Small intelligent integrated spinach seeder
By designing a small intelligent integrated spinach seeder and integrating ditches, seeding, soil covering and fertilization modules, the existing spinach planting methods are solved, and rapid and precise planting operations are achieved, and block farmland such as mountain hills and greenhouses are suitable for block farmlands such as mountain hills and greenhouses.
Patent Information
- Application Number
- CN202421741658.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-22
- Publication Date
- 2025-06-03
- Estimated Expiration
- 2034-07-22
AI Technical Summary
The existing spinach planting methods have problems such as inefficiency, labor-intensive, poor sowing quality and poor equipment versatility. Especially in block farmland such as mountain hilly terrain and greenhouses, there is a lack of suitable small planting machines.
A small intelligent integrated spinach seeder was designed, integrating trench opening module, seeding module, soil covering module, fertilization module and walking module. It uses bionic trench opening device, double-row eye wheel and disc-type soil covering device to achieve rapid and accurate seeding and soil covering through one-step mechanized operation.
It improves the efficiency and quality of spinach planting, reduces labor intensity, adapts to the planting needs of block farmland such as mountain hilly terrain and greenhouses, and realizes efficient integrated operations of ditches, sowing, soil covering and fertilization.
Smart Images
Figure CN222928813U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of agriculture, in particular to a small intelligent integrated spinach seeding machine. Background Art
[0002] Spinach is cold-resistant and has a wide adaptability. It is cultivated in both the south and north of China and is one of the most widely distributed and consumed vegetables in China. Due to differences in land scale, terrain and climate conditions, traditional spinach planting mainly uses the manual broadcasting method, and tedious manual thinning work is required after emergence, consuming a large amount of manpower and time. With the development of agricultural production, the cell-wheel type vegetable planter has gradually been applied. However, affected by the irregular shape of seeds and high planting density, the cell-wheel type vegetable planter still has problems such as poor applicability, poor seeding quality and weak universality of the machine in production. The traditional spinach planting method has disadvantages such as low efficiency and labor intensity, and the planting efficiency and yield of spinach are greatly limited. The manual or simple mechanized agricultural planting method can no longer meet the development needs of modern agriculture. In order to improve the yield and quality of spinach, the use of spinach planters has become an important link in agricultural production.
[0003] At present, the spinach planters on the market are mainly large planters, and the research and application of small planters are still in their infancy. The relatively advanced small planters in China include small hand-held self-propelled planters, which have a large mechanical labor intensity, relatively low production efficiency and high requirements for operators. The electric-assisted planters developed by agriculturally developed countries, such as the JAS series power self-propelled planters, although they have excellent performance, are expensive, and their performance needs to be optimized while the cost is high. And in order to ensure output value and yield, spinach planting in China has the characteristics of being planted in greenhouses, mountainous and hilly areas in block farmland, and small planters that meet these characteristics are still vacant. Content of the Utility Model
[0004] The utility model aims to provide a small intelligent integrated spinach seeding machine to adapt to spinach planting in block farmland such as mountainous and hilly terrains and greenhouses, reduce labor intensity, quickly and accurately complete the spinach planting task, and improve the planting efficiency and quality of spinach.
[0005] To achieve the above object, the utility model adopts the following technical scheme:
[0006] A small intelligent integrated spinach seeding machine, including a frame, on which a ditch opening module, a seeding module, a soil covering module, a fertilizing module, a controller, a Bluetooth module and a walking module are installed;
[0007] The ditching module includes a bionic ditching tool, which is a core share type ditching tool in the shape of a badger's canine tooth; the seeding module includes a seeding box, seeding wheels, a seeding motor and a seed delivery pipe. The seeding wheels are rotatably connected to the seed outlet of the seeding box through a seeding tool shaft. The seeding wheels are double-row dimpled wheels. One end of the seed delivery pipe is connected to the seed outlet of the seeding wheels, and the other end is fixed to an electric push rod; the soil covering module includes a disc type soil covering tool. The ditching module and the soil covering module are integrally designed and connected to the bottom of the electric push rod through a T-shaped connecting rod. The outlet of the seed delivery pipe is located between the bionic ditching tool and the disc type soil covering tool. The electric push rod is driven by a stepping motor to move up and down; the fertilizing module includes a fertilizing box, a fertilizing funnel, a fertilizing turntable and a fertilizing motor. The fertilizing funnel is connected to the bottom of the fertilizing box. The fertilizing turntable is connected to the fertilizing funnel, and the fertilizing motor drives the fertilizing turntable to rotate; the seeding motor and the fertilizing motor are stepping motors; the traveling module includes traveling wheels and a transmission shaft. The traveling wheels are fixed at both ends of the transmission shaft. A transmission gear is fixed on the transmission shaft. The transmission gear is connected to the driving motor by a chain drive. The driving motor is fixed on the frame. The stepping motors and the driving motor are both connected to a controller, and the controller is connected to a Bluetooth module.
