Sowing robot

Abstract

The utility model discloses a seeding robot which comprises a moving assembly, a lifting mechanical arm is vertically arranged on the moving assembly, the lifting mechanical arm can rotate around the vertical direction relative to the moving assembly, a manipulator is arranged on the lifting mechanical arm, and a seeding assembly is further rotationally arranged on the moving assembly. A seeding switch is arranged on the seeding assembly, the seeding switch is movably arranged on the seeding assembly so as to conduct or close the seeding assembly, the manipulator throws seeds in the seed box into the seeding assembly, and the seeding switch moves relative to the seeding assembly so as to sow the seeds to a to-be-sown position. The seeding robot provided by the utility model is high in automation degree, unmanned self-seeding can be realized by taking seeds and seeding the seeds, and the seeding efficiency is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of agricultural sowing, and in particular relates to a sowing robot. Background Art

[0002] A sowing robot is a planting robot that sows crop seeds and is used for sowing a certain type or certain crop. Sowing robots are widely used machines in the field of agricultural planting. The existing sowing robots mainly have the following problems: the degree of automation is not high, and unmanned self-seeding cannot be achieved: some sowing robots can achieve unmanned self-seeding, but in the absence of manpower, various problems will arise in sowing, such as repeated sowing, and the sowing route deviates from the set route; the sowing speed cannot be automatically adjusted according to the forward speed, resulting in uneven sowing and reduced sowing efficiency.

[0003] Therefore, it is urgent to design a sowing robot to solve the above-mentioned problems that the existing sowing robots have low sowing automation and cannot be adjusted automatically, resulting in low sowing efficiency. Utility Model Content

[0004] In order to solve the technical problems mentioned in the background technology that the sowing automation of the sowing robot is low and cannot be adjusted automatically, resulting in low sowing efficiency, a sowing robot is provided to solve the above problems.

[0005] To achieve the above purpose, the specific technical solution of the sowing robot of the utility model is as follows:

[0006] A sowing robot comprises a moving component, a lifting mechanical arm is vertically arranged on the moving component, the lifting mechanical arm can rotate around the vertical direction relative to the moving component, a mechanical hand is arranged on the lifting mechanical arm, a sowing component is also rotatably arranged on the moving component, a sowing switch is arranged on the sowing component, the sowing switch is movably arranged on the sowing component to turn on or off the sowing component, the mechanical hand puts seeds in a seed box into the sowing component, and the sowing switch moves relative to the sowing component to sow the seeds to a position to be sown.

[0007] Furthermore, the sowing assembly includes a base, a first driving member and a sowing channel. The base is arranged on the moving assembly, the first driving member is arranged on the base, and the driving end of the first driving member is connected to the sowing channel to drive the sowing channel to rotate relative to the base.

[0008] Furthermore, the sowing assembly also includes a second driving member, which is arranged on the base, and a chassis is arranged on the second driving member, and a sowing switch is arranged on the chassis. The second driving member drives the sowing switch to move relative to the sowing channel to open or close the sowing channel.

[0009] Furthermore, a movable groove is provided on the side wall of the sowing channel, and the sowing switch moves left and right relative to the movable groove to open or close the sowing channel.

[0010] Furthermore, the movable groove includes a first movable groove and a second movable groove, and the first movable groove and the second movable groove are spaced apart on the side wall of the sowing channel. A separation plate and a blocking plate are arranged on the sowing switch, and the separation plate and the blocking plate are spaced apart in the vertical direction. The separation plate is movably arranged in the first movable groove, and the blocking plate is movably arranged in the second movable groove.

[0011] Furthermore, a first notch is arranged on the separation plate, and a second notch is arranged on the blocking plate, and the first notch and the second notch are staggered in the vertical direction.

[0012] Furthermore, the sowing channel includes a sowing inlet, a first channel, a second channel, a third channel and a sowing outlet, and the sowing inlet, the first channel, the second channel, the third channel and the sowing outlet are connected in sequence. Seeds enter from the sowing inlet, pass through the first channel, the second channel and the third channel in sequence, and are sown from the sowing outlet to the position to be sown.

[0013] Furthermore, the second channel is arranged along the vertical direction, and the first moving groove and the second moving groove are arranged on the second channel at intervals.

[0014] Furthermore, it also includes a third driving member and a rotating seat. The third driving member is arranged on the moving component. The driving end of the third driving member is connected to the rotating seat. The lifting robot arm is arranged on the rotating seat. The third driving member drives the lifting robot arm to rotate around the vertical direction to adjust the angle of the robot arm.

