Intelligent corn sowing and farming robot

Abstract

The utility model belongs to the technical field of agricultural automation and sowing cultivation, and discloses an intelligent corn sowing cultivation robot which comprises a supporting frame, visual recognition and intelligent steering structures located above and below the supporting frame, and a seed and fertilizer storage structure located in the middle of the top face of the supporting frame. A planting spacing adjusting structure is arranged on the right side of the seed and fertilizer storage structure. Through the design of visual identification and an intelligent steering structure, a visual identification camera can rapidly and accurately capture core information such as the position, the shape and the angle of a field ridge, and the field ridge is automatically adjusted to a differential operation state according to the actual condition of the ridge; the differential operation mechanism can accurately regulate and control the rotating speed and torque output of the motors on the two sides according to the extension direction of the ridge and the current operation state of the equipment, and the seeding mode can realize an unmanned seeding cultivation mode and can completely liberate manpower.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of agricultural automation and sowing tillage technology, and specifically relates to an intelligent corn sowing tillage robot. BACKGROUND

[0002] The importance of agriculture is self-evident, and corn, as the main grain crop in China, accounts for 40% of the planting area and is stably maintained above 600 million mu, ranking first in the planting of grain crops, however, the current mainstream corn sowing mechanism is mostly large equipment, which mostly relies on power auxiliary traction, is bulky, and has obvious defects in design, that is, it is difficult to adjust the horizontal sowing spacing and vertical sowing spacing, which limits the existing large corn sowing mechanism to be helpless when facing small farmland such as mountains and hills, and is difficult to adapt, in addition, since the sowing position of the large sowing machine is fixed and cannot be adjusted, its adaptability to different climates and soil conditions is also greatly discounted, although the small corn sowing machine reduces the dependence on large farmland to a certain extent, it still has the problem that the sowing mechanism position cannot be adjusted, and manual pushing is required for auxiliary operation, the degree of automation is low, and the consistency of key parameters such as sowing straightness cannot be completely guaranteed through manual operation, which not only limits the applicability of agricultural machinery in different regions, but also highlights the deficiency of the current corn sowing machine in the degree of automation. CONTENT OF THE UTILITY MODEL

[0003] In order to solve the problems in the background art, the utility model provides an intelligent corn sowing tillage robot, which comprises a supporting frame, a visual identification and intelligent steering structure located above and below the supporting frame, and a seed and fertilizer storage structure located at the middle of the top surface of the supporting frame, a planting spacing adjusting structure is arranged on the right side of the seed and fertilizer storage structure;

[0004] The visual identification and intelligent steering structure comprises a visual identification camera installed at one side of the top of the supporting frame, a fixed frame installed at the bottom of the supporting frame, and two steering shafts rotatably connected to the inner wall of the fixed frame, a connecting frame is installed at the end of the steering shaft away from the fixed frame, a driving motor is installed on the opposite side of the connecting frame, a traveling wheel is fixedly connected to the output end of the driving motor, and eight inclined rods are installed on the front and back surfaces of the fixed frame and are divided into four groups;

[0005] The planting spacing adjusting structure comprises a fixed base, movable frames located on both sides of the fixed base, and an adjusting assembly located in the middle and inside of the two movable frames, an abutting assembly is arranged on the left side of the movable frame, and a sowing assembly is arranged on the lower left side of the abutting assembly.

[0006] Preferably, the adjusting assembly comprises a middle plate installed on the top of the fixed base, a linkage sliding rail installed on the outside of the middle plate, and a screw rod transmission device installed on one side of the fixed base, an outer thread of the screw rod transmission device is connected with a threaded movable block, a rear of the middle plate is installed with a guide rod, and an outer wall of the threaded movable block is provided with a round hole matched with the guide rod.

[0007] Preferably, a middle part of the threaded movable block is provided with a movable groove, an inner wall of the movable groove is slidably connected with a gear plate, an outer wall of the gear plate is meshedly connected with a transmission gear, a front of the transmission gear is installed with a rocker, and a bottom of the gear plate is installed with a covering plate.

[0008] Preferably, the abutting assembly comprises an abutting column and a threaded rod rotatably connected to the left side of the movable frame, and a rotating rod is installed on the left side of the threaded rod.

[0009] Preferably, the sowing assembly comprises an extension block installed on the left side of the gear plate, a round rod installed on the outside of the extension block, and a mounting frame installed on the outside of the round rod, an inner wall of the mounting frame is rotatably connected with a large gear, and an outer wall of the large gear is meshedly connected with a small gear.

