A posture adjusting mechanism for a seedling inserting robot inserting part
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- FENGSHEN ZHIYUN (WUXI) ROBOT CO LTD
- Filing Date
- 2025-09-03
- Publication Date
- 2026-08-07
AI Technical Summary
[0003]但是由于实际农田作业环境复杂，受田块坡度变化影响，插秧机器人易发生倾斜，使得插植部件随同插秧机器人一同发生倾斜，无法对插植部件的姿态进行水平调节，降低了水稻秧苗的插植质量
[0012]本实用新型的一种用于插秧机器人插植部件的姿态调节机构，所述车架安装于插秧机器人上，由插秧机器人带着所述车架和所述插植部件移动，所述插植部件对水稻秧苗进行插秧；当插秧机器人发生左右或者前后倾斜时，插秧机器人带着所述插植部件一同发生倾斜，在所述插植部件发生倾斜时，可以通过控制两个所述纵向提升单元和所述拖动单元拉动所述支撑架和所述插植部件，从而能够对插植部件的姿态进行水平调节，使所述插植部件保持正确姿态，提高水稻秧苗的插植质量。
Smart Images
Figure CN224596992U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of rice transplanting device technology, and in particular to a posture adjustment mechanism for the transplanting component of a rice transplanting robot. Background Technology
[0002] Planting rice seedlings in paddy fields is usually done using rice transplanters. However, during planting, workers still need to operate the rice transplanters to move them. When transplanting rice seedlings over a large area, the labor intensity for workers is relatively high. Therefore, rice transplanting robots have been designed. By installing the rice transplanter's planting component for transplanting rice seedlings onto the rice transplanting robot, the robot moves the planting component in the paddy field to transplant the rice seedlings.
[0003] However, due to the complex working environment in actual farmland and the influence of changes in field slope, the rice transplanting robot is prone to tilting, causing the transplanting components to tilt along with the transplanting robot. This makes it impossible to adjust the posture of the transplanting components horizontally, thus reducing the transplanting quality of rice seedlings. Utility Model Content
[0004] The purpose of this invention is to provide a posture adjustment mechanism for the planting component of a rice transplanting robot, which can adjust the posture of the planting component horizontally to improve the planting quality of rice seedlings.
[0005] To achieve the above objectives, this utility model provides a posture adjustment mechanism for the planting component of a rice transplanting robot, including a planting component and a posture adjustment component. The posture adjustment component includes a frame, two longitudinal lifting units, a support frame, a dragging unit, and two guiding units.
[0006] Two longitudinal lifting units are respectively disposed on the side of the vehicle frame, the support frame is disposed on the side of the two longitudinal lifting units, the dragging unit is disposed between the vehicle frame and the support frame, two guide units are disposed on both sides of the vehicle frame, the insertion component is disposed on the side of the support frame, and the attitude sensor is disposed on the insertion component.
[0007] The attitude adjustment component further includes an attitude sensor; the attitude sensor is disposed on the insertion component.
[0008] The longitudinal lifting unit includes an upper lifting ring, a weighing sensor, a lower lifting ring, a spring, a hollow guide rail, a lifting motor, a first winding roller, and a first wire rope. The upper lifting ring is located at the top of the vehicle frame; the weighing sensor is located at the bottom of the upper lifting ring; the lower lifting ring is located at the bottom of the weighing sensor; the spring is fixedly connected to the bottom of the lower lifting ring; the hollow guide rail is fixedly connected to the support frame and located at the bottom of the support frame; the lifting motor is fixedly connected to the vehicle frame and located on the side of the vehicle frame; the first winding roller is fixedly connected to the output end of the lifting motor and located on the side of the lifting motor; one end of the first wire rope is fixedly connected to the spring, and the other end passes through the hollow guide rail and is fixedly connected to the first winding roller, located between the spring and the first winding roller.
[0009] The longitudinal lifting unit further includes two grooved wheels; the two grooved wheels are rotatably connected to the hollow guide rail and are located at both ends of the hollow guide rail.