[0008] The principle and advantages of this solution are as follows: In actual application, the driving motor rotates to drive the sprocket to rotate, and the traveling wheels are driven to rotate through the chain drive, so that the spinach seeding machine moves forward; the controller controls the stepping motor to start, and the stepping motor drives the electric push rod to move downward. The electric push rod lowers the bionic ditching tool and the disc type soil covering tool into the soil for ditching and soil covering. When the bionic ditching tool works, it first plows the core into the soil to form a ditch, and the two side plates divide the soil to both sides to form a seed furrow. The depth of the dug seed furrow is consistent. The terrain of the spinach planting area is uneven and undulating. The ditching depth can be freely adjusted by the electric push rod according to the spinach seeding depth in different environments, ensuring the accuracy and efficiency during seeding. The ditching width and the shape of the furrow are neat, and it also has a certain self-soil-covering function; the core share type ditching tool in the shape of a badger's canine tooth effectively reduces the resistance suffered by the machine during ditching, improving the durability of the machine and the accuracy of seeding; the integration of ditching and soil covering can save costs, reduce the mobilization and operation times of mechanical equipment, reduce soil disturbance, be beneficial to maintaining soil structure and fertility, and improve the operation quality. The integrated operation can more precisely control the depth and width of the trench and the uniformity of soil covering, thereby improving the operation quality; the seeding motor drives the seeding tool shaft to rotate, thus driving the seeding wheels to rotate. The spinach seeds are in the holes of the seeding wheels and fall into the seed delivery pipe under the action of gravity as the seeding wheels rotate, and then fall into the furrow along the seed delivery pipe. The fertilizing motor drives the fertilizing turntable to rotate, causing the fertilizer to fall, and successively completing ditching, seeding, soil covering and fertilizing. The controller is connected to a Bluetooth module, which is convenient for wireless communication with a mobile terminal, and the operation parameters can be adjusted and controlled through the mobile terminal, thereby improving efficiency.
[0009] Preferably, as an improvement, the disc soil covering device is a double-disc V-shaped soil covering device.
[0010] Technical effect: It is convenient to push the soil accumulated on both sides during the trenching of the bionic trencher into the trench, which is used for soil covering with a large row spacing and a high surface coverage rate, and is suitable for trenching in spinach fields.
[0011] Preferably, as an improvement, the holes of the double-row dimpled wheel are hemispherical.
[0012] Technical effect: It is convenient to reduce seed damage during seed filling and seed scraping.
[0013] Preferably, as an improvement, the diameter of the hole is 2 mm, the diameter of the double-row dimpled wheel is 50 - 80 mm, and the number of holes of the double-row dimpled wheel is 48.
[0014] Technical effect: It is convenient to adapt to the size of spinach seeds.
[0015] Preferably, as an improvement, an ultrasonic sensor is further provided on the electric push rod. The ultrasonic sensor is connected to the controller and is installed on both sides below the stainless steel square tube at the bottom of the electric push rod.
[0016] Technical effect: It is convenient to effectively detect the soil penetration depth.
[0017] Preferably, as an improvement, the drive motor is a DC motor, and the model of the DC motor is MY1016Z2 brushed reduction motor with a power of 350 W.
[0018] Technical effect: It can provide sufficient power and torque.
[0019] Preferably, as an improvement, the stepper motor is a 57 stepper motor.
[0020] Technical effect: It is convenient to accurately and quickly respond to control signals and achieve rapid positioning.
