A seed replenishment device

Abstract

A seed replenishment device, belonging to the field of agricultural equipment technology, includes a seed replenishment bin and a robotic arm. The robotic arm is connected to a flexible pipe on the seed replenishment bin. It also includes a seed replenishment mechanism, which comprises a support shaft and rope reversing components at both ends of the support shaft. A threading hole is provided in the middle of the support shaft. A first rope-driven positioning component and a second rope-driven positioning component are arranged between the threading hole and the rope reversing components, with the first rope-driven positioning component close to the rope reversing component. Each of the first and second rope-driven positioning components has a seed dispensing component, and the seed outlet of the seed dispensing component is connected to the flexible pipe through a seed delivery pipe. The device also includes a first rope and a second rope passing through the threading hole, which respectively drive the first and second rope-driven positioning components to slide along the support shaft. A rope drive mechanism is also included. Elastic elements are used to reset the two first rope-driven positioning components and the two second rope-driven positioning components. This invention can flexibly and effectively adjust the position of the seed outlet to meet the seed replenishment needs of different types of seed boxes.

Description

Technical Field

[0001] This invention belongs to the field of agricultural equipment technology, and specifically relates to a seed supply device. Background Technology

[0002] In the process of modern agriculture transforming towards intelligence and automation, significant progress has been made in the research and application of unmanned equipment for core processes such as cultivation, management, and harvesting in smart farms. However, in the construction of a fully automated closed-loop system for smart farms, the research and application of automatic seed replenishment devices have long been relatively weak, with limited related technological reserves, becoming a significant gap restricting the complete integration of the automation chain.

[0003] Traditional automatic replanting equipment has the following problems:

[0004] First, the use of an auger as the conveying actuator is problematic because the auger material is relatively hard. During the material conveying process, the auger blades are prone to collisions and friction with the seeds, which can cause mechanical damage to the seeds and affect their germination rate.

[0005] Secondly, the drive system (motor and reducer) is directly installed on the body of the actuator, resulting in poor vibration resistance and flexibility, low effective load to weight ratio, low dust and water resistance level and high cost, while reducing overall flexibility.

[0006] Third, the supply device cannot adjust the seed outlet quickly and in real time, making it difficult to adjust the seed addition position in real time according to the requirements of sowing uniformity.

[0007] These technical challenges not only restrict the large-scale application of seed supply devices, but also become key technical barriers to the implementation of fully automated farms. Summary of the Invention

[0008] The purpose of this invention is to address the problems existing in existing automatic seed replenishment equipment by providing a seed replenishment device. By applying rope-driven technology to the seed replenishment device, the spacing of the seed outlets can be flexibly and effectively adjusted to adapt to different seed box sizes, seed bin spacing, sowing positions, etc., to meet the seed replenishment needs of different types of seed boxes, and effectively ensure that the automatic seed replenishment device can be practically applied.

[0009] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a seed supply device, including a seed supply bin and a robotic arm, the robotic arm being connected to a flexible pipe on the seed supply bin, and a seed supply mechanism, the seed supply mechanism including a support shaft and rope reversing components fixed at both ends of the support shaft, a wire hole being provided in the middle of the support shaft, and a first rope drive positioning component and a second rope drive positioning component being provided at intervals along the support shaft between the wire hole and each rope reversing component, and the first rope drive positioning component being close to the rope reversing component;

[0010] Each of the first and second rope-driven positioning components is equipped with a seed metering component, and the seed outlet of each seed metering component is connected to the flexible pipeline through a corresponding seed delivery pipe.

[0011] It also includes a first rope and a second rope passing through the threading hole. The first rope is used to drive the first rope-driven positioning member to slide along the support shaft, and the second rope is used to drive the second rope-driven positioning member to slide along the support shaft.

[0012] It also includes a rope drive mechanism for controlling the extension and retraction of the first rope and the second rope, so as to realize the position adjustment of the first rope drive positioning component and the second rope drive positioning component;

[0013] The two first rope-driven positioning components and the two second rope-driven positioning components are connected by elastic elements to achieve reset after the rope is slack.

[0014] Furthermore, after passing through the threading hole, the first rope and the second rope split into two branches, extending to the two ends of the support shaft respectively; the branch of the first rope passes through the second rope drive positioning component and the first rope drive positioning component in sequence, and is then fixed to the first rope drive positioning component after being reversed by the rope reversing component; the branch of the second rope passes through the second rope drive positioning component and the first rope drive positioning component in sequence, and is then fixed to the second rope drive positioning component after being reversed by the rope reversing component.

