A bean planting robot

Abstract

This utility model relates to the field of bean sowing technology, specifically a bean sowing robot, including a vehicle body. Two sowing boxes are fixed to the top of the vehicle body, and a flow control plate is rotatably connected inside each sowing box. A flow regulating sub-disc is provided between the two sowing boxes. Two soil-covering wheels are located at the right end of the vehicle body, and two telescopic rods are located at the top of the vehicle body. Each telescopic rod has a furrowing block at its bottom. A soil-loosening roller is located at the left end of the vehicle body, and several soil-loosening blades are fixed to the outside of the soil-loosening roller. A soil-loosening secondary sprocket is fixed to the front end of the soil-loosening roller, and a shifting bar is rotatably connected to the front and rear ends of the rotating shaft of the soil-loosening roller. This utility model uses a flow control motor to drive the flow regulating main disc to rotate, which in turn drives the flow regulating sub-disc to rotate, thereby driving the flow control shaft to rotate, which in turn drives the flow control plate to rotate. This changes the opening size of the material leakage hole, thus changing the seed falling speed.

Description

Technical Field

[0001] This utility model belongs to the field of legume planting technology, specifically a legume planting robot. Background Technology

[0002] Under the dual pressures of a rapidly expanding population and surging food consumption demand, the global agricultural production system is facing unprecedented challenges. Improving agricultural production efficiency, reducing production costs, and ensuring sustainable development have become urgent needs in the agricultural sector. Although seeding machinery is being promoted, it is poorly suited for small and medium-sized farms and lacks sufficient automation. Legumes, in particular, require high precision in seeding, demanding accurate control of plant spacing, depth, and density to ensure yield. Traditional machinery is prone to problems such as missed planting, double planting, or seed damage. Against this backdrop, the rise of agricultural robotics technology offers a completely new solution for modern agriculture.

[0003] However, existing methods of sowing beans mostly rely on manual operation, resulting in low sowing efficiency. At the same time, existing sowing devices are mostly used with a fixed slope, which limits the scope of application of the entire device. In order to solve the above problems, this utility model designs a bean sowing robot. Utility Model Content

[0004] In view of the above situation and to overcome the defects of the prior art, this utility model provides a bean planting robot, which effectively solves the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a bean planting robot, comprising a vehicle body, two planting boxes fixed to the top of the vehicle body, a flow control plate rotatably connected inside each planting box, a material leakage hole fixed to the bottom of each planting box, a flow regulating sub-disc between the two planting boxes, two positioning plates at the right end of the vehicle body, a soil covering wheel rotatably connected to the bottom of each positioning plate, a positioning frame fixed to the top of the vehicle body, two telescopic rods at the bottom of the positioning frame, a furrowing block at the bottom of each telescopic rod, a loosening roller at the left end of the vehicle body, several loosening blades fixed to the outside of the loosening roller, a loosening secondary sprocket fixed to the front end of the loosening roller, a loosening main sprocket connected to the top of the loosening secondary sprocket via a loosening chain drive, shifting bars rotatably connected to the front and rear ends of the rotating shaft of the loosening roller, a shifting shaft fixed to the upper end of each shifting bar, and a shifting motor rotatably connected to the rear side of the shifting shaft at the rear end.

[0006] Preferably, the bottom of the vehicle body is provided with several roller motors, each roller motor is externally rotatably connected to a roller, the top of the vehicle body is fixed with a controller, the rear end of the controller is fixed with a battery, the top of the vehicle body is also fixed with a wind speed sensor, the top of the right end of the vehicle body is fixed with a positioning block, the bottom of the positioning block is fixedly connected to the telescopic rod at its bottom, the bottom of the two telescopic rods is fixed with a trenching plate, and the trenching plate is fixedly connected to the trenching block at its bottom.

[0007] Preferably, a soil loosening camera is also fixed on the top of the vehicle body, a soil loosening motor is fixed on the top of the vehicle body, the shaft of the soil loosening motor is fixedly connected to the soil loosening main sprocket, a soil loosening bearing is fixedly fixed to the outside of the shaft of the soil loosening motor, and the outer ring of the soil loosening bearing is fixedly connected to the vehicle body.

