Anti-bumping balance wheel leg type mechanism of seeder

Abstract

The utility model relates to the technical field of seeding machines, and discloses an anti-bumping balance wheel leg type mechanism of a seeding machine, which comprises a machine body running on the land and a wheel leg mechanism arranged on the machine body and contacted with the land, the wheel-leg mechanism comprises a first mounting frame and a second mounting frame which are mounted on the machine body, joint motors are mounted on the sides, away from the machine body, of the first mounting frame and the second mounting frame correspondingly, supporting legs with the bending function are mounted on the joint motors, and wheels running on the ground are rotationally arranged at the bottom ends of the supporting legs. According to the anti-bumping balance wheel leg type mechanism of the seeding machine, the characteristics of high efficiency of a wheel type and adaptability of legs are combined, the rhombus deformation condition formed by the supporting legs is controlled through rotation of the joint motors, then the height of the wheels is controlled, the wheels can rise and fall along with slope fluctuation, bumping of a vehicle body is greatly reduced, and the working efficiency is improved. The condition of seeding deviation is avoided.

Description

Technical Field

[0001] This utility model relates to the field of seeder technology, specifically to a shock-resistant balance wheel leg mechanism for a seeder. Background Technology

[0002] With the advancement of technology, in agricultural development, seeders have been developed to address the issue of the large amount of manpower required for sowing crop seeds in large fields, which involves highly repetitive actions. These seeders have significantly reduced the manpower required for sowing in agriculture, and their core functions include sowing, fertilizing, and covering with soil.

[0003] When planting seeds, the growing environment varies depending on the type of seed. In current technology, most seeders require the land to be leveled before planting to facilitate smooth operation and improve planting accuracy. However, when planting in mountainous areas with fragmented terrain, the land is difficult to level, and most of the slopes are greater than 15 degrees, which makes it easy for the seeder to bump and cause the seeding to deviate. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides a shock-resistant balance wheel leg mechanism for a seeder, which solves the problems mentioned in the background.

[0005] This utility model provides the following technical solution: a seeder anti-bump balance wheel-leg mechanism, including a machine body that travels on the land, and a wheel-leg mechanism installed on the machine body and in contact with the land;

[0006] The wheel-leg mechanism includes a first frame and a second frame mounted on the machine body. A joint motor is mounted on the side of the first frame and the second frame away from the machine body. A support leg with bending function is mounted on the joint motor. A wheel that travels on the ground is rotatably mounted at the bottom end of the support leg.

[0007] The machine body is equipped with four sets of wheel-leg mechanisms. A seeding mechanism is installed between the two sets of wheel-leg mechanisms located at the front of the machine body, and a main control mechanism is installed between the two sets of wheel-leg mechanisms located at the rear of the machine body.

[0008] Preferably, the outrigger includes a first leg section that is rotatably mounted on the wheel axle via a bearing, and a second leg section is rotatably connected to the end of the first leg section via a bearing. The end of the second leg section is mounted on a joint motor.

[0009] Preferably, the legs mounted on the first and second mounting brackets are arranged in a diamond shape with the wheels as fulcrums.

[0010] Preferably, the main control mechanism includes a main control frame installed inside the machine body, a power battery serving as the driving power source for the machine body is disposed inside the main control frame, and a main control board is installed on the main control frame located above the power battery.

[0011] Preferably, a soil-covering roller is provided below the machine body, the soil-covering roller is located between two sets of wheel leg mechanisms at the rear of the machine body, and the position of the soil-covering roller corresponds to the position of the sowing mechanism.

[0012] Preferably, a first mounting plate and a second mounting plate are coaxially arranged on both sides of the sowing mechanism for mounting on the machine body. The shaft of the sowing mechanism passes through and a drive motor is mounted on the first mounting plate. A sowing box communicating with the inside of the sowing mechanism is mounted on the second mounting plate. Multiple sets of sowing ports are evenly spaced on the outer peripheral wall of the sowing mechanism. A guide shell corresponding to the position of the sowing port is provided on the side of the sowing mechanism near the second mounting plate, and the guide shell is located within the coverage area of ​​the second mounting plate.