[0010] The drive unit includes a drive motor, a second winding roller, and a second wire rope; the drive motor is fixedly connected to the frame and located on top of the frame; the second winding roller is fixedly connected to the output end of the drive motor and located on the side of the drive motor; one end of the second wire rope is fixedly connected to the second winding roller, and the other end is fixedly connected to the support frame and located between the second winding roller and the support frame.
[0011] The guiding unit includes a mounting base, a rotating shaft, a support base, a guide rail, multiple first guide wheels, and multiple second guide wheels. The mounting base is fixedly connected to the vehicle frame and located on the side of the vehicle frame. The rotating shaft is rotatably connected to the mounting base and located on the side of the mounting base. The support base is fixedly connected to the side of the rotating shaft. The guide rail is fixedly connected to the support frame and located on the side of the support frame near the support base. The multiple first guide wheels are rotatably connected to the support base and located between the support base and the guide rail. The multiple second guide wheels are rotatably connected to the support base and located between the support base and the guide rail.
[0012] This utility model discloses a posture adjustment mechanism for the planting component of a rice transplanting robot. The frame is mounted on the rice transplanting robot, which moves the frame and the planting component along with it. The planting component plants rice seedlings. When the rice transplanting robot tilts left or right or forward or backward, the planting component tilts along with it. When the planting component tilts, the two longitudinal lifting units and the dragging unit can be controlled to pull the support frame and the planting component, thereby adjusting the posture of the planting component horizontally, maintaining the correct posture, and improving the planting quality of rice seedlings. Attached Figure Description
[0013] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.
[0014] Figure 1 This is a schematic diagram of the overall structure of the posture adjustment mechanism for the planting component of a rice transplanting robot according to this utility model.
[0015] Figure 2 This is a schematic diagram of the posture adjustment component of this utility model.
[0016] Figure 3 This is a structural schematic diagram of the attitude adjustment component of this utility model from another perspective.
[0017] Figure 4 yes Figure 2 A magnified view of detail A.
[0018] Figure 5 yes Figure 3 A magnified view of detail B.
[0019] Figure 6 This is a cross-sectional view of the guide unit of this utility model.
[0020] Figure 7 This is a schematic diagram of the structure of this utility model after it is installed on a rice transplanting robot.
[0021] Figure 8 This is a schematic diagram of the structure of the insertion component and attitude sensor of this utility model.
[0022] Figure 9 This is a schematic diagram showing the connection between the attitude sensor, weighing sensor, lifting motor, drive motor and MCU microcontroller of this utility model.
[0023] Figure 10 This is a flowchart of the posture adjustment method for the planting component of a rice transplanting robot according to this utility model.
[0024] Figure 11 This is the control flowchart of the lifting motor of this utility model.
[0025] Figure 12 This is a flowchart illustrating the working mode of the lifting motor of this utility model.
[0026] 1-Insertion component, 2-Frame, 3-Longitudinal lifting unit, 4-Support frame, 5-Drag unit, 6-Guide unit, 7-Attitude sensor, 8-Upper lifting ring, 9-Weighing sensor, 10-Lower lifting ring, 11-Spring, 12-Hollow guide rail, 13-Lifting motor, 14-First winding roller, 15-First wire rope, 16-Gutter wheel, 17-Drag motor, 18-Second winding roller, 19-Second wire rope, 20-Mounting base, 21-Rotating shaft, 22-Support base, 23-Guide rail, 24-First guide wheel, 25-Second guide wheel, 26-Electrical control box, 27-MCU microcontroller. Detailed Implementation
[0027] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.
[0028] Firstly, please refer to Figures 1-9 ,in, Figure 1 This is a schematic diagram of the overall structure of the posture adjustment mechanism for the rice transplanting robot's planting component according to this utility model; Figure 2 This is a schematic diagram of the posture adjustment component of this utility model; Figure 3 This is a structural schematic diagram of the attitude adjustment component of this utility model from another perspective;
[0029] Figure 4 yes Figure 2 A magnified view of detail A; Figure 5 yes Figure 3 A magnified view of detail B; Figure 6 This is a cross-sectional view of the guide unit of this utility model; Figure 7 This is a schematic diagram of the structure of this utility model after it is installed on a rice transplanting robot; Figure 8 This is a schematic diagram of the structure of the insertion component and attitude sensor of this utility model; Figure 9 This is a schematic diagram showing the connection between the attitude sensor, weighing sensor, lifting motor, drive motor and MCU microcontroller of this utility model.