[0015] Furthermore, a first limit block and a second limit block are symmetrically arranged on both sides of the bottom of the moving component, the distance between the first limit block and the second limit block is adjustable, and the first limit block and the second limit block are placed on both sides of the position to be sown so that the moving component moves in a straight line.

[0016] The sowing robot of the utility model has the following advantages:

[0017] A lifting mechanical arm is vertically arranged on the mobile component, the lifting mechanical arm can rotate around the vertical direction relative to the mobile component, the lifting mechanical arm is provided with a manipulator, and the angle of the manipulator can be automatically adjusted. A sowing component is also rotatably arranged on the mobile component, and a sowing switch is arranged on the sowing component. The sowing switch is movably arranged on the sowing component to turn on or off the sowing component. The manipulator puts the seeds in the seed box into the sowing component, and the sowing switch moves relative to the sowing component to sow the seeds to the position to be sown. The degree of automation is high, and the taking and sowing of seeds can be realized unmanned self-sowing, which improves the sowing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1The structure diagram of the utility model sowing robot Figure 1 ;

[0019] Figure 2 The structure diagram of the utility model sowing robot Figure 2 ;

[0020] Figure 3 The structure diagram of the sowing assembly of the utility model is shown in FIG. Figure 1 ;

[0021] Figure 4 The structure diagram of the sowing assembly of the utility model is shown in FIG. Figure 2 ;

[0022] Figure 5 The structure diagram of the utility model sowing robot Figure 3 .

[0023] Description of the markings in the figure:

[0024] 1. Moving assembly; 11. First limit block; 12. Second limit block; 2. Lifting robot arm; 21. Fixed frame; 22. Moving frame; 23. Fourth driving member; 3. Robot; 4. Sowing assembly; 41. Sowing switch; 411. Separation plate; 4111. First notch; 412. Blocking plate; 4121. Second notch; 42. Base; 43. First driving member; 44. Sowing channel; 441. Sowing inlet; 442. First channel; 443. Second channel; 4431. First moving groove; 4432. Second moving groove; 444. Third channel; 445. Sowing outlet; 45. Second driving member; 46. Chassis; 5. Third driving member; 6. Rotating seat. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model.

[0026] Those skilled in the art will appreciate that, although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0027] Please refer to the attached Figure 1 To Attachment Figure 5 The utility model describes a sowing robot.

[0028] like Figure 1 and Figure 2 As shown, the sowing robot in the utility model includes a moving component 1, a lifting mechanical arm 2 is vertically arranged on the moving component 1, the lifting mechanical arm 2 can rotate around the vertical direction relative to the moving component 1, a manipulator 3 is arranged on the lifting mechanical arm 2, a sowing component 4 is also rotatably arranged on the moving component 1, a sowing switch 41 is arranged on the sowing component 4, the sowing switch 41 is movably arranged on the sowing component 4 to turn on or off the sowing component 4, the manipulator 3 puts the seeds in the seed box into the sowing component 4, and the sowing switch 41 moves relative to the sowing component 4 to sow the seeds to the position to be sown.

[0029] A lifting mechanical arm 2 is vertically arranged on the mobile component 1, and the lifting mechanical arm 2 can rotate around the vertical direction relative to the mobile component 1. A manipulator 3 is arranged on the lifting mechanical arm 2, and the angle of the manipulator 3 can be automatically adjusted. A sowing component 4 is also rotatably arranged on the mobile component 1, and a sowing switch 41 is arranged on the sowing component 4. The sowing switch 41 is movably arranged on the sowing component 4 to turn on or off the sowing component 4. The manipulator 3 puts the seeds in the seed box into the sowing component 4, and the sowing switch 41 moves relative to the sowing component 4 to sow the seeds to the position to be sown. The degree of automation is high, and the taking and sowing of seeds can be realized unmanned self-sowing, which improves the sowing efficiency.

[0030] Further, if Figure 1 and Figure 2 As shown, the seed box is set at a specified position. After the mobile component 1 moves to the vicinity of the seed box, the lifting robot arm 2 and the sowing component 4 rotate to a suitable angle, the manipulator 3 on the lifting robot arm 2 is lowered to the switch of the seed box on the lifting robot arm 2, and the sowing component 4 is rotated and placed under the seed box. The manipulator 3 rotates the switch at the switch of the seed box to put the seeds in the seed box into the sowing component 4, the mobile component 1 moves to the position to be sown, and the sowing component 4 puts the seeds to the position to be sown for sowing.

