Automatic sowing agricultural robot capable of being developed secondarily

Abstract

The utility model belongs to the technical field of agricultural robots, and particularly relates to an automatic seeding agricultural robot capable of being developed secondarily, which comprises a rack and wheels, the rack is spliced with corner connectors through aluminum profiles, the rack drives a front wheel to steer through an Ackerman steering mechanism, one end of the rack is provided with a vehicle driving mechanism, and the other end of the rack is provided with a rear wheel. The vehicle driving mechanism drives the rear wheels to rotate, a supporting plate is fixedly installed at one end of the rack, the top end face of the supporting plate is fixedly connected with a water tank, the tail of the rack is fixedly connected with a water sprinkler which sprinkles water backwards, the water sprinkler is communicated with the water tank through a pipeline, and one end of the rack is fixedly connected with a seed bin, a seeder and a seeding opening. According to the automatic seeding agricultural robot, the seed bin, the seeder and the seeding opening are sequentially communicated and cooperatively complete seeding work, secondary development of the robot can be achieved through the Raspberry Pi control unit and the rack, the requirement of a user for secondary development is met, meanwhile, the robot is compatible with multiple programming languages, universality of the robot is achieved, and the rack is spliced with corner connectors through aluminum profiles.

Description

Technical Field

[0001] This utility model belongs to the field of agricultural robot technology, specifically relating to an automatic seeding agricultural robot that can be further developed. Background Technology

[0002] With the continuous development of science and technology, the research and application of agricultural robot technology have continued to deepen. Especially in the agricultural field, the demand for such robots is gradually emerging and growing rapidly. In recent years, with the continuous progress of computer science and automation technology, the application fields of agricultural robots have continued to expand. At present, various types of seeding robots have appeared on the market. They usually include components such as a vehicle body, a soil turning mechanism, a seeding mechanism, and a soil covering mechanism. The vehicle body can walk along a preset seeding route, driving the various mechanisms to work together. The soil turning mechanism is used to loosen the soil and provide suitable soil conditions for seeding. The seeding mechanism is responsible for dropping the seeds one by one into the loosened soil. The soil covering mechanism is used to cover the seeds and complete the entire seeding process. However, these robots are usually expensive. Although they can work intelligently through program control, they are difficult to be further developed. For small-scale experimental fields, farmland, or complex terrain scenarios, their application scope is relatively limited. Utility Model Content

[0003] To address the problems mentioned in the background section, this invention provides an automatically developed agricultural seeding robot. The robot can be further developed using its Raspberry Pi control unit and frame.

[0004] To achieve the above objectives, this utility model provides the following technical solution: an automatically developed agricultural robot for seeding, comprising a frame and wheels. The frame is assembled with aluminum profiles and corner brackets. The frame drives the front wheels to steer via an Ackermann steering mechanism. A vehicle drive mechanism is installed at one end of the frame, which drives the rear wheels to rotate. A tray is fixedly installed at one end of the frame, and a water tank is fixedly connected to the top surface of the tray. A water sprinkler for spraying water backwards is fixedly connected to the rear of the frame. The water sprinkler is connected to the water tank via a pipe. A seed bin, a seeder, and a seeding port are fixedly connected at one end of the frame. The seed bin, seeder, and seeding port are sequentially connected and work together to complete the seeding operation. A trailing plow lifting device is fixedly installed at one end of the frame. A trailing plow head is fixedly connected to the telescopic end of the trailing plow lifting device. A soil-turning bracket is installed at the head of the frame. A rotating shaft is rotatably connected to the end of the soil-turning bracket. A soil-turning wheel, a blade wheel, or a needle wheel is fixedly connected to the outer side of the rotating shaft. A soil-covering wheel is installed at the bottom of the rear of the frame.

[0005] As a preferred embodiment of this utility model of an automatic seeding agricultural robot that can be further developed, one end of the soil-turning bracket is fixedly connected to a second driver, which is used to drive the rotating shaft to rotate.

