An automatic seeder for leafy vegetable seeding

Abstract

The utility model relates to an automatic seeding machine for leafy vegetable sowing, including frame and mobile chassis, be provided with distribution control module on the frame, and the top of frame is provided with and is connected with the laser radar for real -time scanning farmland environment of distribution control module, the ploughing module, ditching device, seeding device and covering device are sequentially arranged on the frame along the advancing direction of mobile chassis, and all with distribution control module intercommunication and by distribution control module control operation. The utility model aims at providing an automatic seeding machine for leafy vegetable sowing, adopts modularization interface design, has fused SLAM autonomous navigation technology, realizes the modularization function of sowing and harvesting all -in -one, through multiple combination modes, completes rotary tillage, sowing, covering, harvesting and so on, realizes autonomous remote control, automatic sowing, automatic harvesting and so on.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of vegetable seeding, especially to an automatic seeding machine for leafy vegetable seeding. BACKGROUND

[0002] With the rapid development of science and technology, the modular vegetable industry develops rapidly, so new requirements are put forward for the matching planting and harvesting equipment, and the traditional matching vegetable planting and harvesting equipment cannot meet the current development trend of agricultural intelligence, refinement, greenness and high efficiency, resulting in problems such as large plowing intensity, troublesome seed spacing adjustment and low manual harvesting efficiency. SUMMARY

[0003] The utility model aims at providing an automatic seeding machine for leafy vegetable seeding, which adopts a modular interface design, integrates SLAM autonomous navigation technology, realizes the modular function of the seeding and harvesting all-in-one machine, and realizes autonomous remote control, automatic seeding and automatic harvesting through various combination modes to complete the actions of rotary plowing, seeding, soil covering and harvesting.

[0004] In order to achieve the above purpose, the utility model adopts the technical scheme of an automatic seeding machine for leafy vegetable seeding, which comprises a vehicle frame and a mobile chassis, a power distribution control module is arranged on the vehicle frame, a laser radar for real-time scanning of farmland environment is arranged on the top of the vehicle frame and connected with the power distribution control module, a plowing module, a furrowing device, a seeding device and a soil covering device are arranged on the vehicle frame in sequence along the advancing direction of the mobile chassis, and are all in communication with and controlled by the power distribution control module.

[0005] Preferably, the mobile chassis comprises two universal wheels and two mobile motor supports installed on the vehicle frame, a mobile motor is installed on the mobile motor support, and the mobile motor is connected with a driving wheel through a wheel coupling.

[0006] Preferably, the plowing module comprises a fixed plate connected with the vehicle frame, a vertical electric telescopic rod connected with the fixed plate, a plowing motor connected with the electric telescopic rod, a plowing shaft connected with the plowing motor through a plowing coupling, and a plowing knife sleeved on the plowing shaft.

[0007] Preferably, the furrowing device comprises a motor integrated seat installed on the vehicle frame, a furrowing motor arranged on the motor integrated seat, a lead screw connected with the furrowing motor through a furrowing coupling, a furrowing lifting block matched with the lead screw, and two groups of furrowing blades connected with the furrowing lifting block through aluminum supports.

[0008] Preferably, the sowing device comprises a bottom plate arranged on the vehicle frame and two sowing mounting seats, a limiting seat is arranged on the sowing mounting seat, a rotatable perforated sowing disc is arranged in the limiting seat, a driven pulley and a driving pulley are arranged on the rotating shafts of the two perforated sowing discs respectively, and the driven pulley and the driving pulley are matched with a synchronous belt, a sowing motor support is installed below the bottom plate, a stepping motor is installed on the sowing motor support, and the stepping motor drives the rotating shafts of the perforated sowing discs through a belt transmission structure.

[0009] Preferably, the covering device comprises a covering connecting plate installed on the vehicle frame through the frame connecting rod, a light shaft is installed below the covering connecting plate through the L-shaped connecting piece, shock absorbers are connected to the two ends of the light shaft, the other ends of the shock absorbers are matched with concentric rods, and the two concentric rods are jointly connected with covering rollers.