[0021] Preferably, as an improvement, an opto-coupler opposed photoelectric sensor is further provided on the frame. The opto-coupler opposed photoelectric sensor is connected to the controller.
[0022] Technical effect: The traveling speed of the spinach planter can be obtained through the opto-coupler opposed photoelectric sensor, so as to control the stepper motor and the DC motor according to the traveling speed, and improve the sowing accuracy.
[0023] Preferably, as an improvement, it further includes a detection module. The detection module is connected to the controller. The detection module is used to self-detect whether each module is normal when the power is started. When it is normal, the motor is started. When it is abnormal, the faulty module gives a fault alarm, and the fault alarm is one of a flashing light and a prompt sound.
[0024] Technical effect: It is convenient to improve the safety of spinach planting. Description of the drawings
[0025] Figure 1 It is a schematic diagram of the overall structure of a small intelligent integrated spinach seeder;
[0026] Figure 2 It is a schematic diagram of the structure of the seeding wheel;
[0027] Figure 3 It is a schematic diagram of the structural parameters of the bionic furrow opener;
[0028] Figure 4 It is a schematic diagram of the structure of the disc type soil covering device;
[0029] Figure 5 It is a schematic diagram of the structure of the walking module;
[0030] Figure 6 It is a schematic diagram of the integrated structure of furrow opening and soil covering;
[0031] Figure 7 It is a schematic diagram of the structure of the seeding module;
[0032] Figure 8 It is a program control flow chart of the application of the ultrasonic sensor;
[0033] Figure 9 It is a program control flow chart of the application of the detection module. Specific implementation manners
[0034] The following is a further detailed description through specific implementation manners:
[0035] The reference numerals in the drawings of the specification include: seeding module 1, furrow opening module 2, soil covering module 3, fertilizing module 4, walking module 5, power supply 6, electric push rod 7, hole 101, seeding cover 102, seeding box 103, seed conveying pipe 104, bionic furrow opener 201, disc type soil covering device 301, fertilizing box 401, fertilizing funnel 402, fertilizing turntable 403, fertilizing motor 404, walking wheel 601, transmission shaft 602, driving motor 603.
[0036] Example 1
[0037] The example is basically as shown in the appendix Figure 1 as follows:
[0038] A small intelligent integrated spinach seeder includes a frame, on which a furrow opening module 2, a seeding module 1, a soil covering module 3, a fertilizing module 4, a controller, a Bluetooth module, a walking module 5 and a power supply 6 are installed;
[0039] The seeding module 1 is a mechanical seeder, such asFigure 7 As shown in the figure, the seeding module 1 includes a seeding box 103, seeding wheels, a seeding motor, and a seed delivery pipe 104. The seeding box 103 further includes a seeding cover 102, and the seeding cover 102 is connected and fastened to the seeding box 103 by means of hinge or bayonet. The seeding wheels are rotatably connected to the seed outlet of the seeding box 103 through seeding device shafts, the seeding motor is connected to the seeding device shafts, and the seeding motor drives the seeding device shafts to rotate, thereby driving the seeding wheels to rotate. The seeding wheels fit the shape of the seed outlet of the seeding box 103. Seeds stored in the seeding box 103 are filled into the holes 101 of the seeding wheels through the seed outlet of the seeding box 103. The rotation of the seeding wheels realizes the dropping and seeding of the seeds. Compared with air-suction seeding devices, it has the advantages of low cost, simple structure, and small volume, and is suitable for small seeding devices. The outlet of the seed delivery pipe 104 is located between the bionic furrow opener 201 and the disc type soil covering device 301.
[0040] In this embodiment, the seeding box 103 is composed of a space in the shape of a cuboid and a trapezoid. The material of the seeding box 103 is preferably one of stainless steel or plastic to achieve the effects of corrosion resistance, wear resistance, and easy cleaning. For the overall spinach seeding machine, when the bionic furrow opener 201 adheres to the soil, a large resistance phenomenon will occur, and the walking wheels 601 are also subject to large soil resistance. When the power of the power system is large enough, installing a seeding box with a large size can improve the seeding operation efficiency.