[0010] Preferably, the inner wall of the large gear is provided with five sliding grooves in annular distribution, and an inner wall of the sliding groove is slidably connected with a sliding block, a back of the sliding block is installed with a push rod, an inner wall of the push rod is provided with a movable groove, an inner wall of the movable groove is slidably connected with a connecting plug, an inner wall of the connecting plug is provided with a duckbill clamp, an axle rod connecting part of the duckbill clamp is further fixedly connected with a lever, and an outer wall of the mounting frame is provided with a lever wheel for abutting with the lever.

[0011] Preferably, the seed and fertilizer storage structure comprises a storage tank and a discharging pipe in communication with the storage tank and located at the bottom of the storage tank.

[0012] Compared with the prior art, the utility model has the beneficial effects as follows:

[0013] The utility model discloses a visual identification and intelligent steering structure's design makes visual identification camera can rapidly and accurately capture the position, shape and angle etc. Core information of field ridge, and according to the actual situation of field ridge is automatically adjusted to differential running state, and this differential running mechanism can accurately control the rotational speed and torque output of two side motor according to the extension direction of field ridge and the current running state of equipment, and the specific performance is when the rotational speed of the motor of the side close to field ridge slows down, and the rotational speed of the motor of the other side improves accordingly, equipment can smoothly complete steering with natural and smooth arc, thereby nimblely avoids field ridge, this not only ensures the running track of equipment when field operation always keeps accurate and stable, also effectively avoids the damage of equipment or unnecessary rolling of farmland due to the collision of field ridge, greatly improves the efficiency, accuracy and intelligent level of agricultural operation, makes the device can adapt to the seeding and cultivation of mountain and hilly topography, and this seeding mode can realize unmanned seeding and cultivation mode and can completely liberate manual work.

[0014] The utility model discloses a design through adjusting assembly, under the action of screw rod transmission device can drive one of the movable frame rotation, and under the action of linkage slide rail can drive another movable frame rotation to further drive the lateral adjustment of the soil covering plate and seeding assembly, and through the rotation of the rocker arm drive transmission gear rotation to further drive the gear plate to move down to realize the longitudinal adjustment of the soil covering plate and seeding assembly, save one motor at the same time, more cost -effective.

[0015] The utility model discloses a design through seeding assembly, the rotation of the pinion can drive the rotation of the gear wheel, at this moment, the sliding block can slide in the sliding block groove inner wall and will link push rod and move, and the change of the position of the connecting plug directly influences the diameter size of the seeding wheel, thereby the quick and accurate adjustment of the seeding plant spacing meets the planting demand of different crops. ACCURACY

[0016] Figure 1 It is whole structure schematic drawing for the utility model;

[0017] Figure 2 It is overhead structure schematic drawing for the utility model;

[0018] Figure 3 It is planting spacing adjusting structure schematic drawing for the utility model;

[0019] Figure 4 It is whole structure schematic drawing for the utility model seeding assembly Figure 1 ;

[0020] Figure 5 It is whole structure schematic drawing for the utility model seeding assembly Figure 2 ;

[0021] Figure 6 It is the whole section structure schematic view of the sowing assembly of the utility model;

[0022] Figure 7 It is the visual identification and intelligent steering structure schematic view of the utility model;

[0023] Figure 8 It is the seed and fertilizer storage structure schematic view of the utility model.

[0024] In the figure: 1, support frame; 2, visual identification and intelligent steering structure; 21, visual identification camera; 22, fixed frame; 23, steering shaft; 24, connecting frame; 25, drive motor; 26, traveling wheel; 27, inclined rod; 3, seed and fertilizer storage structure; 31, storage tank; 32, discharging pipe; 4, planting spacing adjustment structure; 41, fixed base; 42, movable frame; 43, adjustment assembly; 431, middle plate; 432, linkage sliding rail; 433, screw rod transmission device; 434, threaded movable block; 435, guide rod; 436, gear plate; 437, transmission gear; 438, rocker; 439, covering plate; 44, abutting assembly; 441, abutting column; 442, threaded rod; 443, rotating rod; 45, sowing assembly; 451, extension block; 452, round rod; 453, mounting frame; 454, large gear; 4541, sliding groove; 4542, sliding block; 455, pinion; 456, push rod; 457, connecting plug; 458, duckbill forceps; 459, lever; 4591, pulley. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the utility model will be described clearly and completely below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0026] As Figures 1 to 8 shown, the utility model provides a kind of intelligent corn sowing tillage robot, including support frame 1 and the visual identification and intelligent steering structure 2 located above and below support frame 1, and the seed and fertilizer storage structure 3 located at the middle part of the top surface of support frame 1, the right side of seed and fertilizer storage structure 3 is provided with planting spacing adjustment structure 4;