[0030] This utility model provides a posture adjustment mechanism for the planting component of a rice transplanting robot, including a planting component 1 and a posture adjustment component. The posture adjustment component includes a frame 2, two longitudinal lifting units 3, a support frame 4, a dragging unit 5, two guide units 6, and a posture sensor 7. The longitudinal lifting unit 3 includes an upper lifting ring 8, a weighing sensor 9, a lower lifting ring 10, a spring 11, a hollow guide rail 12, a lifting motor 13, a first winding roller 14, a first wire rope 15, and two grooved wheels 16. The dragging unit 5 includes a dragging motor 17, a second winding roller 18, and a second wire rope 19. The guide unit 6 includes a mounting base 20, a rotating shaft 21, a support base 22, a guide rail 23, multiple first guide wheels 24, and multiple second guide wheels 25. Through the aforementioned scheme, the posture of the planting component 1 can be horizontally adjusted, thereby improving the planting quality of rice seedlings.
[0031] In this specific embodiment, the two longitudinal lifting units 3 are respectively disposed on the side of the frame 2, the support frame 4 is disposed on the side of the two longitudinal lifting units 3, the dragging unit 5 is disposed between the frame 2 and the support frame 4, the two guide units 6 are disposed on both sides of the frame 2, and the insertion component 1 is disposed on the side of the support frame 4. The planting component 1 is an existing planting component 1 on a rice transplanter, which is prior art and not within the scope of protection of this application. For example, the planting component of the Kubota SPW48C rice transplanter can be used. The frame 2 is mounted on the rice transplanting robot, and the rice transplanting robot moves the frame 2 and the planting component 1. The planting component 1 plants rice seedlings. When the rice transplanting robot tilts left or right or forward or backward, the rice transplanting robot tilts together with the planting component 1. When the planting component 1 tilts, the two longitudinal lifting units 3 can pull the left and right sides of the planting component 1 respectively, causing the planting component 1 to tilt. The dragging unit 5 will pull the support frame 4 and the planting component 1 to tilt forward or backward, thereby adjusting the posture of the planting component 1 horizontally, keeping the planting component 1 in the correct posture, and improving the planting quality of rice seedlings.
[0032] Furthermore, the attitude sensor 7 is mounted on the planting component 1. When the rice transplanting robot tilts left or right or forward or backward, the transplanting robot tilts along with the planting component 1. The attitude sensor 7 senses the attitude of the planting component 1 in real time. When the planting component 1 tilts, the two longitudinal lifting units 3 and the dragging unit 5 pull the support frame 4 and the planting component 1 to move and tilt, thereby adjusting the attitude of the planting component 1 horizontally, keeping the planting component 1 in the correct posture, and improving the planting quality of rice seedlings.
[0033] The upper lifting ring 8 is located at the top of the frame 2; the weighing sensor 9 is located at the bottom of the upper lifting ring 8; the lower lifting ring 10 is located at the bottom of the weighing sensor 9; the spring 11 is fixedly connected to the bottom of the lower lifting ring 10; the hollow guide rail 12 is fixedly connected to the support frame 4 and is located at the bottom of the support frame 4; the lifting motor 13 is fixedly connected to the frame 2 and is located on the side of the frame 2; the first winding roller 14 is fixedly connected to the output end of the lifting motor 13 and is located on the side of the lifting motor 13; one end of the first wire rope 15 is fixedly connected to the spring 11, and the other end passes through the hollow guide rail 12 and is fixedly connected to the first winding roller 14, and is located between the spring 11 and the first winding roller 14. The lifting motor 13 drives the first winding roller 14 to rotate, winding the first steel wire rope 15. The first steel wire rope 15 drags the hollow guide rail 12, the support frame 4, and the insertion component 1, thereby controlling the movement of the insertion component 1. By controlling both lifting motors 13 to simultaneously drive the first steel wire rope 15 to wind and unwind, the insertion component 1 can move longitudinally. By controlling only one of the lifting motors 13 to wind and unwind the first steel wire rope 15, the insertion component 1 can be tilted to one side to adapt to different environments. The weighing sensor 9 can know the tension of the first steel wire rope 15 when the lifting motor 13 winds and unwinds, thereby effectively leveling the insertion component 1.