[0010] The technical effect of the utility model is that: adopting modular interface design, integrating SLAM autonomous navigation technology, realizing the modular function of sowing and harvesting all-in-one machine; through various combination modes, completing rotary tillage, sowing, covering and harvesting, realizing autonomous remote control, automatic sowing and automatic harvesting functions. In addition, each module focuses on specific functions, which can reduce non-functional components, reduce the overall size, optimize the layout and component design inside the module, integrate multiple modules into a small control system, reduce space occupation; so as to realize the miniaturization of the utility model. The miniaturization of the utility model greatly improves the response speed and working efficiency in the scene of agricultural seeding which needs rapid deployment and frequent movement, and the required materials are less, which greatly reduces the cost. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 It is a three-dimensional schematic view of an automatic sowing machine for leafy vegetable sowing.

[0012] Figure 2 It is a three-dimensional schematic view of a mobile chassis.

[0013] Figure 3 It is a three-dimensional schematic view of a furrowing device.

[0014] Figure 4 It is a three-dimensional schematic view of a sowing device.

[0015] Figure 5 It is a three-dimensional schematic view of a tillage device.

[0016] Figure 6 It is a three-dimensional schematic view of a covering device.

[0017] The text annotations shown in the figure are: 1, frame; 2, moving chassis; 3, laser radar; 4, ditching device; 5, seeding device; 6, tillage module; 7, covering device; 8, electric telescopic rod; 23, aluminum support; 27, moving motor support; 29, moving motor; 30, wheel coupling; 31, drive wheel; 32, universal wheel; 38, tillage knife; 39, light pole; 40, tillage rotating shaft; 43, ditching motor, 44, motor integrated seat; 46, ditching coupling; 47, screw rod; 50, ditching lifting block, 51, ditching blade; 57, bottom plate; 61, seeding mounting seat; 75, seeding motor support; 59, perforated seeding disc; 63, limiting seat; 67, driven pulley; 68, synchronous belt; 72, belt; 73, driven pulley; 74, stepping motor; 81, tillage motor; 82, fixed plate; 83, tillage coupling; 90, shock absorber; 91, L-shaped connecting piece; 92, light shaft; 94, rack connecting rod; 96, concentric rod; 98, covering roller; 99, covering connecting plate. DETAILED DESCRIPTION

[0018] In order for those skilled in the art to better understand the technical scheme of the utility model, the utility model will be described in detail below in combination with the drawings, and the description in this part is only exemplary and explanatory, and should not have any limiting effect on the protection scope of the utility model.

[0019] As Figure 1 shown, the utility model discloses an automatic seeding machine for leafy vegetable seeding, including frame 1 and moving chassis 2, be provided with distribution control module on frame 1, and the top of frame 1 is provided with laser radar 3 for real-time scanning farmland environment with distribution control module connection, frame 1 is sequentially provided with tillage module 6, ditching device 4, seeding device 5 and covering device 7 along the advancing direction of moving chassis 2, and all are communicated with distribution control module and are controlled to operate by distribution control module.

[0020] The specific operation is as follows: the distribution control module can be equipped with a wireless remote control, and the corresponding control is carried out through the wireless remote control. Specifically, the automatic seeding machine is started by controlling the wireless remote control, so that the moving chassis 2 moves. At the same time of moving, the tillage module 6 rotates the farmland, the ditching device 4 ditches the land after rotating, the seeding device 5 seeds the seeds of leafy vegetables into the ditch, and then the covering device 7 is operated to cover the soil, and the seeds are covered. During the moving process, the laser radar 3 is matched with the Raspberry Pi, the ROS carried by the Raspberry Pi receives the measurement information from the laser radar, and a three-dimensional map of the farmland environment is constructed in real time by using the SLAM algorithm. In this process, the system can identify and automatically avoid obstacles such as crop residues and stones, so as to ensure the continuity and accuracy of the seeding operation.