[0015] Furthermore, a pulley frame with a rope distribution pulley is provided on each of the left and right sides of the wire hole on the support shaft.

[0016] Furthermore, each pulley frame is equipped with a rope distribution pulley, which has two limiting ring grooves to accommodate the branches of two ropes respectively; or, each pulley frame is equipped with two rope distribution pulleys arranged vertically, with each rope distribution pulley corresponding to a branch of one rope.

[0017] Furthermore, the support shaft is provided with a sliding groove, and the seed delivery tube is slidably disposed in the sliding groove; or, the support shaft is slidably provided with a sliding sleeve, and the sliding sleeve is provided with a collar that is slidably connected to the seed delivery tube.

[0018] Furthermore, the lower end of the seed delivery pipe is connected to the seed metering device via a corrugated section, and the upper end of the seed delivery pipe is connected to a seed distributor via a corrugated section; the inlet of the seed distributor is connected to the outlet of the flexible pipe, and the seed distributor is provided with 4 independent channels, each channel being connected to a seed delivery pipe.

[0019] Furthermore, the first and second rope-driven positioning components are slidably connected to the support shaft via linear bearings.

[0020] Furthermore, both the first and second rope-driven positioning components include a positioning plate and an inner core assembly detachably mounted on the positioning plate, wherein the inner core assembly includes the linear bearing and the bearing fixing plate.

[0021] Furthermore, the second rope-driven positioning component has two rope through holes, namely the first rope through hole and the second rope through hole; the first rope-driven positioning component has three rope through holes, namely the third rope through hole, the fourth rope through hole, and the fifth rope through hole; the first and second rope-driven positioning components also have a first rope fixing head and a second rope fixing head, respectively; the rope reversing component has four rope through holes, namely the sixth rope through hole, the seventh rope through hole, the eighth rope through hole, and the ninth rope through hole, from top to bottom, and two reversing pulleys are arranged side by side on the outer side of the rope reversing component; the first rope through hole, the third rope through hole, and the sixth rope through hole are coaxial, the first rope fixing head and the seventh rope through hole are coaxial; the second rope through hole, the fourth rope through hole, and the eighth rope through hole are coaxial, the second rope fixing head, the fifth rope through hole, and the ninth rope through hole are coaxial.

[0022] Furthermore, the first rope and the second rope are each controlled independently by two separate rope drive mechanisms.

[0023] Furthermore, the rope drive mechanism is a motor-ball screw system, a motor-precision drum device, a servo motor-harmonic reducer-winding shaft device, or a stepper motor-synchronous belt-pulley block device.

[0024] Furthermore, the elastic element is a spring or a rubber strip.

[0025] Furthermore, a connecting pipe is installed on the flexible pipe near the replanting bin, and the connecting pipe is connected to the outlet of the air compressor.

[0026] Furthermore, the support shaft has two threading holes so that the first rope and the second rope pass through the two threading holes respectively.

[0027] The beneficial effects of this invention are: by using a rope drive in conjunction with a real-time adjustment mechanism for the robotic arm, this invention enables one reseeding device to cover the reseeding of different seeders throughout the entire farm, thereby improving the utilization rate and adaptability of the equipment, reducing the cost of the reseeding device, and also allowing the reseeding position to be adjusted in real time according to the uniformity of seeding, thus achieving real-time uniform reseeding.

[0028] This invention improves the flexibility, effective load-to-weight ratio, and dustproof and waterproof rating of the supply device by applying a rope-driven structure, while also reducing manufacturing costs.

[0029] This invention utilizes a flexible pneumatic delivery mechanism that works in conjunction with a flexible pipe, connecting pipe, and air compressor to effectively reduce seed damage during the replenishment process and increase the flexibility of the actuator. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of the present invention in Embodiment 1;

[0031] Figure 2 This is a schematic diagram of the replanting mechanism described in Example 1;

[0032] Figure 3 This is a schematic diagram of the inner side of the two types of rope-driven positioning components located on the same side of the support shaft in Example 1;

[0033] Figure 4 This is a schematic diagram of the structure of the two rope-driven positioning components located on the same side of the support shaft in Example 1;

[0034] Figure 5 This is a schematic diagram of the rope reversing component described in Example 1;

[0035] Figure 6 This is a schematic diagram showing the connection between the first spring and the second spring in Example 1;

[0036] Figure 7 This is a schematic diagram illustrating the arrangement of the first and second ropes in Example 1.