[0008] Preferably, a seeding camera is also fixed on the top of the vehicle body, the two flow control plates are fixedly connected by a flow control shaft, the flow control shaft is fixedly connected to the flow adjustment sub-disc, the right end of the flow adjustment sub-disc is connected to the flow adjustment main disk via belt drive, the front end of the flow adjustment main disk is rotatably connected to a flow control motor, and the flow control motor is fixedly connected to the vehicle body.

[0009] Preferably, a soil-covering motor is also fixed to the top of the vehicle body, the soil-covering motor is rotatably connected to a connecting shaft, and soil-covering bearings are fixed to the front and rear ends of the connecting shaft. The outer ring of the soil-covering bearings is fixedly connected to the vehicle body, and the connecting shaft is fixedly connected to the positioning plate at its bottom.

[0010] Compared with the prior art, the beneficial effects of this utility model are:

[0011] This invention uses a flow control motor to drive the main flow regulating disc to rotate, which in turn drives the secondary flow regulating disc to rotate via a belt. This, in turn, drives the flow control shaft to rotate, which in turn drives the flow control plate to rotate. This allows the size of the material leakage hole to be changed, thereby changing the seed falling speed. This enables the control of the seed quantity according to different required concentrations, ensuring sowing accuracy and improving sowing efficiency, thus guaranteeing sowing results. Furthermore, this robot has a high degree of automation, thereby saving labor.

[0012] The telescopic rod of this invention extends to lower the trenching plate, thereby driving the trenching block deeper into the ground. This allows the robot to trench as it moves, and the trenching depth can be controlled according to the required sowing depth to ensure trenching accuracy. Furthermore, the soil covering motor drives the connecting shaft to rotate, which in turn drives the positioning plate to rotate around the connecting shaft. This allows the soil covering wheel to be inserted into the ground, and the rotation of the soil covering wheel can cover the soil, thus ensuring the soil covering effect and the sowing effect.

[0013] This invention utilizes a soil-loosening motor to drive the main soil-loosening sprocket, which in turn drives the secondary soil-loosening sprocket via a soil-loosening chain, thereby driving the soil-loosening blades to rotate, thus facilitating soil loosening. A shifting motor drives a shifting shaft, which in turn drives the shifting strips to rotate around the shaft, and ultimately the soil-loosening roller to rotate around the shaft. This adapts to different slopes, ensuring effective soil loosening and facilitating subsequent sowing. Attached Figure Description

[0014] The accompanying drawings are provided to further understand 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 and do not constitute a limitation thereof.

[0015] In the attached diagram:

[0016] Figure 1 This is a schematic diagram of the overall design of this utility model;

[0017] Figure 2 This is a top view of the entire utility model;

[0018] Figure 3 This is a schematic diagram of the overall bottom of this utility model;

[0019] Figure 4 This is a schematic diagram of the left end of the vehicle body of this utility model;

[0020] Figure 5 This is a schematic diagram of the right end of the vehicle body of this utility model;

[0021] Figure 6 This is a schematic diagram of the bottom of the trenching plate of this utility model;

[0022] Figure 7 This is a cross-sectional schematic diagram of the seeding box of this utility model.