[0021] AsFigure 2 As shown in the figure, the mobile chassis 2 includes two universal wheels 32 mounted on the frame 1 and two mobile motor supports 27, on which the mobile motor 29 is mounted, and the mobile motor 29 is connected with the driving wheel 31 through the wheel shaft 31.

[0022] The specific operation of the mobile chassis 2 is as follows: when driving straight, the rotating speeds of the two mobile motors 29 are consistent, and the four-wheel rotation movement is realized by driving the universal wheels 32 through the driving wheels 31, and when turning, the rotating speeds of the two driving wheels 31 are made different by adjusting the rotating speeds of the two mobile motors 29, thereby realizing the turning operation.

[0023] As shown in the figure, Figure 5 As shown in the figure, the plowing module includes a fixed plate 82 connected with the frame 1, a vertical electric telescopic rod 8 connected with the fixed plate 82, a plowing motor 81 connected with the electric telescopic rod 8, a plowing shaft 40 connected with the plowing motor 81 through a plowing shaft 83, and a plowing knife 38 sleeved on the plowing shaft 40.

[0024] The specific plowing operation is as follows: first, the plowing shaft 83 and the plowing shaft 40 are driven to rotate by the plowing motor 81, so that the rotation of the plowing knife 38 (the plowing knife is a rotary plowing knife) is realized, and then the plowing motor 81 and the plowing shaft 40 are driven to descend as a whole by the electric telescopic rod 8, so that the plowing knife 38 contacts the farmland and performs rotary plowing on the farmland.

[0025] As shown in the figure, Figure 3 As shown in the figure, the ditching device 4 includes a motor integrated seat 44 mounted on the frame 1, a ditching motor 43 provided on the motor integrated seat 44, a lead screw 47 connected with the ditching motor 43 through a ditching shaft 46, a ditching lifting block 50 matched with the lead screw 47, and two groups of ditching blades 51 connected with the ditching lifting block 50 through the aluminum support 23.

[0026] The specific ditching process is as follows: first, the lead screw 47 is driven to rotate by the ditching motor 43, so that the ditching lifting block 50 is lowered on the lead screw 47, and then the two groups of ditching blades 51 are inserted into the farmland after rotary plowing, and the ditching is realized as the mobile chassis 2 advances. Since it is the farmland just after rotary plowing, the difficulty of ditching is small.

[0027] As shown in the figure, Figure 4As shown, the seeding device comprises a bottom plate 57 and two seeding mounting seats 61 arranged on the frame 1, the limiting seat 63 is arranged on the seeding mounting seat 61, the rotatable perforated seeding disc 59 is arranged in the limiting seat 63, the driving pulley 67 and the driving pulley 73 are arranged on the rotating shafts of the two perforated seeding discs 59 respectively, and the synchronous belt 68 is matched with the driving pulley 67 and the driving pulley 73, the seeding motor support 75 is installed below the bottom plate 57, the stepping motor 74 is installed on the seeding motor support 75, and the rotating shaft of the perforated seeding disc 59 is driven by the belt 72 transmission structure.

[0028] Specifically, the seeding is as follows: by rotating the stepping motor 74 by one step angle, one of the rotating shafts of the perforated seeding discs 59 can be driven to rotate by one angle through the belt 72 transmission structure, and under the action of the driving pulley 67, the driving pulley 73 and the synchronous belt 68, the other perforated seeding disc 59 will also rotate by one angle. Since the perforated seeding disc 59 is limited in the limiting seat 63, eccentric rotation does not occur. When the rotating shaft of the perforated seeding disc 59 rotates by one scale, the required seeds will be scattered. With the continuous advancement of the moving chassis 2, the stepping motor 74 rotates by one step angle at intervals, so that the seeding can be completed in the opened ditch at intervals.