[0037] Figure 8 This is a schematic diagram of the motor-ball screw system described in Example 1;

[0038] Figure 9 This is a schematic diagram of the replanting mechanism described in Example 2;

[0039] The diagram shows the following components: 1. Motion chassis; 2. Air compressor; 3. Reseeding bin; 4. Connecting pipe; 5. Flexible pipe; 6. Robotic arm; 7. Rope drive mechanism; 8. Reseeding distributor; 9. Reseeding mechanism; 10. Support shaft; 11. First rope drive positioning component; 12. Second rope drive positioning component; 13. Seed metering component; 14. Rope distribution pulley; 15. Rope reversing component; 16. Seed conveying pipe; 17. Slide groove; 18. Threading hole; 19. Positioning plate; 20. Spring hole; 21. Spring fixing component; 22. Linear bearing; 23. Bearing fixing plate; 24. First rope through hole; 25. Second rope through hole; 26. Pressure plate; 27. ... 28. Third rope through hole; 29. ​​Fourth rope through hole; 30. Fifth rope through hole; 31. First rope fixing head; 32. Second rope fixing head; 33. Fixing seat; 34. Fixing plate; 35. Sixth rope through hole; 36. Seventh rope through hole; 37. Eighth rope through hole; 38. Ninth rope through hole; 39. Reversing pulley; 40. First spring; 41. Second spring; 42. First rope; 43. Second rope; 44. Motor; 45. Coupling; 46. Support bearing; 47. Ball screw; 48. Nut; 49. Guide rail; 50. Rope connecting plate; 51. Slider; 52. Rope. Detailed Implementation

[0040] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments, but this should not be construed as limiting the invention in any way.

[0041] Example 1

[0042] See attached document Figure 1 As shown, a seed replenishment device includes a moving chassis 1, a seed replenishment bin 3, a flexible pneumatic conveying mechanism, a robotic arm 6, a seed replenishment mechanism 9, and a rope drive mechanism. The moving chassis 1 is either a wheeled chassis or a tracked chassis. The seed replenishment bin 3, the flexible pneumatic conveying mechanism, and the robotic arm 6 are mounted on the moving chassis 1. The seed replenishment mechanism 9 is connected to the flexible pneumatic conveying mechanism, which transports seeds from the seed replenishment bin 3 to the seed replenishment mechanism 9 for replanting seed boxes that require replanting.

[0043] The flexible pneumatic conveying mechanism includes an air compressor 2, a connecting pipe 4, and a flexible pipe 5. One end of the flexible pipe 5 extends into the seed replenishment chamber 3 and is inserted into the seed layer of the seed replenishment chamber 3. The other end is connected to the seed replenishment mechanism 9 via a seed replenishment distributor 8. The connecting pipe 4 is connected to the flexible pipe 5 near the seed replenishment chamber 3. The side of the connecting pipe 4 is connected to the outlet of the air compressor 2. Compressed air is injected into the flexible pipe 5 by the air compressor 2 through the connecting pipe 4, creating a negative pressure in the flexible pipe 5 near the seed replenishment chamber 3. This negative pressure draws the seeds from the seed replenishment chamber 3 into the flexible pipe 5, and the seeds are then transported to the seed replenishment mechanism 9 by the compressed air. The flexible pneumatic conveying mechanism can effectively reduce damage to the seeds during the replenishment process.

[0044] The robotic arm 6 is positioned on one side of the flexible pipe 5, with its execution end connected to the flexible pipe 5 and close to the reseeding dispenser 8. This allows the robotic arm 6 and the connecting pipe 4 to better support the flexible pipe 5. The movement of the robotic arm 6 within the space adjusts the position of the reseeding mechanism 9 for better alignment with the seed boxes requiring reseeding. Preferably, the robotic arm 6 is a one-stop robotic arm.

