinder (32), respectively. The electromagnet of different names (341) and the electromagnet of the same name (342) are both installed on the seed box (10), and the electromagnet of different names (341) and the electromagnet of the same name (342) are both connected to the main control panel (40). The main control panel (40) controls the electromagnet (341) to be energized non-periodically. The magnetic block (344) that passes by receives the attraction force and drives the moving rod (343) to connect. The variable plate (33) moves accordingly to increase the capacity of the seed slot (321). After the magnetic block (344) moves to the position of the electromagnet (342) that is always energized, it is repelled and pushes the variable block back to its original position, emptying the seeds in the seed slot (321) to avoid the "variable" residue.

2. The automated planting and fertilization robot according to claim 1, characterized in that, The surface of the movable rod (343) is provided with an anti-slip layer, and the insertion part of the seeding cylinder (32) is rough.

3. The automated planting and fertilization robot according to claim 1, characterized in that, An adjustment knob (35) is fixedly connected to the end of the adjustment cylinder (31), and the adjustment knob (35) is threaded onto the surface of the rotating shaft (20).

4. The automated planting and fertilization robot according to claim 1, characterized in that, It also includes a fertilization module, which includes a fertilizer box (51) and a driven shaft (52) rotatably inserted into the fertilizer box (51). An extension tube (53) is provided at the bottom of the fertilizer box (51), and a fertilizer cylinder (54) is provided on the surface of the driven shaft (52). Several fertilizer grooves (541) are provided on the surface of the fertilizer cylinder (54).

5. The automated planting and fertilization robot according to claim 4, characterized in that, It also includes a drive module, which includes a variable speed motor connected to the main control panel (40) for driving the rotating shaft (20) to rotate.

6. The automated planting and fertilization robot according to claim 5, characterized in that, It also includes a connection module, which includes a driving pulley (61) and a driven pulley (62). The driving pulley (61) is fixedly connected to the rotating shaft (20), and the driven pulley (62) is fixedly connected to the driven shaft (52). The driving pulley (61) and the driven pulley (62) are connected by a belt (63).

7. The automated planting and fertilization robot according to claim 4, characterized in that, It also includes a ditching module and a mounting frame (80), the mounting frame (80) being used to install the sowing module, the central control module, the fertilization module, the drive module and the ditching module, the ditching module including a ditching plow (71), the ditching plow (71) having retaining plates (72) installed on both sides, and the extension pipe (53) being located between the two retaining plates (72).

8. The working method of the automatic planting and fertilization integrated robot according to any one of claims 1-7, characterized in that, Includes the following steps: S1. Set the sowing spacing: Set the rotation speed of the rotating shaft (20) to control the time it takes for the seeds to fall into the seed trough (321) and rotate as they fall, thereby controlling the sowing spacing; S2, Place the seeds: Place the seeds in the seed box (10), and the seeds to be sown at one time will enter the top seed trough (321); S3, Sowing operation: The rotating shaft (20) drives the adjusting cylinder (31) and the sowing cylinder (32) to rotate, and the seeds in the seed box (10) continuously fall into the seed trough (321) and fall to the bottom of the seed box (10) as they rotate to complete the sowing; S4, Start Variable: The main control panel (40) controls the expansion component (34) to work non-periodically, driving the uppermost variable piece (33) to move in the opposite direction to the seed slot (321), expanding the capacity of the seed slot (321) to increase the number of seeds sown by "variable", and keeping the capacity unchanged during rotation, without squeezing the seeds to avoid damage; S5. Sowing complete: After sowing is completed, take out the remaining seeds from the seed box (10), rotate the rotating shaft (20) to drop the seeds from the seed trough (321) to avoid leaving the seeds in the sowing component (30).

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