[0027] The visual recognition and intelligent steering structure 2 comprises a visual recognition camera 21 mounted at one side of the top of the support frame 1 and a fixed frame 22 mounted at the bottom of the support frame 1, and two steering shafts 23 rotatably connected to the inner wall of the fixed frame 22, and a connecting frame 24 mounted at the end of the steering shaft 23 away from the fixed frame 22, and a drive motor 25 mounted at the opposite side of the connecting frame 24, and an advancing wheel 26 fixedly connected to the output end of the drive motor 25, and eight inclined rods 27 mounted on the front and back of the fixed frame 22 and evenly divided into four groups.

[0028] The planting spacing adjusting structure 4 comprises a fixed base 41, movable frames 42 located on both sides of the fixed base 41, and an adjusting assembly 43 located in the middle and inside of the two movable frames 42, and an abutting assembly 44 is arranged on the left side of the movable frame 42, and a seeding assembly 45 is arranged on the lower left side of the abutting assembly 44.

[0029] By means of the visual recognition and intelligent steering structure 2, the visual recognition camera 21 can quickly and accurately capture the core information such as the position, shape and angle of the ridge in the field, and automatically adjust to the differential operation state according to the actual situation of the ridge. The differential operation mechanism can accurately control the rotating speed and torque output of the two motors according to the extension direction of the ridge and the current running state of the equipment, which specifically means that when the rotating speed of the motor on one side of the ridge slows down and the rotating speed of the motor on the other side correspondingly increases, the equipment can smoothly complete the steering with a natural and smooth arc, thereby flexibly avoiding the ridge. This not only ensures that the running track of the equipment in the field is always accurate and stable, but also effectively avoids the damage of the equipment caused by collision with the ridge or unnecessary rolling of the farmland, greatly improving the efficiency, accuracy and intelligent level of agricultural operation, so that the device can adapt to the seeding and plowing in mountainous and hilly terrains, and this seeding method can realize unmanned seeding and plowing, which can completely liberate manual labor.

[0030] As shown in Figures 1 to 8 The adjusting assembly 43 comprises a middle plate 431 mounted on the top of the fixed base 41, a linkage sliding rail 432 mounted on the outside of the middle plate 431, a screw rod transmission device 433 mounted on one side of the fixed base 41, a threaded movable block 434 threadedly connected to the outside of the screw rod transmission device 433, a guide rod 435 mounted at the back of the middle plate 431, a circular hole adapted to the guide rod 435 formed in the outer wall of the threaded movable block 434, an activity groove provided in the middle of the threaded movable block 434 and slidably connected with a gear plate 436 in the inner wall of the activity groove, a transmission gear 437 meshingly connected to the outer wall of the gear plate 436, a rocker 438 mounted at the front of the transmission gear 437, and a covering plate 439 mounted at the bottom of the gear plate 436.

[0031] With the above scheme: by adjusting the design of the assembly 43, one of the movable frames 42 can be rotated under the action of the lead screw transmission device 433, and the other movable frame 42 can be rotated under the action of the linkage sliding rail 432, thereby further driving the transverse adjustment of the covering plate 439 and the seeding assembly 45, and rotating the rocker 438 to drive the transmission gear 437 to rotate, thereby further driving the gear plate 436 to move downward, thereby realizing the longitudinal adjustment of the covering plate 439 and the seeding assembly 45, while saving one motor and being more cost-saving. Through the design of the seeding assembly 45, the rotation of the pinion gear 455 can drive the rotation of the gear wheel 454, at this time the sliding block 4542 can slide in the sliding block groove inner wall and will link the push rod 456 to translate, the push rod 456 further drives the connection plug 457 to move, and the change of the position of the connection plug 457 directly affects the diameter of the seeding wheel, thereby quickly and accurately adjusting the seeding plant spacing to meet the planting requirements of different crops, so that the device can adapt to different climates, different soil requirements of corn planting plant spacing and row spacing, and achieve the requirement of corn planting universality in different climates and soil regions. When the installation frame 453 rotates, the pawl 459 blocks the push rod 459, so that the duckbill clamp 458 is opened to achieve the purpose of controlling the seed falling time.

[0032] As shown in Figures 1 to 8 The abutting assembly 44 includes an abutting column 441 and a threaded rod 442 rotatably connected to the left side of the movable frame 42, the left side of the threaded rod 442 is provided with a rotating rod 443, the seeding assembly 45 is installed on the left side of the gear plate 436, the extension block 451 and the circular rod 452 installed outside the extension block 451 are installed on the left side of the gear plate 436, and the mounting frame 453 is installed outside the circular rod 452. The inner wall of the mounting frame 453 is rotatably connected with the gear wheel 454, and the outer wall of the gear wheel 454 is meshingly connected with the pinion gear 455.