[0013] The second mounting plate has a partition inside, and a seeding shaft and a guide roller are rotatably arranged inside the partition. The seeding shaft and the guide roller are driven by the shaft of the sowing mechanism through a gear set. The partition has a cover at one end near the sowing mechanism to form a sandwich layer for storing the gear set. The partition has an opening below the seeding shaft.

[0014] Preferably, the sowing port includes a triangular nozzle shell installed on the outer peripheral wall of the sowing mechanism. A seed-blocking cover is rotatably mounted on the triangular nozzle shell. A lever is provided at the axis of the seed-blocking cover, which fits against the edge of the sowing mechanism. The lever is fixed by a limiting buckle installed on the sowing mechanism. The lever is bent at a 90-degree angle along the edge of the sowing mechanism, and the lever located on the side of the sowing mechanism is bent again. A tension spring is provided at the bent part of the lever on the side of the sowing mechanism, and the end of the tension spring away from the lever is fixedly mounted on the sowing mechanism. A lever component corresponding to the lever is provided on the first mounting plate.

[0015] Preferably, the guide shell includes a metering shell disposed on the sowing mechanism. The opening of the metering shell faces the outer peripheral wall of the sowing mechanism. A partition installed on the sowing mechanism is disposed on the inner wall of the metering shell. The partition is disposed at an angle. A seed guiding groove corresponding to the position of the metering shell is opened on the side of the sowing mechanism. The seed guiding groove is located at the end of the angle between the partition and the metering shell near the sowing mechanism.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. This seeder features a shock-resistant, balanced wheel-leg mechanism and a compact design. It can be moved by hand, allowing it to travel on uneven terrain. When faced with bumpy terrain, it combines the efficiency of wheels with the adaptability of legs, using the rotation of a joint motor to control the diamond-shaped deformation of the outriggers, thereby controlling the wheel height. This allows the wheels to rise and fall with the slope, significantly reducing vehicle bumps and preventing seeding deviation.

[0018] 2. The seeder features a shock-resistant, balanced wheel-leg mechanism. By setting up a seed box and a seeding mechanism, seeds are placed in the seed box during seeding operations. The operator controls the rotation of the seeding mechanism to ensure that a fixed amount of seeds fall from the seed box into the seeding mechanism. As the seeding mechanism rotates, the seeds slide into the seeding opening. When the seeding opening passes under the first mounting plate, it is opened, allowing the seeds to fall to the ground. Finally, the seed is covered by a soil covering roller that passes through the planting pit, pushing the soil piled next to the planting pit into the pit to bury the seeds. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the main structure of the seeder of this utility model;

[0020] Figure 2 This is a schematic diagram of the rear wheel-leg mechanism of the seeder of this utility model;

[0021] Figure 3 This is a schematic diagram of the wheel-leg mechanism of this utility model;

[0022] Figure 4 This is a schematic diagram of the disassembled structure of the wheel leg mechanism of this utility model;

[0023] Figure 5 This is a schematic diagram of the main control mechanism of this utility model;

[0024] Figure 6 This is a schematic diagram of the seeding port structure of this utility model;

[0025] Figure 7 This utility model Figure 6 Enlarged structural diagram at point A in the middle;

[0026] Figure 8 This is a schematic cross-sectional view of the seeding mechanism of this utility model;

[0027] Figure 9 This is a schematic diagram of the internal structure of the partition after it is disassembled from the second mounting plate.

[0028] Figure 10 This is a schematic diagram of the internal structure of the gear set concealed by the diaphragm in this utility model.

[0029] Figure 11This is a schematic diagram of the guide shell structure of this utility model.