[0041] As Figure 2 shown in the figure, the seeding wheels are double-row cup-wheel type. In this embodiment, in order to facilitate seed filling and reduce seed damage during seed scraping, the holes 101 are provided with front grooves, tail grooves or chamfers. The shape of the holes 101 is hemispherical, and the diameter of the holes 101 is 2 mm to adapt to the size of spinach seeds; the diameter of the double-row cup-wheel type seeding wheels is 50 - 80 mm, preferably 58 mm. If the diameter is too large or too small, it is not conducive to the filling of spinach seeds and may cause missed seeding; the more the number of holes 101 on the double-row cup-wheel type seeding wheels, the lower the linear speed of the cup-wheel, which is beneficial to improving the filling performance of the holes 101. The number of holes 101 is limited by the diameter of the double-row cup-wheel type seeding wheels and the distance between the holes 101. In this embodiment, the preferred number of holes 101 is 48, and the holes 101 are evenly arranged on the double-row cup-wheel type seeding wheels.
[0042] The furrow opening module 2 includes a bionic furrow opener 201. The bionic furrow opener 201 is a core share type furrow opener, and the core share type furrow opener is in the shape of a badger's canine teeth. The bionic furrow opener 201 is an acute angle type furrow opener. When working, the core share first enters the soil to open a furrow, and the two side plates divide the soil to both sides to form a seed furrow. It has a large furrow opening width, good soil entry performance, and small size, and is suitable for small seeding devices; moreover, the seed furrows opened are of the same depth, the depth can be freely adjusted, the width is appropriate, the furrow shape is neat, and it has a certain self-soil covering function.
[0043] The teeth of the hog badger can tear food with the lowest cutting resistance. The tip of the tooth is extremely sharp and hard, and has good penetration, piercing, and tearing abilities for food. During the operation of the core share type ditching tool, the process of the cutting edge acting on the soil is relatively complex. This process is a one-way linear destructive movement, and the process of the ditching tool acting on the soil is very similar to the process of the hog badger's canine teeth tearing prey: relying on the shearing action of the core share surface at the front end of the ditching tool to cut through the soil wall surface of the adjacent soil layer; as the ditching tool moves, the core share surface further destroys the force chain structure in the stable soil, making the originally relatively stable soil have a certain fluidity; relying on the extrusion action of the core share surface, the flowing soil is extruded to both sides of the core share surface; further extruding the flowing soil to gradually expand the ideal ditch shape. Therefore, the core share type ditching tool in the shape of the hog badger's canine teeth can destroy the soil with the lowest cutting resistance.
[0044] The design process of the core share type ditching tool in the shape of the hog badger's canine teeth is as follows: Place the canine teeth in the lower right of the mouth of a complete and healthy hog badger in an alcohol solution with a concentration of 28% for disinfection treatment. After soaking for 2 - 3 hours, wash it repeatedly with distilled water 20 - 30 times, and place it in a beaker to air dry naturally at room temperature. In order to obtain clear 3D point cloud data, use a developer to color its surface. Place the treated hog badger's canine teeth in a non-contact 3D scanner for scanning to obtain the complete 3D point cloud data of the canine teeth. When the hog badger's canine teeth pierce prey, the contour lines at the middle positions of its four front, back, left, and right surfaces are the parts that first come into contact with the prey, and are also the parts where the cutting of the prey is most obvious. The front and back surfaces are used to penetrate the food, and the left and right surfaces are used to fix and assist in penetration. Only about 15 mm above the tooth tip of the hog badger's canine teeth is outside the gum. Therefore, in the fitting, extract 4 contour lines Y1, Y2, Y3, Y4 at 15 mm above the tooth tip at the middle of the four front, back, left, and right surfaces of the canine teeth respectively, and expand the 4 contour lines by a ratio of 6.67 times to H = 100 mm to obtain 4 groups of point cloud data corresponding to the four contour lines. Import the 4 groups of 3D point cloud data into Matlab2018a respectively for node deletion, hole filling, and data smoothing processing, and use the interactive function to calculate the graphs of various order polynomial fittings. In this embodiment, a third-order polynomial fitting is preferably selected, and the function polyfit(x, y, 3) is selected for cubic polynomial fitting to obtain the contour curve equations of the canine teeth at the four positions, as shown in Table 1.
