A type of electric precision corn planter for hilly and mountainous areas

Abstract

This utility model discloses an electric precision corn planter for hilly and mountainous areas. The planting system's lifting mechanism is connected to the frame, and the planter's fixed frame is connected to the planter's lifting mechanism via a flexible connection mechanism. The soil-covering wheel of the planting system is synchronously arranged below the middle of the machine body along with the planter. The lifting action of the planting system is driven by an electric push rod, which is controlled by the MCU controller of the electrical system. The speed and steering angle of the hub motor of the power system are adjusted by the electrical control board of the electrical system according to the operation instructions, ensuring that the movement of the planter and the planting action are coordinated. The planting system has a modular design and can quickly switch between single and double rows. In double-row mode, the row spacing can be adjusted through the fixing holes of the planter's connecting frame. The parallelogram lifting and flexible connection mechanism of the planter ensures the robustness and operational stability of the entire machine. This utility model improves planting accuracy and efficiency, reduces labor intensity, and is suitable for corn planting in hilly and mountainous areas.

Description

Technical Field

[0001] This utility model belongs to the field of sowing equipment technology, specifically relating to an electric precision corn planter for hilly and mountainous areas. Background Technology

[0002] As a vital food and feed crop in my country, corn plays an irreplaceable and crucial role in maintaining national food security. Promoting the mechanization of corn production can not only enhance efficiency and disaster resilience but also significantly increase overall corn yield, thus solidifying the foundation of food security. However, the level of mechanization in corn production in my country currently exhibits significant regional disparities, particularly in hilly and mountainous areas where standardized corn production urgently needs improvement. Due to the complex terrain and diverse planting patterns in these regions, existing mechanized production methods face challenges such as difficulty in accessing the fields and low operational efficiency.

[0003] The following are the disadvantages of corn planters currently available in hilly and mountainous areas: 1. Hilly and mountainous terrain is complex, with fragmented plots and varying slopes, making it difficult for traditional large planters to operate effectively. 2. Small fuel-powered planters are inefficient, difficult to climb slopes, produce heavy pollution, and require heavy operation. 3. Small hand-push duckbill planters are labor-intensive and have difficulty guaranteeing work quality, especially in maintaining row spacing. Utility Model Content

[0004] This utility model provides an electric precision corn planter for hilly and mountainous areas, which overcomes the shortcomings of existing corn planters for these areas. Addressing the complex terrain and diverse soil conditions of hilly and mountainous regions, a planter is needed that is compact, small in size, lightweight, efficient, and powerful, adaptable to hilly and mountainous operations, while also possessing high safety, strong environmental friendliness, and significant operational efficiency, effectively reducing energy consumption and environmental pollution. Considering the corn planting patterns and agronomic requirements of hilly and mountainous areas, the planter needs to achieve controllable plant and row spacing and adjustable planting depth to effectively improve the precision of corn planting operations. Furthermore, remote control operation is required to effectively reduce labor intensity.

[0005] To achieve the above objectives, the specific technical solution is as follows:

[0006] This utility model provides an electric precision corn planter for hilly and mountainous areas, including a machine body (1), on which an electrical system (2), a power system (3) and a planting system (4) are installed;

[0007] The seeding system (4) is installed in the middle of the frame (1-1) of the machine body (1), located between the front and rear wheel axles of the power system (3); the seeder lifting mechanism (4-5) of the seeding system (4) is connected to the frame (1-1); the soil covering wheel (4-6) of the seeding system (4) is arranged synchronously with the seeder (4-1) at the lower middle part of the machine body (1);

[0008] The lifting action of the sowing system (4) is driven by an electric push rod (4-4), which is controlled by the MCU controller of the electrical system (2). The speed and steering angle of the hub motor (3-11) of the power system (3) are adjusted by the electrical control board (2-5) of the electrical system (2) according to the operation instructions to ensure that the movement of the sower (4-1) is coordinated with the sowing action.

[0009] In an optional embodiment of this utility model, the sowing system (4) includes a seeder (4-1), a seeder fixing frame (4-2), a seeder flexible connection mechanism (4-3), an electric push rod (4-4), a seeder lifting mechanism (4-5), and a soil covering wheel (4-6). The seeder (4-1) is connected to the seeder lifting mechanism (4-5) through one seeder fixing frame (4-2) and the seeder flexible connection mechanism (4-3). The seeder lifting mechanism (4-5) is connected to the telescopic end of the electric push rod (4-4). The electric push rod (4-4) is fixed on the frame (1-1). The soil covering wheel (4-6) is connected to the seeder flexible connection mechanism (4-3) through another seeder fixing frame (4-2).

[0010] In an optional embodiment of this utility model, the flexible connection mechanism (4-3) of the seeder includes a connecting rod (4-31), a flexible fixing frame (4-32), a pin fixing seat (4-33), a spring damper (4-34), and a flexible floating frame (4-35); wherein, the flexible fixing frame (4-32), the flexible floating frame (4-35), and the connecting rod (4-31) form a parallelogram mechanism; one pin fixing seat (4-33) is installed on the top of the flexible fixing frame (4-32), and another pin fixing seat (4-33) is installed on the bottom of the flexible floating frame (4-35), and the spring damper (4-34) is connected between the two pin fixing seats (4-33).