[0031] Further, if Figure 1 and Figure 2As shown, the sowing assembly 4 includes a base 42, a first driving member 43 and a sowing channel 44, the base 42 is arranged on the mobile assembly 1, the first driving member 43 is arranged on the base 42, and the driving end of the first driving member 43 is connected to the sowing channel 44 to drive the sowing channel 44 to rotate relative to the base 42. The first driving member 43 is provided to adjust the rotation angle of the sowing channel 44 relative to the base 42 to ensure that the seeds are placed at different sowing positions. In this embodiment, the first driving member 43 is a driving cylinder, or a driving motor or other driving structure, as long as the angle of the sowing channel 44 can be adjusted.

[0032] Further, if Figure 1 and Figure 2 As shown, the sowing assembly 4 also includes a second driving member 45, which is arranged on the base 42, and a chassis 46 is arranged on the second driving member 45, and a sowing switch 41 is arranged on the chassis 46. The second driving member 45 drives the sowing switch 41 to move relative to the sowing channel 44 to turn on or off the sowing channel 44. The first driving member 43 drives the sowing switch 41 to operate, which can realize the conduction or closing of the sowing channel 44. When sowing is not required, the sowing switch 41 closes the sowing channel 44, and the sowing channel 44 is blocked. When sowing is required, that is, when the sowing channel 44 is placed above the position to be sown, the sowing switch 41 moves relative to the sowing channel 44, and the sowing channel 44 is turned on. The seeds in the sowing channel 44 are put into the position to be sown through the sowing channel 44, so as to realize the automatic sowing of seeds. In this embodiment, the second driving member 45 is a driving cylinder, or a driving motor or other driving structure, as long as the sowing switch 41 can be adjusted to operate, the sowing channel 44 can be turned on or off.

[0033] Further, if Figures 1 to 4As shown, a movable groove is provided on the side wall of the sowing channel 44, and the sowing switch 41 moves left and right relative to the movable groove to open or close the sowing channel 44. Specifically, the movable groove includes a first movable groove 4431 and a second movable groove 4432, which are arranged at intervals on the side wall of the sowing channel 44, and a separation plate 411 and a blocking plate 412 are provided on the sowing switch 41, which are arranged at intervals in the vertical direction, and the separation plate 411 is movably arranged in the first movable groove 4431, and the blocking plate 412 is movably arranged in the second movable groove 4432. In this embodiment, the arc of the grooves of the first movable groove 4431 and the second movable groove 4432 is greater than 180°, ensuring that the separation plate 411 can enter the sowing channel 44 from one side of the first movable groove 4431, and then come out of the sowing channel 44 from the other side of the first movable groove 4431, or the separation plate 411 can enter the sowing channel 44 from the other side of the first movable groove 4431, and then come out of the sowing channel 44 from one side of the first movable groove 4431, ensuring that the blocking plate 412 can enter the sowing channel 44 from one side of the second movable groove 4432, and then come out of the sowing channel 44 from the other side of the second movable groove 4432, or the blocking plate 412 can enter the sowing channel 44 from the other side of the second movable groove 4432, and then come out of the sowing channel 44 from one side of the second movable groove 4432. In this embodiment, the seeds first pass through the separation plate 411 , reach the accommodation space between the separation plate 411 and the blocking plate 412 , and then move from the sowing channel 44 to the position to be sown through the blocking plate 412 .

[0034] Further, if Figures 1 to 4As shown, the sowing channel 44 includes a sowing inlet 441, a first channel 442, a second channel 443, a third channel 444 and a sowing outlet 445. The sowing inlet 441, the first channel 442, the second channel 443, the third channel 444 and the sowing outlet are connected in sequence. The seeds enter from the sowing inlet 441, pass through the first channel 442, the second channel 443 and the third channel 444 in sequence, and are sown from the sowing outlet 445 to the position to be sown. In this embodiment, the second channel 443 is arranged in the vertical direction, and the first moving groove 4431 and the second moving groove 4432 are arranged at intervals on the second channel 443. The manipulator 3 turns on the switch on the seed box to put the seeds into the sowing inlet 441. The seeds at the sowing inlet 441 enter the second channel 443 through the first channel 442. The seeds enter the third channel 444 after passing through the separation plate 411 and the blocking plate 412 in the second channel 443. The seeds are put from the sowing outlet 445 to the position to be sown through the third channel 444, and the seeds are automatically sown. In this embodiment, the sowing inlet 441 and the sowing outlet 445 are both trumpet-shaped structures. The sowing inlet 441 is configured as a trumpet-shaped structure to facilitate the seeds in the seed box to be put into the sowing inlet 441, and the sowing outlet 445 is configured as a trumpet-shaped structure to facilitate the seeds to be put into the sowing position through the sowing outlet 445.