[0006] As a preferred embodiment of this utility model of an automatically seeding agricultural robot that can be further developed, an ultrasonic ranging module is fixedly connected to the bottom of the frame.

[0007] As a preferred embodiment of the automatically seeding agricultural robot of this utility model that can be further developed, the head of the frame is rotatably connected to the top of the soil-turning support, and a first driver is fixedly connected to one end of the frame. The first driver is used to rotate the soil-turning support.

[0008] As a preferred embodiment of the automatically seeding agricultural robot of this utility model that can be further developed, an auxiliary support is fixedly connected between the two soil-turning supports, and a scraper is fixedly connected to one end of the auxiliary support.

[0009] Compared with the prior art, the beneficial effects of this utility model are: the automatic seeding agricultural robot can utilize its Raspberry Pi control unit and frame to realize the robot's secondary development, meeting the user's secondary development needs, while being compatible with multiple programming languages, realizing the robot's versatility. The frame is assembled with aluminum profiles and corner brackets, and the shape, size and structure of the frame can be changed according to needs. According to the adjustment of the frame structure, the position of each module can be changed or modules can be added, making it widely applicable and highly practical. Moreover, the setting of turning wheels, blade wheels and needle wheels makes up for the problem of low frame structure strength and light weight, which makes operation difficult. Attached Figure Description

[0010] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0011] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0012] Figure 2 In this utility model Figure 1 An enlarged structural diagram at point A;

[0013] Figure 3 This is a schematic diagram of the disassembly structure of this utility model;

[0014] Figure 4 This is a bottom view of the overall structure of this utility model;

[0015] Figure 5 This is a schematic diagram of the connection structure of the blade wheel in this utility model;

[0016] Figure 6 This is a schematic diagram of the connection structure of the needle wheel in this utility model;

[0017] In the picture:

[0018] 1. Frame; 101. Wheels; 102. Ackermann steering mechanism; 103. Vehicle drive mechanism; 104. Pallet; 2. Water tank; 3. Sprinkler; 4. Seed bin; 401. Seeder; 5. Seeding port; 6. Plow lifting device; 7. Plow head; 8. Ultrasonic ranging module; 9. Tilling support; 10. First drive; 11. Shaft; 12. Second drive; 13. Tilling wheel; 14. Blade wheel; 15. Attached support; 16. Scraper; 17. Needle wheel; 18. Covering wheel. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] like Figures 1-6 As shown:

[0021] An automated seeding agricultural robot with secondary development capability includes a frame 1 and wheels 101. The frame 1 is assembled with aluminum profiles and corner brackets. The frame 1 drives the front wheels 101 to steer via an Ackermann steering mechanism 102. A vehicle drive mechanism 103 is installed at one end of the frame 1, which drives the rear wheels 101 to rotate. A pallet 104 is fixedly installed at one end of the frame 1, and a water tank 2 is fixedly connected to the top surface of the pallet 104. A water sprinkler 3 for spraying water backwards is fixedly connected to the rear of the frame 1, and the water sprinkler 3 is connected to the water tank 2 via a pipe. One end of the frame 1 is fixedly connected to a seed bin 4, a seeder 401, and a seeding port 5. The seed bin 4, the seeder 401, and the seeding port 5 are connected in sequence and work together to complete the sowing work. One end of the frame 1 is fixedly installed with a walkway plow lifting device 6. The telescopic end of the walkway plow lifting device 6 is fixedly connected to a walkway plow head 7. The head of the frame 1 is installed with a soil turning support 9. The end of the soil turning support 9 is rotatably connected to a rotating shaft 11. The outside of the rotating shaft 11 is fixedly connected to a soil turning wheel 13, a blade wheel 14, or a needle wheel 17. The bottom of the tail of the frame 1 is installed with a soil covering wheel 18.