[0045] The structure of the replanting mechanism 9 is as follows: Figure 2 As shown, the system includes a support shaft 10, multiple seed delivery tubes 16, multiple rope drive positioning plates, and two rope reversing components 15. Both ends of the support shaft 10 are fixedly connected to the two rope reversing components 15. Two radially penetrating threading holes 18 are provided at the midpoint of the support shaft 10's length, allowing ropes to pass through the threading holes 18. Two pulley frames are also fixedly connected to the support shaft 10, with freely rotating rope distribution pulleys 14 mounted at their lower ends. In this embodiment, each pulley frame has one rope distribution pulley 14, and each rope distribution pulley 14 has two limiting annular grooves to accommodate two ropes respectively, preventing the two ropes from interfering with each other. The two threading holes 18 are located between the two pulley frames. The portion of the rope passing through the threading holes 18 branches into two branches, which respectively bypass the two rope distribution pulleys 14 on the left and right sides and extend along the support shaft 10 to connect to the corresponding rope drive positioning components, thereby adjusting the position of the rope drive positioning components. Between the rope distribution pulley 14 and the rope reversing member 15, a vertically penetrating groove 17 is provided on the support shaft 10 along its axial direction. Two seed delivery tubes 16 are slidably arranged in each groove 17. The upper end of the seed delivery tube 16 is connected to the seed distributor 8 via a corrugated section, and the lower end of the seed delivery tube 16 is connected to the seed discharging member 13 via a corrugated section. The seed discharging member 13 is provided with a seed outlet for discharging seeds. The seed distributor 8 has four independent channels, each channel corresponding to one seed delivery tube 16.

[0046] In other embodiments, the sliding connection between the seed delivery tube 16 and the support shaft 10 can be achieved by a sliding sleeve that slides along the support shaft 10. A collar fitted on the seed delivery tube 16 is provided on one side of the sliding sleeve. This structure can also achieve the sliding of the seed delivery tube 16 along the support shaft 10, and does not require slotting on the support shaft 10, thus ensuring the strength of the support shaft 10.

[0047] By sliding the seed delivery tube 16 along the support shaft 10 and by setting the corrugated sections at both ends of the seed delivery tube 16, interference with the position adjustment of the rope-driven positioning component can be avoided, while ensuring the smooth falling of the seeds after adjustment.

[0048] Four rope-driven positioning components are provided and symmetrically distributed on the left and right sides of the two rope distribution pulleys 14. The seed metering component 13 is fixed to the lower part of the corresponding rope-driven positioning component.

[0049] like Figure 3 , 4 As shown, the rope-driven positioning component includes a positioning plate 19 and an inner core assembly detachably mounted on the positioning plate 19. The inner core assembly includes a linear bearing 22 and a bearing fixing plate 23. The linear bearing 22 is embedded in the bearing fixing plate 23, and the bearing fixing plate 23 is embedded in a corresponding mounting groove in the center of the positioning plate 19. A clamping plate 26 and screws are used to fix the bearing fixing plate 23 and the positioning plate 19 together. One row of screws on the clamping plate 26 connects the clamping plate 26 and the bearing fixing plate 23, while another row of screws connects the clamping plate 26 and the positioning plate 19. Preferably, two clamping plates 26 are provided on each of the opposite sides of the positioning plate 19. The four clamping plates 26 ensure reliable fixation of the bearing fixing plate 23 on the positioning plate 19. The bearing fixing plate 23 has multiple through holes and rope fixing heads. The through holes serve as rope passages for the corresponding ropes to pass through and allow relative movement of the ropes within the rope passages. The rope fixing heads are used to fix the ends of the corresponding ropes. The inner core assembly is divided into two types based on the number of rope through holes, and consequently, the rope drive positioning components are also divided into two types: a first rope drive positioning component 11 and a second rope drive positioning component 12. The second rope drive positioning component 12 has two rope through holes, namely a first rope through hole 24 and a second rope through hole 25; the first rope drive positioning component 11 has three rope through holes, namely a third rope through hole 27, a fourth rope through hole 28, and a fifth rope through hole 29. The outer surface of the first rope drive positioning component 11 is also provided with a first rope fixing head 30, and the outer surface of the second rope drive positioning component 12 is also provided with a second rope fixing head 31. The "outer surface" refers to the side of the first rope drive positioning component 11 and the second rope drive positioning component 12 that faces away from the rope distribution pulley 14 after being mounted on the support shaft 10 via linear bearings 22; the opposite side is the "inner surface," and the seeding component 13 is fixed to the inner surface of the corresponding rope drive positioning component.