[0030] In the diagram: 1. Body; 2. Wheel and leg mechanism; 21. First mounting frame; 22. Second mounting frame; 23. Joint motor; 24. Support leg; 241. First leg section; 242. Second leg section; 25. Wheel; 3. Seeding box; 4. Seeding mechanism; 5. Main control mechanism; 51. Main control frame; 52. Power battery; 53. Main control board; 6. First mounting plate; 7. Seeding port; 71. Triangular nozzle shell; 72. Seed retaining cover; 73. Lever; 74. Limit buckle; 75. Tension spring; 8. Second mounting plate; 9. Seeding shaft; 10. Guide shell; 101. Metering shell; 102. Partition; 103. Seed guide groove; 11. Partition cover; 12. Guide roller; 13. Soil covering roller; 14. Gear set; 15. Sealing cover. Detailed Implementation

[0031] 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.

[0032] Please see Figure 1-11 A seeder anti-bump balance wheel-leg mechanism includes a body 1 that travels on the ground, and a wheel-leg mechanism 2 installed on the body 1 and in contact with the ground.

[0033] The wheel-leg mechanism 2 includes a first mounting bracket 21 and a second mounting bracket 22 mounted on the body 1. A joint motor 23 is mounted on the side of the first mounting bracket 21 and the second mounting bracket 22 away from the body 1. A support leg 24 with bending function is mounted on the joint motor 23. A wheel 25 that travels on the ground is rotatably mounted at the bottom end of the support leg 24.

[0034] The machine body 1 is equipped with four sets of wheel-leg mechanisms 2. The seeding mechanism 4 is installed between the two sets of wheel-leg mechanisms 2 located at the front of the machine body 1, and the main control mechanism 5 is installed between the two sets of wheel-leg mechanisms 2 located at the rear of the machine body 1.

[0035] That is, when the machine body 1 is traveling and the wheel-leg mechanism 2 passes over bumpy areas, the joint motor 23 is used to rotate to control the outrigger 24, thereby controlling the height of the wheel 25 to a certain extent. While keeping the machine body 1 stable, the wheel 25 is adjusted according to the undulations of the ground, so that it can travel smoothly on the mountainous terrain with broken terrain.

[0036] The outrigger 24 includes a first leg section 241 that is rotatably mounted on the axle of the wheel 25 via a bearing. The end of the first leg section 241 is rotatably connected to a second leg section 242 via a bearing. The end of the second leg section 242 is mounted on the joint motor 23.

[0037] The legs 24 mounted on the first bracket 21 and the second bracket 22 are arranged in a diamond shape with the wheel 25 as the fulcrum.

[0038] It should be noted that this solution only protects the structural design of the wheel leg mechanism on the seeder; the operation mechanism of its joint motor 23 and its control methods are implemented using other existing technologies.

[0039] The main control mechanism 5 includes a main control frame 51 installed inside the body 1. The main control frame 51 contains a power battery 52 that serves as the driving power source for the body 1. A main control board 53 is installed on the main control frame 51 located above the power battery 52.

[0040] Generally, the robot body 1 in this solution is equipped with an intelligent navigation system, which is a common technology in existing industrial robots and is not covered by this solution. The motors included in this solution are all electrically connected to the main control mechanism 5, and the referenced technologies are as follows:

[0041] The intelligent navigation system employs laser SLAM fusion spatial geometric feature point extraction technology. It constructs a high-precision environmental map using 360° LiDAR and integrates IMU data to correct point cloud distortion. It optimizes matching accuracy using spatial curves / planar feature points to achieve real-time positioning and path planning. In addition, it uses YOLOv11 and binocular vision recognition. The binocular camera generates a depth map and combines it with the YOLOv11 model to identify the edges of the planting ridges, dynamically adjusting the Z-axis height to ensure planting accuracy. The multi-sensor fusion technology uses Kalman filtering to fuse point cloud and depth map data, achieving a high fusion accuracy of ±2cm. This overcomes the limitations of a single sensor in complex environments and effectively improves the robustness of navigation and target recognition.

[0042] The machine body 1 has a soil covering roller 13 located below it. The soil covering roller 13 is located between the two sets of wheel leg mechanisms 2 at the rear of the machine body 1, and the position of the soil covering roller 13 corresponds to the position of the sowing mechanism 4.