[0034] Secondly, the two grooved wheels 16 are rotatably connected to the hollow guide rail 12 and are located at both ends of the hollow guide rail 12. The grooved wheels 16 are used to guide the first wire rope 15.
[0035] Meanwhile, the drive motor 17 is fixedly connected to the frame 2 and located at the top of the frame 2; the second winding roller 18 is fixedly connected to the output end of the drive motor 17 and located on the side of the drive motor 17; one end of the second wire rope 19 is fixedly connected to the second winding roller 18, and the other end is fixedly connected to the support frame 4, located between the second winding roller 18 and the support frame 4. The drive motor 17 is located in the middle of the frame 2, and the drive motor 17 drives the second winding roller 18 to rotate, realizing the winding and unwinding of the second wire rope 19, thereby dragging the support frame 4 and the insertion component 1.
[0036] Additionally, the mounting base 20 is fixedly connected to the frame 2 and located on the side of the frame 2; the rotating shaft 21 is rotatably connected to the mounting base 20 and located on the side of the mounting base 20; the support base 22 is fixedly connected to the side of the rotating shaft 21; the guide rail 23 is fixedly connected to the support frame 4 and located on the side of the support frame 4 near the support base 22; a plurality of first guide wheels 24 are rotatably connected to the support base 22 and are respectively located between the support base 22 and the guide rail 23; a plurality of second guide wheels 25 are rotatably connected to the support base 22 and are respectively located between the support base 22 and the guide rail 23. The first guide wheel 24 and the second guide wheel 25 are located inside the guide rail 23, which can guide the movement of the guide rail 23, thereby guiding the movement of the support frame 4 and the insertion component 1; by means of the provided rotating shaft 21 and the mounting base 20, the support base 22, the guide rail 23, the plurality of first guide wheels 24, the plurality of second guide wheels 25 and the support frame 4 as a whole can rotate about the rotating shaft 21 as the central axis.
[0037] In using this invention, the frame 2 is mounted on a rice transplanting robot, which moves the frame 2 and the planting component 1 along with it. The planting component 1 plants rice seedlings. When the rice transplanting robot tilts left or right or forward or backward, it tilts along with the planting component 1. The attitude sensor 7 senses the attitude of the planting component 1 in real time. When the planting component 1 tilts, the two lifting motors 13 start, and according to the attitude of the planting component 1, the two lifting motors 13 respectively move the first steel wire rope. 15. The first wire rope 15 is used to retract and extend the second wire rope 19. The second wire rope 19 can drive the support frame 4 and the planting component 1 to tilt left and right, and can drive the support frame 4 and the planting component 1 to drag back and forth. This leveling of the planting component 1 ensures that the bottom of the floating platform of the planting component 1 is always in contact with the mud surface with appropriate pressure during the planting process, thus ensuring the planting quality. It also ensures that regardless of the depth of the mud, the bottom of the floating platform of the planting component 1 is always in contact with the mud surface with appropriate pressure. The system ensures that even if the rice transplanting robot's contact with the ground is uneven, or if the robot tilts left, right, forward, or backward during the transplanting process, the floating part 1 of the transplanting component 1 always maintains a stable and appropriate pressure against the mud surface; it also ensures that the transplanting component 1 remains horizontal during the robot's movement (non-transplanting state); the frame 2 is a rigid body, and during the transplanting process, it senses the tension of the first steel wire rope 15 and controls the rotation of the lifting motor 13 and the drive motor 17 to tighten or loosen the first steel wire rope 15 and the second steel wire rope 19. The system allows for horizontal adjustment of the planting component 1 and adjustment of the pressure of the planting component 1 against the mud surface. Since the center of gravity of the planting component 1 is forward, without the drive motor 17, the pulling of the two first steel wire ropes 15 would cause the planting component 1 to tilt forward. The posture sensor 7 installed on the planting component 1 will sense the balance posture of the planting component 1 in real time. By adjusting the dynamic adjustment of the drive motor 17, the correct posture of the planting component 1 can be achieved. This invention can horizontally adjust the posture of the planting component 1, improving the planting quality of rice seedlings.To achieve coordinated control of the lifting motor 13 and the drive motor 17, an electrical control box 26 is installed on the rice transplanting robot. An MCU