[0050] For example Figure 2 As shown, this embodiment provides two first rope-driven positioning members 11 and two second rope-driven positioning members 12, both of which are slidably mounted on the support shaft 10. The second rope-driven positioning member 12 is located inside the first rope-driven positioning member 11, that is, the second rope-driven positioning member 12 is closer to the rope distribution pulley 14 and the threading hole 18 than the first rope-driven positioning member 11. Thus, with the two rope distribution pulleys 14 or the two threading holes 18 as a reference, one first rope-driven positioning member 11 and one second rope-driven positioning member 12 are provided on each of their left and right sides.

[0051] The structure of the rope reversing component 15 is as follows: Figure 5 As shown, the device includes a fixed base 32 and a fixed plate 33. The fixed base 32 is used for fixed connection to the support shaft 10. The fixed plate 33 and the fixed base 32 are detachably connected by screws, facilitating the replacement of suitable components as needed. The fixed plate 33 has four rope passage holes, from top to bottom: a sixth rope passage hole 34, a seventh rope passage hole 35, an eighth rope passage hole 36, and a ninth rope passage hole 37. The sixth rope passage hole 34 and the seventh rope passage hole 35 are used for the branches of the first rope 41 to pass through before and after a change of direction, while the eighth rope passage hole 36 and the ninth rope passage hole 37 are used for the branches of the second rope 42 to pass through before and after a change of direction. Two reversing pulleys 38 are arranged side-by-side on the outer side of the fixed plate 33. The upper reversing pulley 38 is used for reversing the first rope 41, and the lower reversing pulley 38 is used for reversing the second rope 42.

[0052] After the two first rope drive positioning components 11, the two second rope drive positioning components 12, and the two rope reversing components 15 are installed on the support shaft 10, the various rope through holes and rope fixing heads have the following positional correspondences: the first rope through hole 24, the third rope through hole 27, and the sixth rope through hole 34 are coaxial; the first rope fixing head 30 and the seventh rope through hole 35 are coaxial; the second rope through hole 25, the fourth rope through hole 28, and the eighth rope through hole 36 are coaxial; and the second rope fixing head 31, the fifth rope through hole 29, and the ninth rope through hole 37 are coaxial.

[0053] The following is combined Figure 7 The rope arrangement in this embodiment is described in detail. For ease of explanation, the rope drive positioning component and rope reversing component are simplified in the figures, and only the inner core assembly of the rope drive positioning component is shown. This embodiment uses two ropes, namely the first rope 41 and the second rope 42. Each rope includes a branch segment with two branches.

[0054] For the first rope 41, the unseparated end is connected to the rope drive mechanism 7. After passing through a threading hole 18 on the support shaft 10, the two branches of the first rope 41 pass around two rope distribution pulleys 14 and extend left and right along the axial direction of the support shaft 10. The left branch of the first rope 41 passes through the first rope through hole 24 on the second rope drive positioning member 12 on the left side of the support shaft 10 (based on the threading hole 18), the third rope through hole 27 on the first rope drive positioning member 11, and the sixth rope through hole 34 on the rope reversing member 15. After passing around the reversing pulley 38 above the rope reversing member 15, it passes through the seventh rope through hole 35 and is finally fixed to the first rope fixing head 30 on the first rope drive positioning member 11. The right branch of the first rope 41 passes through the second rope drive mechanism 7 on the right side of the support shaft 10 (based on the threading hole 18). The first rope through hole 24 on the positioning member 12, the third rope through hole 27 on the first rope drive positioning member 11, and the sixth rope through hole 34 on the rope reversing member 15 pass through the reversing pulley 38 above the rope reversing member 15, and then pass through the seventh rope through hole 35, and finally are fixed to the first rope fixing head 30 on the first rope drive positioning member 11. Through the above arrangement and connection, the first rope 41 can realize the synchronous pulling of the two first rope drive positioning members 11 on the left and right sides, so that the two first rope drive positioning members 11 slide along the support shaft 10 in a direction away from the wire hole 18.