[0043] The seeding mechanism 4 has a first mounting plate 6 and a second mounting plate 8 coaxially arranged on both sides for mounting on the machine body 1. The shaft of the seeding mechanism 4 passes through and a drive motor is mounted on the first mounting plate 6. The seeding box 3, which communicates with the inside of the seeding mechanism 4, is mounted on the second mounting plate 8. Multiple sets of seeding ports 7 are evenly spaced on the outer peripheral wall of the seeding mechanism 4. A guide shell 10 corresponding to the position of the seeding port 7 is provided on the side of the seeding mechanism 4 near the second mounting plate 8, and the guide shell 10 is located within the coverage area of ​​the second mounting plate 8.

[0044] The second mounting plate 8 has a partition 11 inside. The partition 11 has a seeding shaft 9 and a guide roller 12 rotatably mounted inside it. The seeding shaft 9 and the guide roller 12 are driven by the shaft of the sowing mechanism 4 through a gear set 14. The partition 11 has a cover 15 at one end near the sowing mechanism 4 to form a sandwich layer for storing the gear set 14. The partition 11 has an opening below the seeding shaft 9.

[0045] That is, after the wheel-leg mechanism 2 ensures that the machine body 1 travels smoothly on the mountain, as the machine body 1 is pushed forward, the operator can control the rotation timing of the sowing mechanism 4 according to the position of the machine body 1, so that the seeds can fall accurately into the dug planting pit.

[0046] The sowing port 7 includes a triangular nozzle shell 71 installed on the outer peripheral wall of the sowing mechanism 4. A seed-blocking cover 72 is rotatably mounted on the triangular nozzle shell 71. A lever 73 that fits along the edge of the sowing mechanism 4 is provided at the axis of the seed-blocking cover 72. The lever 73 is fixed by a limiting buckle 74 installed on the sowing mechanism 4. The lever 73 is bent at a 90-degree angle along the edge of the sowing mechanism 4. The lever 73 located on the side of the sowing mechanism 4 is bent again. A tension spring 75 is provided at the bent part of the lever 73 on the side of the sowing mechanism 4. The end of the tension spring 75 away from the lever 73 is fixedly mounted on the sowing mechanism 4. A lever corresponding to the lever 73 is provided on the first mounting plate 6.

[0047] The guide shell 10 includes a metering shell 101 disposed on the sowing mechanism 4. The opening of the metering shell 101 faces the outer peripheral wall of the sowing mechanism 4. A partition 102 installed on the sowing mechanism 4 is disposed on the inner wall of the metering shell 101. The partition 102 is disposed at an angle. A seed guide groove 103 corresponding to the position of the metering shell 101 is opened on the side of the sowing mechanism 4. The seed guide groove 103 is located at the end of the angle between the partition 102 and the metering shell 101 near the sowing mechanism 4.

[0048] Under normal circumstances, the rotation of the sowing mechanism 4 is controlled by the drive motor. The switch of the drive motor is set at the operator's push handle through the wire, so that the operator can easily reach the switch that controls the rotation of the sowing mechanism 4 when pushing the machine body 1, thus achieving the effect of precise control over seed planting.

[0049] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A shock-resistant balancing wheel-leg mechanism for a seeder, comprising a body (1) that travels on the ground, and a wheel-leg mechanism (2) mounted on the body (1) and in contact with the ground, characterized in that: The wheel-leg mechanism (2) includes a first bracket (21) and a second bracket (22) mounted on the body (1). A joint motor (23) is mounted on the side of the first bracket (21) and the second bracket (22) away from the body (1). A support leg (24) with bending function is mounted on the joint motor (23). A wheel (25) that travels on the ground is rotatably mounted on the bottom end of the support leg (24). The machine body (1) is equipped with four sets of wheel leg mechanisms (2). A sowing mechanism (4) is installed between the two sets of wheel leg mechanisms (2) located in front of the machine body (1), and a main control mechanism (5) is installed between the two sets of wheel leg mechanisms (2) located behind the machine body (1).