[0045]
[0046] Table 1
[0047] As Figure 3As shown in the figure, based on the traditional core share type furrow opener, the contour curve equation is designed for the new structure of the furrow opener: The shape of the core share type furrow opener is determined by 6 parameters, namely the ridge line radius R, the share height H, the entry angle α, the entry clearance angle ε, the inclined plane angle γ, and the width B; In order to achieve the best effect of easily breaking the soil, in this embodiment, the ridge line radius R is 250 mm to 350 mm, and the ridge line is an arc with equal curvature; The share height H = 100 mm. If the share height is too high, soil accumulation will occur, increasing the working resistance; The entry angle α is 15° to 25°. If the entry angle is too large, the entry performance is poor and the resistance will increase. If the entry angle is too small, the core share will be sharp and long, weakening its strength; The entry clearance angle is ε = 5°. If the entry clearance angle is too large, the bottom of the furrow will be uneven. If it is too small, the entry performance will deteriorate; The width B = 40 mm. The width size depends on the sowing width. In this embodiment, narrow row sowing is used; The inclined plane angle γ = 67.38°, to ensure that soil particles, stubble, and weeds slide backward along the cutting edge without being entangled or congested; The length of the furrow opener cannot be too long, as it will reduce the passing performance of the seeder. The depth-width ratio i of the furrow opener = H / B = 2.5, the thickness δ = 2 mm, and the length L = 200 mm.
[0048] The soil covering module 3 includes a disc type soil covering device 301; The disc type soil covering device 301 can push the soil accumulated on both sides during furrow opening into the furrow, and is used for soil covering with a large row spacing and a high surface coverage rate, which is suitable for furrow opening in spinach fields. After the seeds fall to the bottom of the furrow, the furrow opener covers the seeds with a layer of shallow backfill soil, and then the soil covering device is used for soil covering to reach a certain covering depth. As Figure 4 shown, the disc type soil covering device 301 is a double disc type eight-shaped soil covering device, which is convenient for pushing the soil accumulated on both sides during furrow opening by the bionic furrow opener 201 into the furrow, and is used for soil covering with a large row spacing and a high surface coverage rate, which is suitable for furrow opening in spinach fields.
[0049] The furrow opening module 2 and the soil covering module 3 are connected to the bottom of the electric push rod 7 through a T-shaped connecting rod. The furrow opening module 2 and the soil covering module 3 are integrally designed and integrated by means of welding or bolt and nut connection. The connection height is customized according to agricultural agronomy requirements; The electric push rod 7 is driven by a stepping motor to move up and down; One end of the seed conveying pipe 104 is connected to the seed outlet of the sowing wheel, and the other end is fixed on the electric push rod 7.
[0050] The fertilization module 4 includes a fertilization tank 401, a fertilization funnel 402, a fertilization turntable 403 and a fertilization motor 404. The fertilization funnel 402 is connected to the bottom of the fertilization tank 401. The hole distance is changed by changing the baffle at the hole of the fertilization funnel 402, thereby changing the fertilization amount. The fertilization turntable 403 is located directly below the fertilization funnel 402. The fertilization motor 404 drives the fertilization turntable 403 to rotate. Fertilizer falls from the outlet of the fertilization funnel 402 to the center of the fertilization turntable 403. After the fertilizer is scattered on the fertilization turntable 403, the fertilizer is sprayed out through the rotation of the fertilization turntable 403.
[0051] The seeding motor and the fertilization motor 404 are both stepper motors, so as to facilitate accurate and rapid response to control signals and achieve rapid positioning. In this embodiment, the stepper motor uses a DM542 driver, and the stepper motor is a 57 stepper motor. The 57 stepper motors are all connected to the controller.
[0052] As Figure 5 As shown, the traveling module 5 includes traveling wheels 601 and a transmission shaft 602. A transmission gear is fixed on the transmission shaft 602. The transmission gear is connected to a drive motor 603 through a chain drive. The chain drive has high transmission efficiency, strong bearing capacity, long service life, no elastic sliding and slipping phenomena, and can work in harsh environments such as high temperature, humidity, dust, and pollution. In the working environment of the land, the chain drive system can stably and reliably transmit power to ensure the smooth operation and reliability of the machine; the drive motor 603 is fixed on the frame, and the drive motor 603 is connected to the controller. The drive motor 603 is a DC motor, and the DC motor model is MY1016Z2 brushed reduction motor with a power of 350W to provide sufficient power and torque. The controller controls the stepper motor and the drive motor 603 for driving through a program.