[0055] For the second rope 42, the unseparated end of the rope is connected to the rope drive mechanism 7. After the second rope 42 passes through another thread hole 18 on the support shaft 10, its two branches pass around two rope distribution pulleys 14 and extend left and right along the axial direction of the support shaft 10. The left branch of the second rope 42 passes sequentially through the second rope through-hole 25, the fourth rope through-hole 28, and the eighth rope through-hole 36 on the second rope drive positioning member 12 on the left side of the support shaft 10 (based on the threading hole 18), then around the reversing pulley 38 below the rope reversing member 15, then through the ninth rope through-hole 37, and finally fixed to the second rope fixing head 31 on the second rope drive positioning member 12. The right branch of the second rope 42 passes sequentially through the second rope through-hole 25, the fourth rope through-hole 28, and the eighth rope through-hole 36 on the second rope drive positioning member 12 on the right side of the support shaft 10 (based on the threading hole 18), then around the reversing pulley 38 below the rope reversing member 15, then through the ninth rope through-hole 37, and finally fixed to the second rope fixing head 31 on the second rope drive positioning member 12. Through the above arrangement and connection, the second rope 42 can achieve synchronous pulling of the two second rope drive positioning members 12 on the left and right sides, causing the two second rope drive positioning members 12 to slide along the support shaft 10 away from the threading hole 18.

[0056] In this embodiment, the branch design of two ropes allows for the adjustment of the positions of the four rope-driven positioning components, thereby adjusting the position of the corresponding seed metering component 13. This ensures that the seed metering component 13 can be aligned with the seed box requiring reseeding, adapting to seed boxes of different sizes or with different seed box spacings. Considering that pulling the ropes can only control the rope-driven positioning components to move towards the end of the support shaft 10, and cannot achieve the resetting of the rope-driven positioning components, this embodiment also includes a spring for resetting the rope-driven positioning components, such as... Figure 6 As shown, the two first rope-driven positioning components 11 are connected by four first springs 39, and the two second rope-driven positioning components 12 are connected by four second springs 40.

[0057] Specifically, such as Figure 3 The first rope-driven positioning member 11 has a spring fixing member 21 at each of its four corners of the positioning plate 19, and the second rope-driven positioning member 12 has a spring hole 20 and a spring fixing member 21 at each of its four corners of the positioning plate 19. The diameter of the spring hole 20 is larger than the outer diameter of the first spring 39. After the first rope-driven positioning member 11 and the second rope-driven positioning member 12 are installed on the support shaft 10, the four spring holes 20 of the second rope-driven positioning member 12 and the four spring fixing members 21 of the first rope-driven positioning member 11 are coaxial. The two ends of the first spring 39, which passes through the spring holes 20, are respectively fixed to the spring fixing members 21 on the two first rope-driven positioning members 11, and the two ends of the second spring 40 are respectively fixed to the spring fixing members 21 on the two second rope-driven positioning members 12. With the help of the elastic force of the first spring 39 and the second spring 40, the two first rope-driven positioning members 11 and the two second rope-driven positioning members 12 can be reset.

[0058] The spring fixing member 21 is a fixing post or a fixing hole.

[0059] In other embodiments, other strip-shaped elastic elements such as rubber strips may be used instead of the first spring 39 and the second spring 40.

[0060] The rope drive mechanism 7 is used to pull the rope, and its structure can be implemented in various ways. Figure 1 The image is not fully displayed. This embodiment uses... Figure 8The motor-ball screw system shown serves as the rope drive mechanism 7. This system includes a motor 43, a ball screw 46, and a guide rail 48. The motor 43 and guide rail 48 are fixed to the upper surface of the motion chassis 1. The motor output shaft is connected to the ball screw 46 via a coupling 44. The ball screw 46 is supported on the motion chassis 1 by two support bearings 45. The nut 47 on the ball screw 46 is connected to a slider 50 slidably mounted on the guide rail 48 via a rope connecting plate 49. The end of the rope 52 is fixed to the rope anchor point 51 on the rope connecting plate 49. In this embodiment, with a first rope 41 and a second rope 42, two sets of the rope drive mechanisms 7 are provided on the motion chassis 1, allowing for individual control of each rope and making the position adjustment of the two rope drive positioning components more flexible.

[0061] In other embodiments, the rope drive mechanism 7 may also employ a motor-precision drum (with rope groove + guide) device, a servo motor-harmonic reducer-winding shaft device, a stepper motor-synchronous belt-pulley block device, etc.