[0023] In the diagram: 1-Vehicle body; 2-Roller; 3-Seeding box; 4-Soil covering wheel; 5-Flow control motor; 6-Soil loosening roller; 7-Positioning block; 101-Controller; 102-Battery; 103-Wind speed sensor; 104-Positioning frame; 201-Roller motor; 301-Discharge hole; 302-Seeding camera; 303-Flow control board; 304-Flow control shaft; 401-Positioning plate; 402-Connecting shaft; 403-Soil covering bearing; 404 - Soil-covering motor; 501 - Flow regulating main disc; 502 - Belt; 503 - Flow regulating secondary disc; 601 - Soil-loosening blade; 602 - Soil-loosening secondary sprocket; 603 - Soil-loosening chain; 604 - Soil-loosening bearing; 605 - Soil-loosening motor; 606 - Soil-loosening main sprocket; 607 - Shift bar; 608 - Shift shaft; 609 - Shift motor; 610 - Soil-loosening camera; 701 - Telescopic rod; 702 - Trenching plate; 703 - Trenching block. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0025] Example 1, by Figures 1-3The present invention includes a vehicle body 1, which is made of alloy material and supports the entire robot. Two seeding boxes 3, also made of alloy material, are fixed to the top of the vehicle body 1 and are used to hold seeds. Each seeding box 3 has a rotatably connected flow control plate 303, also made of alloy material, which can change the seed falling speed by rotating, thereby ensuring the sowing effect. Each seeding box 3 has a material leakage hole 301 fixed to its bottom, also made of alloy material, which facilitates seed dispersal. A flow regulating sub-disc 503 is provided between the two seeding boxes 3. 03 can drive the flow control shaft 304 to rotate by rotation, thereby driving the flow control plate 303 to rotate. Two positioning plates 401 are provided on the right end of the vehicle body 1. The positioning plates 401 are made of alloy material and are used to position the covering wheel 4. Each positioning plate 401 has a rotatably connected covering wheel 4 at its bottom. The covering wheel 4 can cover soil by rotating. A positioning frame 104 is fixed on the top of the vehicle body 1. The positioning frame 104 is made of alloy material and is used to fix the loosening camera 610. Two telescopic rods 701 are provided at the bottom of the positioning frame 104. The telescopic rods 701 are retractable, thereby driving the trenching plate 702 to rise and fall. Each telescopic rod 701 has a... A trenching block 703 is provided, which has a triangular prism structure and is made of alloy material. The trenching block 703 is used for trenching. The trenching block 703 and the soil covering wheel 4 at one end are on the same straight line. A loosening roller 6 is provided at the left end of the vehicle body 1. The loosening roller 6 is made of alloy material and is used to position the loosening blades 601. Several loosening blades 601 are fixed to the outside of the loosening roller 6. The loosening blades 601 are made of alloy material and are used for loosening soil. A loosening secondary sprocket 602 is fixed to the front end of the loosening roller 6. The loosening secondary sprocket 602 can drive the loosening roller 6 to rotate by rotating. A loosening chain is connected to the top of the loosening secondary sprocket 602. A loosening main sprocket 606 is connected to the 603 transmission. Rotation of the main sprocket 606 causes the loosening chain 603 to drive the loosening secondary sprocket 602. A shifting bar 607, made of alloy material, is rotatably connected to both ends of the loosening roller 6's shaft. Rotation of the shifting bar 607 causes the loosening roller 6 to rotate around the shifting shaft 608, thus adapting to different soil slopes and ensuring effective loosening. A shifting shaft 608 is fixed to the upper end of each shifting bar 607, and the shifting shaft 608 is used to position the shifting bar 607. A shifting motor 609 is rotatably connected to the rear side of the shifting shaft 608, and the shifting motor 609 can drive the shifting shaft 608 to rotate.A mobile camera (not shown in the figure) is also fixed to the top of the vehicle body 1.

[0026] Example 2, based on Example 1, combined with... Figures 4-7The vehicle body 1 has several roller motors 201 at its bottom. These motors drive rollers 2 to rotate, allowing the robot to move and change direction. Each roller motor 201 is externally connected to a roller 2, which in turn moves the robot. A controller 101 is fixed to the top of the vehicle body 1 to control the robot. A battery 102 is fixed to the rear of the controller 101 to provide power to the robot. A wind speed sensor 103 is also fixed to the top of the vehicle body 1 to monitor wind speed. A 105 is fixed to the top right side of the vehicle body 1 to recharge the battery 102. The positioning frame 1... A positioning block 7, made of alloy material, is fixed to the bottom of the 04. The positioning block 7 is used to position the telescopic rod 701. The bottom of the positioning block 7 is fixedly connected to the telescopic rod 701 at its bottom. A trenching plate 702, made of alloy material, is fixed to the bottom of the two telescopic rods 701. The trenching plate 702 is used to position the trenching block 703. The trenching plate 702 is fixedly connected to the trenching block 703 at its bottom. A soil loosening camera 610 is also fixed to the top of the vehicle body 1. The soil loosening camera 610 is used to observe the position of the soil loosening blade 601 and the soil loosening situation. A soil loosening motor 605 is fixed to the top of the vehicle body 1. The soil loosening motor 605 can drive the soil loosening main sprocket. Rotation 606: The shaft of the loosening motor 605 is fixedly connected to the loosening main sprocket 606. A loosening bearing 604 is fixed to the outside of the shaft of the loosening motor 605. The loosening bearing 604 is used to position the loosening main sprocket 606. The outer ring of the loosening bearing 604 is fixedly connected to the vehicle body 1. A seeding camera 302 is also fixed to the top of the vehicle body 1. The seeding camera 302 is used to observe the seed dispersal. The two flow control plates 303 are fixedly connected by a flow control shaft 304. The flow control shaft 304 is made of alloy material. The flow control shaft 304 is used to connect the flow control plate 303 and the flow regulating sub-disc 503. The flow control shaft 304 is connected to the flow regulating sub-disc 503. A secondary flow regulating disc 503 is fixedly connected. The right end of the secondary flow regulating disc 503 is connected to a primary flow regulating disc 501 via a belt 502. The primary flow regulating disc 501, by rotating, can drive the secondary flow regulating disc 503 to rotate. A flow control motor 5 is rotatably connected to the front end of the primary flow regulating disc 501. The flow control motor 5 can drive the primary flow regulating disc 501 to rotate. The flow control motor 5 is fixedly connected to the vehicle body 1. A soil covering motor 404 is also fixedly fixed to the top of the vehicle body 1. The soil covering motor 404 can drive the connecting shaft 402 to rotate. The soil covering motor 404 is rotatably connected to the connecting shaft 402, which is made of alloy material and is used to position the positioning plate 401.The connecting shaft 402 is externally fixed at both its front and rear ends with soil-covered bearings 403. The soil-covered bearings 403 are used to position the connecting shaft 402. The outer ring of the soil-covered bearings 403 is fixedly connected to the vehicle body 1. The connecting shaft 402 is fixedly connected to the positioning plate 401 at its bottom.