[0035] Further, if Figures 1 to 4 As shown, the separation plate 411 and the blocking plate 412 are arranged at intervals, and a storage space is formed between the separation plate 411 and the blocking plate 412. The storage space can accommodate the number of specified seeds, and the specified number of seeds can be placed in a position to be sown. When a position to be sown needs to be placed with one seed, the storage space is set to a space size that can only accommodate one seed. When a position to be sown needs to be placed with two seeds, the storage space is set to a space size that can only accommodate two seeds. The size of the storage space can be set according to the actual number of seeds that need to be placed at one time. In this embodiment, the size of the storage space can only accommodate one seed at a time, so that one seed can be placed at each position to be sown at a time.

[0036] Further, if Figure 3 and Figure 4As shown, the separation plate 411 is provided with a first notch 4111, and the blocking plate 412 is provided with a second notch 4121, and the first notch 4111 and the second notch 4121 are staggered in the vertical direction. When the second driving member 45 drives the separation plate 411 and the blocking plate 412 to move into the first moving groove 4431 and the second moving groove 4432 respectively, the separation plate 411 and the blocking plate 412 both block the first channel 442, and the second driving member 45 drives the separation plate 411 and the blocking plate 412 to move to the left and then reset. During the process of the second driving member 45 driving the separation plate 411 and the blocking plate 412 to move to the left, the first notch 4111 and the second channel 443 are connected, and the seeds are sequentially discharged from the second channel 4431. 3 enters the accommodation space between the separation plate 411 and the blocking plate 412 from the first notch 4111. When the second driving member 45 drives the separation plate 411 and the blocking plate 412 to move to the left and then reset, the separation plate 411 and the blocking plate 412 both block the first channel 442 again. A seed is accommodated in the accommodation space. The separation plate 411 and the blocking plate 412 are arranged at intervals to separate the seeds. One seed is separated separately, so that the seeds can be placed one by one to the position to be sown.

[0037] When the second driving member 45 drives the separation plate 411 and the blocking plate 412 to move rightward and then reset, during the process of the second driving member 45 driving the separation plate 411 and the blocking plate 412 to move rightward, the second notch 4121 and the accommodating channel are connected, and the seeds sequentially pass through the accommodating channel from the second notch 4121 into the third channel 444, and when the second driving member 45 drives the separation plate 411 and the blocking plate 412 to move rightward and reset, the separation plate 411 and the blocking plate 412 both block the first channel 442, completing the seed placement operation. In this way, the sowing of each sowing position is realized.

[0038] Further, if Figures 1 to 4 As shown, the sowing robot in the utility model further includes a third driving member 5 and a rotating seat 6. The third driving member 5 is arranged on the moving assembly 1, and the driving end of the third driving member 5 is connected to the rotating seat 6. The lifting mechanical arm 2 is arranged on the rotating seat 6. The third driving member 5 drives the lifting mechanical arm 2 to rotate around the vertical direction to adjust the angle of the manipulator 3. In this embodiment, the second driving member 45 is a driving cylinder, or a driving motor or other driving structure, as long as it can adjust the action of the sowing switch 41 to realize the conduction or closing of the sowing channel 44.

[0039] Further, if Figure 1 and Figure 2As shown, the mobile component 1 is provided with a first driving wheel, a second driving wheel, a third driving wheel and a fourth driving wheel, the first driving wheel and the second driving wheel are active driving wheels, the third driving wheel and the fourth driving wheel are driven driving wheels, one of the first driving wheel and the second driving wheel rotates forward, and the other of the first driving wheel and the second driving wheel flips to realize the turning of the mobile component 1, and the first driving wheel and the second driving wheel rotate forward or reverse at the same time to realize the forward or backward movement of the mobile component 1.

[0040] Further, if Figure 1 and Figure 2 As shown, the lifting robot arm 2 includes a fixed frame 21 and a moving frame 22. The fixed frame 21 is vertically arranged on the moving component 1, the moving frame 22 is movably arranged on the fixed frame 21, and the robot 3 is arranged on the moving frame 22. A rack is arranged on the fixed frame 21, and the gear and the rack are meshed. A gear and a fourth driving member 23 are arranged on the moving frame 22. The fourth driving member 23 drives the gear to rotate, and the gear moves on the rack, so that the moving frame 22 moves relative to the fixed frame 21, thereby realizing the lifting and lowering of the robot 3.