[0029] As Figure 6 As shown, the covering device 7 comprises a covering connecting plate 99 installed on the frame 1 through the frame connecting rod 94, the optical shaft 92 is installed below the covering connecting plate 99 through the L-shaped connecting piece 91, the shock absorber 90 is connected at both ends of the optical shaft 92, the other end of the shock absorber 90 is matched with the concentric rod 96, and the two concentric rods 96 are jointly connected with the covering roller 98.

[0030] The covering device moves with the moving chassis 2, and in the moving process, the covering roller 98 fills the seeded ditch, thereby completing the covering operation.

[0031] It should be noted that in this paper, the terms "including", "containing" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or equipment.

[0032] The principle and implementation mode of the present application are described by using specific examples herein, and the above examples are only used for helping to understand the method and core idea of the present application; the above description is only the preferred implementation mode of the present application, and it should be pointed out that, due to the limited nature of the expression, there are objectively infinite specific structures, and for ordinary skilled persons in the technical field, some improvements, decorations or changes can be made without departing from the principle of the present application, and the above technical features can also be combined in a proper way; the improvements, decorations, changes or combinations, or the direct application of the concept and technical solution of the present application to other occasions without improvement, should be regarded as the protection scope of the present application.

Claims

1. An automatic seeder for leafy vegetable seeding, comprising a frame (1) and a mobile chassis (2), characterized in that, The frame (1) is provided with a power distribution control module, and the top of the frame (1) is provided with a laser radar (3) connected with the power distribution control module for real-time scanning of farmland environment, and the frame (1) is provided with a cultivation module (6), a ditching device (4), a seeding device (5) and a covering device (7) in sequence along the advancing direction of the mobile chassis (2), and all are communicated with and controlled by the power distribution control module.

2. The automatic seeder for leafy vegetable seeding according to claim 1, characterized in that, The mobile chassis (2) comprises two universal wheels (32) and two mobile motor supports (27) mounted on the frame (1), and a mobile motor (29) is mounted on the mobile motor support (27), and the mobile motor (29) is connected with a driving wheel (31) through a wheel shaft coupling (30).

3. The automatic seeder for leafy vegetable seeding according to claim 1, characterized in that, The cultivation module comprises a fixed plate (82) connected with the frame (1), a vertical electric telescopic rod (8) connected with the fixed plate (82), a cultivation motor (81) connected with the electric telescopic rod (8), a cultivation shaft (40) connected with the cultivation motor (81) through a cultivation shaft coupling (83), and a cultivation knife (38) sleeved on the cultivation shaft (40).

4. The automatic seeder for leafy vegetable seeding according to claim 1, characterized in that, The ditching device (4) comprises a motor integrated seat (44) mounted on the frame (1), a ditching motor (43) provided on the motor integrated seat (44), a lead screw (47) connected with the ditching motor (43) through a ditching shaft coupling (46), a ditching lifting block (50) matched with the lead screw (47), and two groups of ditching blades (51) connected with the ditching lifting block (50) through aluminum supports (23).

5. The automatic seeder for leafy vegetable seeding according to claim 1, characterized in that, The seeding device comprises a bottom plate (57) and two seeding installation seats (61) provided on the frame (1), a limiting seat (63) provided on the seeding installation seat (61), a rotatable perforated seeding disc (59) provided in the limiting seat (63), a driven pulley (67) and a driving pulley (73) provided on the shafts of the two perforated seeding discs (59), respectively, and a synchronous belt (68) matched with the driven pulley (67) and the driving pulley (73), a seeding motor support (75) mounted below the bottom plate (57), a stepping motor (74) mounted on the seeding motor support (75), and the shafts of the perforated seeding discs (59) driven by a belt (72) transmission structure.

6. The automatic seeder for leafy vegetable seeding according to claim 1, characterized in that, The covering device (7) comprises a covering connecting plate (99) mounted on the frame (1) through a rack connecting rod (94), a light shaft (92) mounted below the covering connecting plate (99) through an L-shaped connecting piece (91), shock absorbers (90) connected at both ends of the light shaft (92), concentric rods (96) matched at the other ends of the shock absorbers (90), and a covering roller (98) connected with the two concentric rods (96).

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