[0053] A lidar and a gyroscope are also provided on the frame. The lidar calculates the distance by emitting a laser beam and measuring the round-trip time of the laser beam from the emission point to the target object, and is used to measure the distance to the obstacle, so as to facilitate ensuring the safe operation of the spinach planter; the gyroscope is used to measure the detection angular velocity, that is, the rotation speed of the spinach planter around the axis; the lidar and the gyroscope are connected to the controller.
[0054] The controller is an Arduino Uno control board. An opto-coupler opposed photoelectric sensor is also provided on the frame. The opto-coupler opposed photoelectric sensor consists of a transmitter and a receiver. The transmitter outputs infrared light, and the receiver detects the reflected light. The opto-coupler opposed photoelectric sensor is connected to the Arduino Uno control board. The signal pins of the transmitter and the receiver are respectively connected to the digital input / output pins of the Arduino Uno control board. A small disc is installed on the transmission shaft. When the opto-coupler opposed photoelectric sensor detects the small disc, the photoelectric sensor will generate a high-level signal. The Arduino Uno control board calculates the walking speed of the spinach planter by monitoring the change of the digital signal of the opto-coupler opposed photoelectric sensor. Connect the DM542 stepper motor driver to the Arduino Uno control board. According to the DM542 specifications, the two coils of the stepper motor are respectively connected to the digital output pins of the Arduino Uno control board. The program in the Arduino Uno control board controls the DM542 stepper motor driver through the digital output signal of the opto-coupler opposed photoelectric sensor, so as to realize the adjustment of the rotation speed of the stepper motor according to the real-time walking speed feedback of the spinach seeder, so as to maintain a specific linear speed and achieve consistent seeding spacing and uniform fertilization. According to the given walking motor speed, use the opto-coupler opposed photoelectric sensor to monitor the rotation speed of the walking motor in real time, and feedback the actual rotation speed to the controller, and then calculate the rotation speed of the seeding motor through the PID controller to ensure the stability of the seeding spacing. When the spinach seeder moves forward a certain distance, the seeding wheel will rotate a certain angle, thereby driving the seeds to fall into the grooves. When the seeds fall into the grooves, the disc type soil covering device behind the seeder will cover the soil on the seeds, and then fertilize, thus completing the tasks of ditch opening, seeding, soil covering and fertilization of the whole seeder.
[0055] The controller is also connected with a Bluetooth module, and the Bluetooth module is an HC-06 Bluetooth module, which is convenient for communication connection with a mobile terminal for real-time control. Take the Arduino Uno control board as the main controller, use the HC-06 Bluetooth module and serial communication as the data transmission method, transmit the information data to the control processor, set the seeding operation parameters by using the mobile terminal, observe the operation parameters in real time through the mobile phone or tablet, and adjust and control the operation parameters through the mobile terminal, so as to improve the efficiency, safety and reliability. The cooperation of the HC-06 Bluetooth module and the Arduino Uno control board does not require physical connection, which enhances the convenience and flexibility of operation; Bluetooth communication is convenient for the machine to communicate and transmit data with multiple devices. It can not only send commands, but also transmit the sensor data of the spinach planter in real time, which is convenient for monitoring and debugging; it is convenient to collect data from remote devices through the Bluetooth module, which helps to quickly locate and solve problems, especially when remotely debugging or locating faults.
[0056] The controller is connected to the power supply 6, which powers the entire spinach planter. The power is transmitted to the walking wheels 601 through chain drive. In this embodiment, preferably, the power is transmitted to the front wheels, and the machine moves forward. The controller controls the stepper motor to drive the electric push rod 7 to lower the bionic furrow opener 201 and the disc type soil covering device 301 into the soil. The sowing motor drives the gear to rotate, thereby rotating the sowing wheel to spread spinach seeds, realizing the operations of furrowing, sowing, and soil covering. At the same time, the fertilizer motor 404 drives the fertilizer turntable 403 to start rotating and spread fertilizer. After the sowing work is completed, the controller controls the stepper motor to turn off, stops sowing and fertilizing, and retracts the bionic furrow opener 201 and the disc type soil covering device 301 through the electric push rod 7, and disconnects the main power supply 6.