[0041] Further, if Figure 5 As shown, when sowing seeds, the seeds are sown on rows of ridges. When the mobile component 1 moves to a row of ridges to sow seeds, the first drive wheel and the third drive wheel on the mobile component 1 are on the left side of the ridge, and the second drive wheel and the fourth drive wheel are on the right side of the ridge. In order to ensure that the mobile component 1 can move along the straight ridge during the sowing process without deviation, the first limit block 11 and the second limit block 12 are symmetrically arranged on both sides of the bottom of the mobile component 1. The spacing between the first limit block 11 and the second limit block 12 can be adjusted to adapt to ridges of different widths. The first limit block 11 and the second limit block 12 are placed on both sides of the position to be sown, that is, on both sides of the ridge, so that the mobile component 1 moves along a straight line. By setting the first limit block 11 and the second limit block 12, it is ensured that the mobile component 1 will not deviate during the movement. The number of the first limit blocks 11 and the second limit blocks 12 can be set according to actual conditions. In this embodiment, the number of the first limit blocks 11 and the second limit blocks 12 are both two, that is, two first limit blocks 11 and two second limit blocks 12 are symmetrically arranged on both sides of the bottom of the moving component 1.

[0042] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A sowing robot, characterized in that: It includes a moving component, a lifting mechanical arm is vertically arranged on the moving component, the lifting mechanical arm can rotate around the vertical direction relative to the moving component, a mechanical hand is arranged on the lifting mechanical arm, a sowing component is also rotatably arranged on the moving component, a sowing switch is arranged on the sowing component, the sowing switch is movably arranged on the sowing component to turn on or off the sowing component, the mechanical hand puts the seeds in the seed box into the sowing component, and the sowing switch moves relative to the sowing component to sow the seeds to the position to be sown.

2. The sowing robot according to claim 1, characterized in that: The sowing assembly includes a base, a first driving member and a sowing channel. The base is arranged on the moving assembly, the first driving member is arranged on the base, and the driving end of the first driving member is connected to the sowing channel to drive the sowing channel to rotate relative to the base.

3. The sowing robot according to claim 2, characterized in that: The sowing assembly also includes a second driving member, which is arranged on the base. The second driving member is provided with a chassis, and the chassis is provided with a sowing switch. The second driving member drives the sowing switch to move relative to the sowing channel to open or close the sowing channel.

4. The sowing robot according to claim 1, characterized in that: A movable groove is provided on the side wall of the sowing channel, and the sowing switch moves left and right relative to the movable groove to open or close the sowing channel.

5. The sowing robot according to claim 4, characterized in that: The movable groove includes a first movable groove and a second movable groove, the first movable groove and the second movable groove are spaced apart on the side wall of the sowing channel, a separation plate and a blocking plate are arranged on the sowing switch, the separation plate and the blocking plate are spaced apart in the vertical direction, the separation plate is movably arranged in the first movable groove, and the blocking plate is movably arranged in the second movable groove.

6. The sowing robot according to claim 5, characterized in that: A first notch is arranged on the separation plate, and a second notch is arranged on the blocking plate. The first notch and the second notch are staggered in the vertical direction.

7. The sowing robot according to claim 1, characterized in that: The sowing channel includes a sowing inlet, a first channel, a second channel, a third channel and a sowing outlet. The sowing inlet, the first channel, the second channel, the third channel and the sowing outlet are connected in sequence. Seeds enter from the sowing inlet, pass through the first channel, the second channel and the third channel in sequence, and are sown from the sowing outlet to the position to be sown.

8. The sowing robot according to claim 7, characterized in that: The second channel is arranged along the vertical direction, and the first moving groove and the second moving groove are arranged on the second channel at intervals.

9. The sowing robot according to claim 1, characterized in that: It also includes a third driving member and a rotating seat. The third driving member is arranged on the moving assembly. The driving end of the third driving member is connected to the rotating seat. The lifting mechanical arm is arranged on the rotating seat. The third driving member drives the lifting mechanical arm to rotate around the vertical direction to adjust the angle of the manipulator.

10. The sowing robot according to claim 1, characterized in that: A first limit block and a second limit block are symmetrically arranged on both sides of the bottom of the moving component. The distance between the first limit block and the second limit block is adjustable. The first limit block and the second limit block are placed on both sides of the position to be sown so that the moving component moves in a straight line.

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