microcontroller 27 is installed inside the control box 26. The attitude sensor 7, the weighing sensor 9, the lifting motor 13, and the drive motor 17 are all electrically connected to the MCU microcontroller 27. The MCU microcontroller 27 receives data monitored by the attitude sensor 7 and the weighing sensor 9, and controls the lifting motor 13 and the drive motor 17 to pull up and lower the planting component 1 based on the monitored data. Specifically, during operation, the attitude sensor 7 monitors the attitude information of the planting component 1 and transmits this information to the MCU microcontroller 27. When the planting component 1 tilts to the right, the MCU microcontroller 27 controls the right-side lifting motor 13 to lift the planting component 1. When the planting component 1 tilts to the left, the MCU microcontroller 27 controls the left-side lifting motor 13 to lift the planting component 1. When the planting component 1 tilts forward, the MCU microcontroller 27 controls the drive motor 17 to drag the planting component 1, thus leveling it. In addition, the two weighing sensors 9 on the left and right monitor gravity data in real time and transmit the gravity data to the MCU microcontroller 27. When the data monitored by one or both weighing sensors 9 is less than the working lower limit, the MCU controller controls the lifting motor 13 on the same side as the weighing sensor 9 to lift the insertion component 1.
[0038] Secondly, please refer to Figures 10-12 ,in, Figure 10 This is a flowchart of the posture adjustment method for the planting component of a rice transplanting robot according to this utility model; Figure 11 This is a control flowchart of the lifting motor of this utility model; Figure 12 This is a flowchart illustrating the working mode of the lifting motor of this utility model.
[0039] This utility model also provides a method for adjusting the posture of the planting component of a rice transplanting robot, including:
[0040] When the S1 rice transplanting robot moves carrying the planting component 1 and the attitude adjustment component, the attitude sensor 7 will sense the balance attitude of the planting component 1 in real time.
[0041] The frame 2 is mounted on the rice transplanting robot, which moves the frame 2 and the planting component 1 along with it. The planting component 1 plants rice seedlings. When the rice transplanting robot tilts left or right or forward or backward, the transplanting robot tilts along with the planting component 1. The attitude sensor 7 will sense the attitude of the planting component 1 in real time.
[0042] When the rice transplanting robot tilts left or right or forward or backward, S2 controls the lifting motor 13 and the drag motor 17 to raise and lower the first wire rope 15 and the second wire rope 19 respectively, thereby leveling the transplanting component 1 and ensuring the transplanting quality.
[0043] When the planting component 1 tilts, the two lifting motors 13 start. Based on the posture of the planting component 1, the two lifting motors 13 respectively retract and extend the first steel wire rope 15, while the drag motor 17 retracts and extends the second steel wire rope 19. The first steel wire rope 15 can drive the support frame 4 and the planting component 1 to tilt left and right, while the second steel wire rope 19 can drive the support frame 4 and the planting component 1 to drag forward and backward, leveling the planting component 1. This ensures that the bottom of the floating platform of the planting component 1 always maintains appropriate pressure against the mud surface during the planting process, guaranteeing planting quality. It ensures that regardless of the depth of the mud, the bottom of the floating platform of the planting component 1 maintains appropriate pressure against the mud surface. It also ensures that even if the rice transplanting robot's contact with the ground is uneven, or if the robot tilts left, right, forward, or backward during the planting process, the planting... The floating structure of the planting component 1 always maintains a stable and appropriate pressure against the mud surface, ensuring that the planting component 1 remains horizontal during the walking process (non-planting state) of the rice transplanting robot. The frame 2 is a rigid body. During the planting process, by sensing the tension of the first steel wire rope 15 and controlling the rotation of the lifting motor 13 and the drag motor 17, the first steel wire rope 15 and the second steel wire rope 19 are tightened or loosened to adjust the left and right horizontal position and the pressure of the planting component 1 against the mud surface. Since the center of gravity of the planting component 1 is forward, without the drag motor 17, the lifting of the two first steel wire ropes 15 would cause the planting component 1 to tilt forward. The attitude sensor 7 installed on the planting component 1 will sense the balance attitude of the planting component 1 in real time. By adjusting the dynamic adjustment of the drag motor 17, the correct attitude of the planting component 1 can be achieved.