[0057] This machine adopts a modular structure, which is convenient for disassembly, assembly, adjusting the planting depth, and adjusting the row spacing according to requirements.
[0058] Embodiment 2
[0059] There is also a steering module, which includes a steering gear housing, a steering gear upper cover, a first-stage double-layer reduction gear, a second-stage double-layer reduction gear, a third-stage double-layer reduction gear, a fourth-stage double-layer reduction gear, a steering stepper motor drive gear, a steering stepper motor, a steering rack, a tie rod bolt, a steering tie rod, and a rear wheel drive shaft. The output shaft of the steering stepper motor is connected to the steering stepper motor drive gear, and the steering stepper motor drive gear meshes with the large gear of the fourth-stage double-layer reduction gear. The fourth-stage double-layer reduction gear and the second-stage double-layer reduction gear are coaxial, and the fourth-stage double-layer reduction gear is above the second-stage double-layer reduction gear. The third-stage double-layer reduction gear and the first-stage double-layer reduction gear are coaxial, and the third-stage double-layer reduction gear is above the first-stage double-layer reduction gear. The small gear of the fourth-stage double-layer reduction gear meshes with the large gear of the third-stage double-layer reduction gear. The small gear of the third-stage double-layer reduction gear meshes with the large gear of the second-stage double-layer reduction gear. The small gear of the second-stage double-layer reduction gear meshes with the large gear of the first-stage double-layer reduction gear. The small gear of the first-stage double-layer reduction gear meshes with the steering rack. The steering rack is installed in the groove inside the steering gear housing. The rotation of the steering stepper motor can slide in the groove through the above-mentioned gear meshing transmission. There are round holes at both ends of the rack, and the round holes are connected to the tie rod bolts. The upper end of the tie rod bolt passes through the steering tie rod, and the position of the tie rod is restricted by a nut. The other end of the steering tie rod is vertically connected to the steering arm through another tie rod bolt, and the steering arm is connected to the rear wheel drive shaft.
[0060] Through the steering module, complex electronic components and sensors are reduced, the reliability and stability of the system are improved, it is easy to maintain and repair, suitable for long-term operation of agricultural machinery in harsh environments, the operation is convenient, the steering control is realized through a manual operation handle, the operation is simple and intuitive, and it can flexibly respond to different terrains and operation requirements; at the same time, manual operation also reduces the dependence on the power or hydraulic system, saving energy and costs.
[0061] Embodiment III
[0062] As Figure 6 and Figure 7 shown, the number of bionic furrow openers 201 is multiple, and the specific number is determined according to the number of sowing rows required. In this embodiment, the number of bionic furrow openers 201 is 3. The number of disc soil covering devices 301, sowing modules 1 and fertilizing modules 4 that work cooperatively with the bionic furrow opener 201 is the same as that of the bionic furrow opener 201, which is 3. After the bionic furrow opener 201 is fixedly connected to the disc soil covering device 301, they are distributed and connected to the frame through connecting rods. The distance between the bionic furrow openers 201 is adjusted by nuts to ensure the plowing width of the bionic furrow opener 201, so as to ensure the planting requirements. A speed control controller is used to control the motor speed to meet the requirements of plant spacing and row spacing for spinach planting in different regions; at the same time, the soil resistance and soil adhesion are improved to improve the sowing quality.
[0063] Embodiment IV
[0064] As Figure 8 shown, in this embodiment, an ultrasonic sensor is further provided on the electric push rod 7. The ultrasonic sensor is connected to the controller. The model of the ultrasonic sensor is HC-SRO4 ultrasonic sensor, and it is installed on both sides below the stainless steel square tube at the bottom of the electric push rod 7. After the stepping motor is started, the push rod descends, and the ultrasonic sensor detects the soil penetration depth. The controller controls the stepping motor to drive the electric push rod 7 to expand and contract according to the soil penetration depth until the target position.