[0033] With the above scheme: rotating the rocker 438 can drive the transmission gear 437 to rotate, thereby driving the gear plate 436 to move downward, and the gear plate 436 drives the seeding structure and the covering plate 439 to rise and fall when moving downward, so as to realize the purpose of controlling the seeding depth and the height of the covering plate 439. By rotating the rotating rod 443, the threaded rod 442 can be rotated to push the abutting column 441 to move, so that the abutting column 441 abuts against the transmission gear 437, thereby clamping the transmission gear 437 so that the device cannot complete the vertical movement to realize the locking effect.

[0034] As shown in Figures 1 to 8As shown, the inner wall of the large gear 454 is provided with five sliding grooves 4541 in annular distribution, and the inner wall of the sliding grooves 4541 is slidably connected with sliding blocks 4542, the back surface of the sliding blocks 4542 is provided with a push rod 456, the inner wall of the push rod 456 is provided with a movable groove, and the inner wall of the movable groove is slidably connected with a connecting plug 457, the inner wall of the connecting plug 457 is provided with a duckbill clamp 458, and the shaft rod connecting portion of the duckbill clamp 458 is further fixedly connected with a push rod 459, the outer wall of the mounting frame 453 is provided with a push wheel 4591 for abutting against the push rod 459, and the seed and fertilizer storage structure 3 comprises a storage tank 31 and a discharging pipe 32 in communication with the storage tank 31 and located at the bottom of the storage tank 31.

[0035] By adopting the above scheme, the front end of the storage tank 31 stores seeds, and the rear end can store water or fertilizer, a hose is connected to the seed tank and the part of the covering plate 439, the bottom of the discharging pipe 32 is provided with a recessed hole shaft to realize flow control of the fertilizer, the seed tank is connected between the bearing and the mounting frame 453, the mounting frame 453 can fix the position of the seed tank, and the seed tank is in communication with the connecting plug.

[0036] The working principle of the utility model is as follows:

[0037] First, before the operation, the corn seeds are placed in the front end of the storage box 31, and an appropriate amount of water or fertilizer is placed at the rear end according to the planting requirements, and the storage box 31 is connected with the seed box and the soil covering plate 439 part through the hose, and the recessed hole shaft at the bottom of the discharge pipe 32 is in the initial state to prepare for flow control. After starting the device, the visual recognition camera 21 located at the top of the support frame 1 starts to work, quickly scans the field environment, accurately captures the position, shape and angle of the ridge and other key information, and controls the two drive motors 25 at the bottom of the fixed frame 22 to enter the differential operation mode. When the drive motor 25 on one side of the ridge approaches reduces the speed, and the speed on the other side increases, the traveling wheel 26 drives the device to complete the steering with a smooth arc, thereby skillfully avoiding the ridge, ensuring that the device runs stably in the field according to the predetermined accurate trajectory, avoiding collision with the ridge to cause damage to the device or crushing of the farmland, enabling the device to adapt to complex terrains such as mountains and hills, laying a foundation for subsequent seeding operations, and at the same time opening the unmanned seeding and tillage mode, freeing manpower. When reaching the seeding area, adjust the seeding plant spacing according to the planting requirements, rotate the small gear 455 engaged with the large gear 454, and the small gear 455 drives the large gear 454 to rotate. At this time, the sliding block 4542 in the sliding groove 4541 on the inner wall of the large gear 454 slides in the sliding groove wall, and the push rod 456 translates in linkage, further driving the connecting plug 457 to move, thereby changing the diameter of the seeding wheel. Then, according to the soil condition and the planting depth requirement, rotate the rocker 438 of the adjusting assembly 43, the rocker 438 drives the transmission gear 437 to rotate, the transmission gear 437 drives the gear plate 436 to move down, and then drives the seeding assembly 45 and the soil covering plate 439 to descend to the appropriate height, realizing accurate control of the seeding depth and the height of the soil covering plate 439, creating good soil covering conditions for seed germination and initial growth. During the seeding process, when the mounting frame 453 rotates, the pawl 459 blocks the lever 459, causing the duckbill clamp 458 to open, the seeds enter the seeding assembly 45 from the storage box 31 through the connecting plug, and fall into the soil through the duckbill clamp 458 to control the falling time, accurately falling into the soil. At the same time, the rotating rod 443 can be rotated as needed, the rotating rod 443 drives the threaded rod 442 to rotate, causing the threaded rod 442 to push the abutment column 441 to move, the abutment column 441 abuts against the transmission gear 437, clamping the driven gear, thereby locking the device to prevent changes in seeding depth and plant spacing caused by vibration and other factors during seeding, ensuring the stability and accuracy of the seeding operation. After the operation is completed, the device continues to move forward, and the visual recognition camera 21 continues to monitor the field environment, preparing for the next round of seeding operation or steering operation, and so on, efficiently and accurately completing the corn seeding and tillage task.