[0022] In this embodiment, the frame 1 is assembled using aluminum profiles and corner brackets. The shape, size, and structure of the frame 1 can be changed according to requirements. Adjustments to the frame 1 structure allow for changes in the position of individual modules or the addition of modules, providing strong expandability and development potential. Its Raspberry Pi control unit enables secondary development of the robot, meeting user needs. It is also compatible with multiple programming languages, achieving robot versatility. A battery or rechargeable battery is fixedly installed above the pallet 104. The robot moves along a preset route via program control and can also be controlled remotely. Using the vehicle drive mechanism 103 as the robot, the rotating soil-turning wheel 13 loosens the soil during movement, providing suitable soil conditions for sowing. The plow head 7 plows a furrow suitable for sowing. The plow head lifting device... 6 includes a single-axis servo motor, gears, and racks, which are existing gear and rack lifting mechanisms. The trail plow lifting device 6 is used to control the height of the trail plow head 7. The sowing mechanism (including seed bin 4, seeder 401, and sowing port 5) is responsible for dropping the seeds one by one into the furrows after they have been loosened. The covering wheel 18 is used to cover the seeds. The sprinkler 3 sprays water from the water tank 2 to keep the soil at the target humidity and complete the entire sowing process. The ultrasonic ranging module 8 can detect whether the depth of the furrows meets the requirements. If the soil is loose, after the trail plow head 7 moves down to the target depth, the soil turned over by the trail plow head 7 is prone to slide into the furrows. Eventually, the trail plow head 7 descends to the target depth, but the furrow depth does not meet the standard in the later stages. When this happens, the trail plow head 7 needs to descend a deeper distance to ensure that the furrow depth meets the standard.

[0023] The rotation of the turning wheel 13 is powered by the second driver 12. Both the second driver 12 and the first driver 10 can be belt-driven or chain-driven. The second driver 12 drives the rotating shaft 11 to rotate, and the rotating shaft 11 drives the turning wheel 13 to rotate. The turning wheel 13 loosens the soil through the force of rotation. When the turning wheel 13 is in contact with the soil, it mainly relies on its own weight to contact the soil. The first driver 10 drives the long shaft at the top of the turning support 9 to rotate, and the long shaft drives the turning support 9 to rotate, thereby adjusting the angle of the turning support 9. The angle adjustment of the turning support 9 is mainly to lift it off the ground when the turning wheel 13, blade wheel 14, or needle wheel 17 are not needed, so that it is not disturbed when the robot moves.

[0024] The frame 1 is assembled with aluminum profiles and corner brackets, which is low cost. While it has strong expandability and development potential, it loses the structural strength of the frame 1. If the soil hardness is high, the turning wheel 13 is difficult to loosen the soil directly. In this case, the turning wheel 13 needs to be removed and replaced with the blade wheel 14. When the robot moves, the rolling of the blade wheel 14 performs preliminary cutting on the harder soil. When using the blade wheel 14, the first driver 10 can drive the turning bracket 9 to drive the blade wheel 14 to move downward, so that the blade wheel 14 has a downward force. Alternatively, the second driver 12 can rotate the blade wheel 14. However, at this time, the rotation direction of the blade wheel 14 is opposite to the rotation direction of the wheel 101, which can also effectively embed the blade wheel 14 into the ground. Of course, the first driver 10 and the second driver 12 can also work at the same time, which is suitable for harder soil.

[0025] When the soil is too hard, the blade wheel 14 cannot be embedded in the soil. In this case, the needle wheel 17 can be replaced. The sharp needle of the needle wheel 17 can be inserted into the soil to loosen the soil initially. Compared with the blade wheel 14, the needle wheel 17 exerts much greater pressure on the soil when the same external force is applied. Therefore, the needle wheel 17 is more suitable for hard soil. The method of using the needle wheel 17 is the same as that of the blade wheel 14, and will not be described in detail.

[0026] Depending on the treatment of the soil by the needle wheel 17 or the blade wheel 14, select the appropriate soil turning step. For example, after the soil is cut by the blade wheel 14, the soil can be loosened by the soil turning wheel 13. Alternatively, the soil can be turned over again by the soil turning wheel 13 after being cut by the blade wheel 14. If the soil is still too hard after being cut by the blade wheel 14 and cannot be loosened directly by the soil turning wheel 13, the soil can be turned over by the paving plow 7 after being cut by the blade wheel 14, and then the soil turning wheel 13 can be used to loosen the soil. This is because after the paving plow 7 digs out the furrows, the covering wheel 18 will backfill the soil.