[0062] The seed replenishment device described in this embodiment is used as follows: When it is necessary to replenish the seed box of the seeder, the robotic arm 6 first moves the replenishment mechanism 9 according to the position information of the seed box of the seeder, so that the support shaft 10 reaches above the seed box and the support shaft 10 is parallel to the length direction of the seed box; at this time, the four rope-driven positioning components gather at the middle position of the support shaft 10 under the action of the first spring 39 and the second spring 40, that is, the initial position of the rope-driven positioning components; then, according to the position information of the four small seed bins in the seed box of the seeder, the motor 43 controls the ball screw 46 to rotate, driving the rope connecting plate 49 to move along the guide rail 48 in a straight line. The process involves sliding, which in turn pulls the connected first rope 41 or second rope 42. The first rope 41 then pulls the two first rope-driven positioning members 11 toward the shaft end of the support shaft 10, while the second rope 42 pulls the two second rope-driven positioning members 12 toward the shaft end of the support shaft 10, until each rope-driven positioning member reaches directly above the center of the corresponding small seed bin. Next, the air compressor 2 is started, and the seeds in the seed replenishment bin 3 are sucked into the flexible pipe 5 under negative pressure and pneumatically transported to the seed replenishment distributor 8. The seeds then enter the corresponding seed delivery pipe 16 through the channel inside the seed replenishment distributor 8, and finally enter the small seed bin below through the seed outlet of the seed discharge member 13.

[0063] It should be noted that when refilling the small seed bin, the seed pile is cone-shaped, higher in the middle and lower around the edges. When the seed outlet of a seed metering component 13 is blocked by the piled-up seeds, the seeds will not be able to fall, but at this time the small seed bin is not evenly filled. In this case, the position of the rope drive positioning component needs to be adjusted by the robotic arm 6 in conjunction with the rope drive mechanism 7, so that the seed metering component 13 moves away from the top of the seed pile, allowing the seeds to continue falling until the small seed bin is evenly filled, and then the air compressor 2 is turned off.

[0064] After replanting is completed, the robotic arm 6 lifts the replanting mechanism 9, and the seeds remaining in the flexible pipe 5 return to the replanting chamber 3 under the action of gravity. Finally, the slider 50 of the rope drive mechanism 7 returns to the initial position, the two ropes are in a slack state, the rope drive positioning component is reset along the support shaft 10 under the action of the spring, and the robotic arm 6 drives the replanting mechanism 9 back to the initial position.

[0065] Example 2

[0066] The difference between this embodiment and Embodiment 1 is that, as Figure 9 As shown, in this embodiment, each pulley frame on the support shaft 10 is equipped with two rope distribution pulleys 14 arranged vertically at intervals. The four rope distribution pulleys 14 on the two pulley frames are designed in two layers. The two branches of the first rope 41 are wound around the two rope distribution pulleys 14 on the upper layer, and the two branches of the second rope 42 are wound around the two rope distribution pulleys 14 on the lower layer. This structure allows the first rope 41 to enter the first rope through hole 24 horizontally and the second rope 42 to enter the second rope through hole 25 horizontally.

[0067] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Those skilled in the art should understand that modifications or equivalent substitutions can be made to the specific implementation of the present invention with reference to the above embodiments. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention are within the protection scope of the pending claims.

Claims

1. A seed supply device, comprising a seed supply bin (3) and a robotic arm (6), wherein the robotic arm (6) is connected to a flexible pipe (5) on the seed supply bin (3), characterized in that: It also includes a replanting mechanism (9), which includes a support shaft (10) and rope reversing members (15) fixed at both ends of the support shaft (10). The support shaft (10) has a wire hole (18) in the middle. A first rope drive positioning member (11) and a second rope drive positioning member (12) are arranged at intervals along the support shaft (10) between the wire hole (18) and each rope reversing member (15), and the first rope drive positioning member (11) is close to the rope reversing member (15). Both the first rope-driven positioning component (11) and the second rope-driven positioning component (12) are equipped with seed dispensing components (13), and the seed outlet of the seed dispensing component (13) is connected to the flexible pipe (5) through the seed delivery pipe (16). It also includes a first rope (41) and a second rope (42) passing through the thread hole (18). The first rope (41) is used to drive the first rope-driven positioning member (11) to slide along the support shaft (10), and the second rope (42) is used to drive the second rope-driven positioning member (12) to slide along the support shaft (10). It also includes a rope drive mechanism (7) for controlling the extension and retraction of the first rope (41) and the second rope (42) to achieve position adjustment of the first rope drive positioning member (11) and the second rope drive positioning member (12); The two first rope-driven positioning components (11) and the two second rope-driven positioning components (12) are connected by elastic elements to achieve the reset after the rope is slack. The second rope-driven positioning component (12) has two rope through holes, namely the first rope through hole (24) and the second rope through hole (25); the first rope-driven positioning component (11) has three rope through holes, namely the third rope through hole (27), the fourth rope through hole (28) and the fifth rope through hole (29); the first rope-driven positioning component (11) and the second rope-driven positioning component (12) are also respectively provided with a first rope fixing head (30) and a second rope fixing head (31); the rope reversing component (15) has four rope through holes, namely the sixth rope through hole (34) and the seventh rope through hole (35) from top to bottom. The eighth rope through hole (36) and the ninth rope through hole (37) are provided, and two reversing pulleys (38) are arranged side by side on the outer side of the rope reversing member (15); the first rope through hole (24), the third rope through hole (27) and the sixth rope through hole (34) are coaxial, the first rope fixing head (30) and the seventh rope through hole (35) are coaxial; the second rope through hole (25), the fourth rope through hole (28) and the eighth rope through hole (36) are coaxial, the second rope fixing head (31), the fifth rope through hole (29) and the ninth rope through hole (37) are coaxial.