[0044] The present invention provides a posture adjustment method for the planting component 1 of a rice transplanting robot, which can adjust the posture of the planting component 1 horizontally and improve the planting quality of rice seedlings.
[0045] The above-disclosed embodiments are merely one or more preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art can understand that all or part of the processes for implementing the above embodiments and equivalent changes made in accordance with the claims of this application still fall within the scope of this application.
Claims
1. A posture adjustment mechanism for a planting component of a rice transplanting robot, comprising a planting component, characterized in that, It also includes attitude adjustment components; The attitude adjustment component includes a frame, two longitudinal lifting units, a support frame, a towing unit, and two guide units; The two longitudinal lifting units are respectively disposed on the side of the vehicle frame, the support frame is disposed on the side of the two longitudinal lifting units, the dragging unit is disposed between the vehicle frame and the support frame, the two guide units are disposed on both sides of the vehicle frame, and the insertion component is disposed on the side of the support frame.
2. The attitude adjustment mechanism for the planting component of a rice transplanting robot as described in claim 1, characterized in that, The attitude adjustment component also includes an attitude sensor; the attitude sensor is disposed on the insertion component.
3. The attitude adjustment mechanism for the planting component of a rice transplanting robot as described in claim 2, characterized in that, The longitudinal lifting unit includes an upper lifting ring, a load cell, a lower lifting ring, a spring, a hollow guide rail, a lifting motor, a first winding roller, and a first wire rope; the upper lifting ring is located on the top of the vehicle frame; the load cell is located at the bottom of the upper lifting ring; and the lower lifting ring is located at the bottom of the load cell. The spring is fixedly connected to the bottom of the lower lifting ring; the hollow guide rail is fixedly connected to the support frame and located at the bottom of the support frame; the lifting motor is fixedly connected to the frame and located on the side of the frame. The first winding roller is fixedly connected to the output end of the lifting motor and is located on the side of the lifting motor; One end of the first wire rope is fixedly connected to the spring, and the other end passes through the hollow guide rail and is fixedly connected to the first winding roller, and is located between the spring and the first winding roller.
4. The attitude adjustment mechanism for the planting component of a rice transplanting robot as described in claim 3, characterized in that, The longitudinal lifting unit also includes two grooved wheels; the two grooved wheels are rotatably connected to the hollow guide rail and are located at both ends of the hollow guide rail.
5. The attitude adjustment mechanism for the planting component of a rice transplanting robot as described in claim 4, characterized in that, The drive unit includes a drive motor, a second winding roller, and a second wire rope; the drive motor is fixedly connected to the frame and located on the top of the frame; the second winding roller is fixedly connected to the output end of the drive motor and located on the side of the drive motor. One end of the second wire rope is fixedly connected to the second winding roller, and the other end is fixedly connected to the support frame and is located between the second winding roller and the support frame.
6. The attitude adjustment mechanism for the planting component of a rice transplanting robot as described in claim 5, characterized in that, The guiding unit includes a mounting base, a rotating shaft, a support base, a guide rail, multiple first guide wheels, and multiple second guide wheels. The mounting base is fixedly connected to the vehicle frame and located on the side of the vehicle frame. The rotating shaft is rotatably connected to the mounting base and located on the side of the mounting base. The support base is fixedly connected to the side of the rotating shaft. The guide rail is fixedly connected to the support frame and located on the side of the support frame near the support base. The multiple first guide wheels are rotatably connected to the support base and located between the support base and the guide rail. The multiple second guide wheels are rotatably connected to the support base and located between the support base and the guide rail.