[0027] In other words, by switching between the soil turning wheel 13, the blade wheel 14, and the needle wheel 17, it is still possible to sow seeds in relatively hard soil, thus making up for the problems of low structural strength and light weight of the frame 1.

[0028] In an optional embodiment, a second driver 12 is fixedly connected to one end of the soil turning support 9. The second driver 12 is used to drive the rotating shaft 11 to rotate. The rotation of the rotating shaft 11 can drive the soil turning wheel 13, the blade wheel 14, or the pin wheel 17 to rotate.

[0029] In an optional embodiment, an ultrasonic ranging module 8 is fixedly connected to the bottom of the frame 1. The ultrasonic ranging module 8 can detect whether the depth of the furrow meets the standard.

[0030] In an optional embodiment, the head of the frame 1 is rotatably connected to the top of the soil turning support 9, and a first driver 10 is fixedly connected to one end of the frame 1. The first driver 10 is used to rotate the soil turning support 9. The rotation of the soil turning support 9 can control the ground clearance of the soil turning wheel 13, the blade wheel 14, or the needle wheel 17, as well as the pressure it applies to the soil.

[0031] In an optional embodiment, an auxiliary support 15 is fixedly connected between the two soil turning supports 9. A scraper 16 is fixedly connected to one end of the auxiliary support 15. The scraper 16 can scrape off the soil that is stuck to the blade wheel 14 or the needle wheel 17, which is beneficial for subsequent sowing work.

[0032] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A secondary development automatic seeding agricultural robot, comprising a frame (1) and wheels (101), characterized in that: The frame (1) is assembled by aluminum profile and corner code, the frame (1) drives the front wheel (101) to turn through the Ackerman steering mechanism (102), one end of the frame (1) is provided with a vehicle driving mechanism (103), the vehicle driving mechanism (103) drives the rear wheel (101) to rotate, one end of the frame (1) is fixedly provided with a supporting plate (104), the top surface of the supporting plate (104) is fixedly connected with a water tank (2), the tail of the frame (1) is fixedly connected with a water sprayer (3) for spraying water backward, the water sprayer (3) is communicated with the water tank (2) through a pipeline, one end of the frame (1) is fixedly connected with a seed bin (4), a seeder (401) and a seeding port (5), the seed bin (4), the seeder (401) and the seeding port (5) are sequentially communicated and cooperatively complete the seeding work, one end of the frame (1) is fixedly provided with a footpath plow lifting device (6), the telescopic end of the footpath plow lifting device (6) is fixedly connected with a footpath plow head (7), the head of the frame (1) is provided with a soil turning support (9), the tail of the soil turning support (9) is rotatably connected with a rotating shaft (11), the outer side of the rotating shaft (11) is fixedly connected with a soil turning wheel (13) or a blade wheel (14) or a needle wheel (17), the tail bottom of the frame (1) is provided with a covering wheel (18).

2. The redevelopable automatic sowing agricultural robot according to claim 1, characterized in that: One end of the soil turning support (9) is fixedly connected with a second driver (12), and the second driver (12) is used for driving the rotating shaft (11) to rotate.

3. The redevelopable automatic sowing agricultural robot according to claim 1, characterized in that: The bottom of the frame (1) is fixedly connected with an ultrasonic ranging module (8).

4. The redevelopable automatic sowing agricultural robot according to claim 1, characterized in that: The head of the frame (1) is rotatably connected with the top end of the soil turning support (9), one end of the frame (1) is fixedly connected with a first driver (10), and the first driver (10) is used for rotating the soil turning support (9).

5. The redevelopable automatic sowing agricultural robot according to claim 1, characterized in that: The two soil turning supports (9) are fixedly connected with an auxiliary support (15), and one end of the auxiliary support (15) is fixedly connected with a scraper (16).

Images