2. The seed supply device according to claim 1, characterized in that: After passing through the threading hole (18), the first rope (41) and the second rope (42) split into two branches, which extend to the two ends of the support shaft (10) respectively. The branch of the first rope (41) passes through the second rope drive positioning member (12) and the first rope drive positioning member (11) in sequence, and is then fixed to the first rope drive positioning member (11) after being reversed by the rope reversing member (15). The branch of the second rope (42) passes through the second rope drive positioning member (12) and the first rope drive positioning member (11) in sequence, and is then fixed to the second rope drive positioning member (12) after being reversed by the rope reversing member (15).

3. The seed supply device according to claim 1, characterized in that: On the support shaft (10), a pulley frame with a rope distribution pulley (14) is provided on each of the left and right sides of the wire hole (18).

4. The seed supply device according to claim 3, characterized in that: Each pulley frame is provided with a rope distribution pulley (14), and the rope distribution pulley (14) is provided with two limiting ring grooves so as to accommodate the branches of two ropes respectively; or, each pulley frame is provided with two rope distribution pulleys (14) arranged vertically, and each rope distribution pulley (14) corresponds to a branch of a rope.

5. The seed supply device according to claim 1, characterized in that: The support shaft (10) is provided with a sliding groove (17), and the seed delivery tube (16) is slidably disposed in the sliding groove (17); or, the support shaft (10) is provided with a sliding sleeve, and the sliding sleeve is provided with a collar that is slidably connected to the seed delivery tube (16).

6. The seed supply device according to any one of claims 1-5, characterized in that: The lower end of the seed delivery pipe (16) is connected to the seed metering device (13) through a corrugated section, and the upper end of the seed delivery pipe (16) is connected to a seed distributor (8) through a corrugated section; the inlet of the seed distributor (8) is connected to the outlet of the flexible pipe (5), and the seed distributor (8) is provided with 4 independent channels, each channel being connected to a seed delivery pipe (16).

7. The seed supply device according to claim 1, characterized in that: The first rope-driven positioning component (11) and the second rope-driven positioning component (12) are slidably connected to the support shaft (10) via a linear bearing (22).

8. The seed supply device according to claim 7, characterized in that: The first rope-driven positioning component (11) and the second rope-driven positioning component (12) both include a positioning plate (19) and an inner core assembly that is detachably mounted on the positioning plate (19). The inner core assembly includes the linear bearing (22) and the bearing fixing plate (23).

9. The seed supply device according to claim 1, characterized in that: The first rope (41) and the second rope (42) are controlled separately by two sets of rope drive mechanisms (7).

10. The seed supply device according to claim 9, characterized in that: The rope drive mechanism (7) is a motor-ball screw system, a motor-precision drum device, a servo motor-harmonic reducer-winding shaft device, or a stepper motor-synchronous belt-pulley block device.

11. The seed supply device according to claim 1, characterized in that: The elastic element is a spring or a rubber strip.

12. The seed supply device according to claim 1, characterized in that: A connecting pipe (4) is provided on the flexible pipe (5) near the replanting bin (3), and the connecting pipe (4) is connected to the outlet of the air compressor (2).

13. The seed supply device according to claim 1, characterized in that: The support shaft (10) has two threading holes (18) so that the first rope (41) and the second rope (42) pass through the two threading holes (18) respectively.

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