[0038] It is to be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0039] While the embodiments of the present application have been illustrated and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and alterations can be made therein without departing from the spirit and scope of the application, which is defined by the appended claims and their equivalents.

Claims

1. An intelligent corn planting and tillage robot, characterized in that: Including support frame (1) and visual identification and intelligent steering structure (2) located above and below the support frame (1), and the seed and fertilizer storage structure (3) is located at the middle of the top surface of the support frame (1), the right side of the seed and fertilizer storage structure (3) is provided with planting spacing adjusting structure (4); The visual identification and intelligent steering structure (2) includes a visual identification camera (21) mounted on one side of the top of the support frame (1) and a fixed frame (22) mounted on the bottom of the support frame (1), and two steering shafts (23) are rotatably connected to the inner wall of the fixed frame (22), one end of the steering shaft (23) away from the fixed frame (22) is provided with a connecting frame (24), the opposite side of the connecting frame (24) is provided with a driving motor (25), the output end of the driving motor (25) is fixedly connected with a traveling wheel (26), and eight inclined rods (27) are arranged on the front and back of the fixed frame (22) and are evenly divided into four groups. The planting spacing adjusting structure (4) includes a fixed base (41), two movable frames (42) located on both sides of the fixed base (41), and an adjusting assembly (43) located in the middle and inside of the two movable frames (42), and the left side of the movable frame (42) is provided with an abutting assembly (44), and the left lower side of the abutting assembly (44) is provided with a sowing assembly (45).

2. The intelligent corn planting and tillage robot according to claim 1, wherein: The adjusting assembly (43) includes a middle plate (431) mounted on the top of the fixed base (41), a linkage sliding rail (432) mounted on the outside of the middle plate (431), and a screw rod transmission device (433) mounted on one side of the fixed base (41), the outside of the screw rod transmission device (433) is threadedly connected with a threaded movable block (434), the rear of the middle plate (431) is provided with a guide rod (435), and the outer wall of the threaded movable block (434) is provided with a circular hole matched with the guide rod (435).

3. The intelligent corn planting tillage robot according to claim 2, wherein: The middle of the threaded movable block (434) is provided with a movable groove, and the inner wall of the movable groove is slidably connected with a gear plate (436), the outer wall of the gear plate (436) is meshedly connected with a transmission gear (437), the front of the transmission gear (437) is provided with a rocker (438), and the bottom of the gear plate (436) is provided with a covering plate (439).

4. The intelligent corn planting tillage robot of claim 1, wherein: The abutting assembly (44) includes an abutting column (441) and a threaded rod (442) rotatably connected to the left side of the movable frame (42), and the left side of the threaded rod (442) is provided with a rotating rod (443).

5. The intelligent corn planting tillage robot of claim 1, wherein: The sowing assembly (45) is installed on the left side of the gear plate (436) and is provided with an extension block (451) and a circular rod (452) mounted on the outside of the extension block (451), and an installation frame (453) is mounted on the outside of the circular rod (452), the inner wall of the installation frame (453) is rotatably connected with a large gear (454), and the outer wall of the large gear (454) is meshedly connected with a small gear (455).

6. The intelligent corn planting tillage robot according to claim 5, wherein: The inner wall of the big gear (454) is provided with five sliding grooves (4541) in annular distribution, and the inner wall of the sliding groove (4541) is slidably connected with a sliding block (4542), the back surface of the sliding block (4542) is provided with a push rod (456), the inner wall of the push rod (456) is provided with a movable groove, and the inner wall of the movable groove is slidably connected with a connecting plug (457), the inner wall of the connecting plug (457) is provided with a duckbill forceps (458), and the shaft rod connecting portion of the duckbill forceps (458) is further fixedly connected with a push rod (459), and the outer wall of the mounting frame (453) is provided with a push wheel (4591) for abutting against the push rod (459).

7. The intelligent corn planting tillage robot of claim 1, wherein: The seed and fertilizer storage structure (3) comprises a storage tank (31) and a discharging pipe (32) communicated with the storage tank (31) and located at the bottom of the storage tank (31).

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