[0027] When using this robot, the operator moves the entire robot to the desired sowing position. The controller 101, via a mobile camera on the top of the vehicle body 1, observes the robot's movement. The controller 101 then drives the rollers 2 to rotate via the roller motor 201, allowing the robot to move and change direction simultaneously, thus moving it to the desired sowing position. The controller 101 then controls the shifting motor 609 to rotate the shifting shaft 608, which in turn rotates the shifting bar 607, causing the loosening roller 6 to press firmly against the ground. The controller 101 then controls the loosening motor 605 to operate, causing the loosening bearing 604 to rotate, which in turn rotates the loosening secondary sprocket 602, thus rotating the loosening roller 6 and initiating loosening. The controller 101 then controls the robot to move to the left. The device 101 controls the extension of the telescopic rod 701 according to the required sowing depth, thereby driving the furrowing plate 702 to descend, which in turn drives the furrowing block 703 to insert into the ground. This allows furrowing to be achieved when the robot moves to the left. Furthermore, the controller 101 controls the flow control motor 5 to work according to the required sowing density, thereby driving the flow regulating main disk 501 to rotate, which in turn drives the flow regulating secondary disk 503 to rotate, which in turn drives the flow control shaft 304 to rotate, which in turn drives the flow control plate 303 to rotate. The amount of material fed can be observed through the sowing camera 302. Furthermore, the controller 101 controls the soil covering motor 404 to rotate the connecting shaft 402, which in turn drives the positioning plate 401 to rotate, which causes the soil covering wheel 4 to insert into the ground. Thus, when the robot moves to the left, the rotation of the soil covering wheel 4 completes the soil covering work, thereby ensuring the sowing effect.

[0028] The working process of this utility model is as follows: When using this robot, the operator moves the entire robot to the desired sowing position. The controller 101 observes the movement of the entire robot through a mobile camera on the top of the vehicle body 1. At this time, the controller 101 drives the roller 2 to rotate via the roller motor 201, thereby enabling the entire robot to move and change direction simultaneously, thus moving the entire robot to the desired sowing position. Then, the controller 101 controls the shifting motor 609 to drive the shifting shaft 608 to rotate, thereby driving the shifting strip 607 to rotate, thus causing the loosening roller 6 to press firmly against the ground. At this time, the controller 101 controls the loosening motor 605 to operate, thereby driving the loosening bearing 604 to rotate, thereby driving the loosening secondary sprocket 602 to rotate, thus driving the loosening roller 6 to rotate, thus beginning the loosening process. Further, the controller 101 controls the robot to move to the left... In the first step, the controller 101 controls the extension of the telescopic rod 701 according to the required sowing depth, thereby driving the furrowing plate 702 to descend, which in turn drives the furrowing block 703 to insert into the ground. This allows furrowing to be achieved when the robot moves to the left. Further, the controller 101 controls the flow control motor 5 to operate according to the required sowing density, thereby driving the main flow regulating disc 501 to rotate, which in turn drives the secondary flow regulating disc 503 to rotate, which in turn drives the flow control shaft 304 to rotate, which in turn drives the flow control plate 303 to rotate. The amount of material fed can be observed through the sowing camera 302. Further, the controller 101 controls the covering motor 404 to rotate the connecting shaft 402, which in turn drives the positioning plate 401 to rotate, causing the covering wheel 4 to insert into the ground. Thus, when the robot moves to the left, the rotation of the covering wheel 4 completes the covering work, ensuring the sowing effect.