2. The anti-bump balance wheel leg mechanism for a seeder according to claim 1, characterized in that, The outrigger (24) includes a first leg section (241) that is rotatably mounted on the axle of the wheel (25) via a bearing. The end of the first leg section (241) is rotatably connected to a second leg section (242) via a bearing. The end of the second leg section (242) is mounted on a joint motor (23).

3. The anti-bump balance wheel leg mechanism for a seeder according to claim 1, characterized in that, The legs (24) installed on the first bracket (21) and the second bracket (22) are arranged in a diamond shape with the wheel (25) as the fulcrum.

4. The anti-bump balance wheel leg mechanism for a seeder according to claim 1, characterized in that, The main control mechanism (5) includes a main control frame (51) installed inside the body (1). The main control frame (51) is equipped with a power battery (52) that serves as the driving power source for the body (1). A main control board (53) is installed on the main control frame (51) located above the power battery (52).

5. The anti-bump balance wheel leg mechanism for a seeder according to claim 1, characterized in that, A soil covering roller (13) is provided below the machine body (1). The soil covering roller (13) is located between the two sets of wheel leg mechanisms (2) behind the machine body (1), and the position of the soil covering roller (13) corresponds to the position of the sowing mechanism (4).

6. The anti-bump balance wheel leg mechanism for a seeder according to claim 1, characterized in that, The seeding mechanism (4) is coaxially provided with a first mounting plate (6) and a second mounting plate (8) for mounting on the machine body (1). The axis of the seeding mechanism (4) passes through and a drive motor is installed on the first mounting plate (6). The seeding box (3) communicating with the inside of the seeding mechanism (4) is installed on the second mounting plate (8). Multiple sets of seeding ports (7) are evenly spaced on the outer peripheral wall of the seeding mechanism (4). A guide shell (10) corresponding to the position of the seeding port (7) is provided on the side of the seeding mechanism (4) near the second mounting plate (8), and the guide shell (10) is located within the coverage area of ​​the second mounting plate (8). The second mounting plate (8) is provided with a partition (11) inside. The partition (11) is rotatably provided with a seeding shaft (9) and a guide roller (12). The seeding shaft (9) and the guide roller (12) are connected to the axis of the sowing mechanism (4) via a gear set (14). The partition (11) is provided with a cover (15) at one end near the sowing mechanism (4) to form a sandwich layer for storing the gear set (14). The partition (11) is provided with an opening below the seeding shaft (9).

7. The anti-bump balance wheel leg mechanism for a seeder according to claim 6, characterized in that, The sowing port (7) includes a triangular nozzle shell (71) installed on the outer peripheral wall of the sowing mechanism (4). A seed-blocking cover (72) is rotatably installed on the triangular nozzle shell (71). A lever (73) that fits along the edge of the sowing mechanism (4) is provided at the axis of the seed-blocking cover (72). The lever (73) is fixed by a limiting buckle (74) installed on the sowing mechanism (4). The lever (73) is bent at a 90-degree angle along the edge of the sowing mechanism (4). The lever (73) located on the side of the sowing mechanism (4) is bent again. A tension spring (75) is provided at the bend of the lever (73) on the side of the sowing mechanism (4). The end of the tension spring (75) away from the lever (73) is fixedly set on the sowing mechanism (4). A lever corresponding to the lever (73) is provided on the first mounting plate (6).

8. The anti-bump balance wheel leg mechanism for a seeder according to claim 6, characterized in that, The guide shell (10) includes a metering shell (101) disposed on the sowing mechanism (4). The opening of the metering shell (101) faces the outer peripheral wall of the sowing mechanism (4). A partition (102) is disposed on the inner wall of the metering shell (101) and installed on the sowing mechanism (4). The partition (102) is disposed at an angle. A seed guide groove (103) corresponding to the position of the metering shell (101) is opened on the side of the sowing mechanism (4). The seed guide groove (103) is located at the end of the angle between the partition (102) and the metering shell (101) near the sowing mechanism (4).

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