[0065] Embodiment V
[0066] As Figure 9 shown, in this embodiment, a detection module is further included. The detection module is connected to the controller. The detection module is a preset program, which is used to perform self-detection on whether each module is normal through the HC-020K photoelectric speed measurement module when the power supply 6 is started. When it is normal, the motor is started. When it is abnormal, the faulty module gives a fault alarm, and the fault alarm is one of a flashing light and a prompt sound. When starting the operation, first turn on the power supply 6 to supply power to the whole spinach planter. The detection module performs self-detection on whether each module is normal. When it is normal, the control parameters are adjusted through the controller and the DC motor is started to start spinach sowing.
[0067] The above are only the embodiments of the present invention. Specific technical solutions and / or common knowledge such as characteristics that are well known in the art are not described in detail here. It should be noted that for those skilled in the art, without departing from the technical solution of the present invention, several deformations and improvements can still be made, and these should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicability of the patent. The protection scope required by this application should be based on the content of its claims, and the specific implementation manners and the like recorded in the specification can be used to explain the content of the claims.
Claims
1. A small intelligent integrated spinach seeder, comprising a frame, characterized in that: The frame is equipped with a trenching module, a sowing module, a soil covering module, a fertilizing module, a controller, a Bluetooth module, and a walking module; The furrowing module includes a bionic furrowing device, which is a core-plow type furrowing device in the shape of a badger canine tooth; the sowing module includes a sowing box, a sowing wheel, a sowing motor and a seed delivery tube, the sowing wheel is rotatably connected to the seed outlet of the sowing box through the sowing device shaft, the sowing wheel is a double-row socket wheel, one end of the seed delivery tube is connected to the seed outlet of the sowing wheel, and the other end is fixed to the electric push rod; the soil covering module includes a disc-type soil covering device, the furrowing module and the soil covering module are integrated into one design and connected to the bottom of the electric push rod through a T-shaped connecting rod, the outlet of the seed delivery tube is located between the bionic furrowing device and the disc-type soil covering device, and the The electric push rod is driven by a stepper motor to move up and down; the fertilization module includes a fertilizer box, a fertilizer hopper, a fertilizer turntable and a fertilizer motor, the fertilizer funnel is connected to the bottom of the fertilizer box, the fertilizer turntable is connected to the fertilizer funnel, and the fertilizer motor drives the fertilizer turntable to rotate; the sowing motor and the fertilization motor are stepper motors; the walking module includes walking wheels and a transmission shaft, the walking wheels are fixed at both ends of the transmission shaft, and a transmission gear is fixed on the transmission shaft. The transmission gear is connected to the drive motor by a chain drive, and the drive motor is fixed on the frame. The stepper motor and the drive motor are both connected to the controller, and the controller is connected to a Bluetooth module.
2. A small intelligent integrated spinach seeder according to claim 1, characterized in that: The disc-type soil covering device is a double disc-type figure eight soil covering device.
3. The small intelligent integrated spinach seeder according to claim 1, characterized in that: The profile hole of the double-row socket wheel is hemispherical.
4. A small intelligent integrated spinach seeder according to claim 3, characterized in that: The diameter of the mold hole is 2 mm, the diameter of the double-row socket wheel is 50-80 mm, and the number of the mold holes of the double-row socket wheel is 48.
5. The small intelligent integrated spinach seeder according to claim 1, characterized in that: The electric push rod is also provided with an ultrasonic sensor, which is connected to the controller and is installed on both sides below the stainless steel square tube at the bottom of the electric push rod.
6. The small intelligent integrated spinach seeder according to claim 1, characterized in that: The driving motor is a DC motor, and the DC motor model is MY1016Z2 brush reduction motor with a power of 350W.
7. The small intelligent integrated spinach seeder according to claim 1, characterized in that: The stepper motor is a 57 stepper motor.
8. The small intelligent integrated spinach seeder according to claim 1, characterized in that: The frame is also provided with an optical coupler photoelectric sensor, which is connected to the controller.
9. The small intelligent integrated spinach seeder according to claim 1, characterized in that: It also includes a detection module, which is connected to the controller. The detection module is used to self-detect whether each module is normal when the power is started. If it is normal, the motor will be started. If it is abnormal, the fault module will issue a fault alarm. The fault alarm is one of a flashing light and a prompt sound.