[0029] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0030] 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 bean-planting robot, characterized in that: The vehicle includes a body (1), on which two seeding boxes (3) are fixedly fixed. A flow control plate (303) is rotatably connected inside each seeding box (3). A material leakage hole (301) is fixed at the bottom of each seeding box (3). A flow regulating sub-plate (503) is provided between the two seeding boxes (3). Two positioning plates (401) are provided at the right end of the vehicle body (1). A soil covering wheel (4) is rotatably connected at the bottom of each positioning plate (401). A positioning frame (104) is fixedly fixed at the top of the vehicle body (1). Two telescopic rods (701) are provided at the bottom of the positioning frame (104). Each telescopic rod (701) has a diameter of 100 mm. 1) A trenching block (703) is provided at the bottom. A soil loosening roller (6) is provided at the left end of the vehicle body (1). Several soil loosening blades (601) are fixed on the outside of the soil loosening roller (6). A soil loosening secondary sprocket (602) is fixed at the front end of the soil loosening roller (6). The top of the soil loosening secondary sprocket (602) is connected to the soil loosening main sprocket (606) through the soil loosening chain (603). The front and rear ends of the rotating shaft of the soil loosening roller (6) are rotatably connected to the shifting bar (607). Each shifting bar (607) is fixed with a shifting shaft (608) at the upper end. The rear end of the shifting shaft (608) is rotatably connected to the shifting motor (609).

2. The bean-planting robot according to claim 1, characterized in that: The bottom of the vehicle body (1) is provided with several roller motors (201), each of which is externally connected to a roller (2). A controller (101) is fixed on the top of the vehicle body (1), and a battery (102) is fixed at the rear end of the controller (101). A wind speed sensor (103) is also fixed on the top of the vehicle body (1). A (105) is fixed on the top right end of the vehicle body (1). A positioning block (7) is fixed at the bottom of the positioning frame (104). The bottom of the positioning block (7) is fixedly connected to the telescopic rod (701) at its bottom. A trenching plate (702) is fixed at the bottom of the two telescopic rods (701), and the trenching plate (702) is fixedly connected to the trenching block (703) at its bottom.

3. The bean-planting robot according to claim 2, characterized in that: A soil loosening camera (610) is also fixed on the top of the vehicle body (1). A soil loosening motor (605) is fixed on the top of the vehicle body (1). The shaft of the soil loosening motor (605) is fixedly connected to the soil loosening main sprocket (606). A soil loosening bearing (604) is fixed to the outside of the shaft of the soil loosening motor (605). The outer ring of the soil loosening bearing (604) is fixedly connected to the vehicle body (1).

4. A bean-planting robot according to claim 3, characterized in that: A seeding camera (302) is also fixed on the top of the vehicle body (1). The two flow control plates (303) are fixedly connected by a flow control shaft (304). The flow control shaft (304) is fixedly connected to the flow adjustment sub-disc (503). The right end of the flow adjustment sub-disc (503) is connected to the flow adjustment main disc (501) via a belt (502). The front end of the flow adjustment main disc (501) is rotatably connected to a flow control motor (5). The flow control motor (5) is fixedly connected to the vehicle body (1).

5. A bean-planting robot according to claim 4, characterized in that: The top of the vehicle body (1) is also fixed with a soil covering motor (404), the soil covering motor (404) is rotatably connected to a connecting shaft (402), the front and rear ends of the connecting shaft (402) are fixed with soil covering bearings (403), the outer ring of the soil covering bearings (403) is fixedly connected to the vehicle body (1), and the connecting shaft (402) is fixedly connected to the positioning plate (401) at its bottom.

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