[0011] In an optional embodiment of this utility model, the seeder lifting mechanism (4-5) includes a seeder connecting frame (4-51), a lifting bracket (4-52), a lifting pin (4-53), a push rod pin (4-54), a lifting connecting rod (4-55), an electric push rod (4-56), a push rod support (4-57), and a lifting fixing frame (4-58); wherein, the lifting bracket (4-52), the lifting connecting rod (4-55), and the lifting fixing frame (4-58) form a parallelogram mechanism; by controlling the extension and retraction of the electric push rod (4-56), the push rod pin (4-54) can be driven to move up and down, thereby driving the lifting bracket (4-52) and the seeder connecting frame (4-51) to move up and down horizontally while maintaining a constant angle with the ground.

[0012] In one optional embodiment of this utility model, the seeder connecting frame (4-51) has multiple seeder connecting holes (4-511) and seeder connecting frame fixing holes (4-512); wherein, the multiple seeder connecting holes (4-511) are symmetrically and evenly distributed from left to right; the installation position of the seeder (4-1) can be adjusted according to agronomic needs to change the distance between two seeders (4-1), thereby meeting different row spacing requirements.

[0013] In an optional embodiment of this utility model, the sowing system (4) further includes a seeder camera. The seeder camera encodes the image and sends it to the user remote control via an image transmission transceiver. The user remote control decodes the image and displays it on the remote control screen. The user remote control encodes the user's instructions for operating the joystick and buttons on the remote control and sends the encoded data to the image transmission transceiver via an antenna. The transceiver sends the data to the MCU controller via the MCU controller peripheral circuit. The MCU controller parses the data to obtain control commands. The MCU controller controls the corresponding stepper motor, hub motor, electric push rod, work indicator light, and lighting lamp execution components according to the obtained control commands, thereby controlling the operation of the electric corn precision seeder. The zero-point switch is used to calibrate the relative direction angle between the four sets of steering hub motors and the vehicle body to ensure that the machine body (1) completes steering, translation, and remote control walking.

[0014] In an optional embodiment of this utility model, the power system (3) includes four independent hub motor sets (3-1) with steering wheels and a new energy power battery (3-3). The four hub motor sets (3-1) with steering wheels are respectively installed at the four corners of the frame (1-1) of the machine body (1) to form the walking mechanism of the seeder. The new energy power battery (3-3) serves as a power source and is installed in the area corresponding to the battery door cover (1-5) inside the machine body (1), located on the frame (1-1).

[0015] In an optional embodiment of this utility model, the layout of the power system (3) and the seeding system (4) includes: wheel track L. T The distance between the steering centers of the left and right wheels; wheelbase L W L is the distance between the steering centers of the front and rear wheels. S ψ is the distance between the seeder axis and the front wheel axis; ψ is the yaw angle (rotation angle) of the hub motor, where the subscripts T and W correspond to the four hub motors, with clockwise being positive and counterclockwise being negative; L R R represents the turning radius when controlled by the joystick; R represents the rotational speed of the hub motors, where the subscript numbers correspond to the four hub motors; and L represents the distance between the seeder axis and the front wheel axis. S ; ’

[0016] The motion control of electric corn precision planters is mainly divided into three categories: translation, in-situ turning, and joystick control.

[0017] When the seeder moves horizontally, the yaw angles of the four hub motors meet the preset relationship: The rotational speeds satisfy the preset relationship: R1 = R2 = R3 = R4 = R S , where R S For target speed;

[0018] When the seeder turns in place, the yaw angles of the four hub motors satisfy the following:

[0019]

[0020] The rotational speeds satisfy the preset relationships: R1 = -R2 = -R3 = R4 = R S , where R S It is the target speed;

[0021] When the seeder is controlled by the joystick, the yaw angles of the four hub motors satisfy the following:

[0022]

[0023] The rotational speed meets the preset relationship:

[0024]

[0025]

[0026] Where R S It is the target speed.

[0027] Compared with the prior art, the present invention provides an electric precision corn planter for hilly and mountainous areas, which has the following advantages:

[0028] (1) The machine adopts a centrally located seeder layout, which makes the machine structure more compact and the length smaller. While ensuring driving stability, it effectively improves the maneuverability of the seeder and is more suitable for small plots in hilly and mountainous areas.

[0029] (2) The power system adopts a distributed four-wheel drive mode, and each set of hub motors can turn independently, enabling the seeder to complete special movements such as turning on the spot and moving left and right, making it more adaptable to hilly and mountainous terrain.

[0030] (3) It uses a 48V new energy lithium battery as power, with an operating range of ≥4h, which meets the requirements of green, low-carbon and environmental protection, effectively reducing energy consumption and environmental pollution.

[0031] (4) The lifting mechanism of the seeding system adopts a parallelogram mechanism, which is not only simple and stable in structure and low in cost, but also ensures that the seeder remains perpendicular to the ground during the lifting process, effectively improving the seeding efficiency of the seeder and thus improving the quality of operation.

[0032] (5) The seeding system adopts a flexible connection mechanism based on a parallelogram, which is simple, stable, and inexpensive. On the one hand, it allows the seeder to float up and down while maintaining a certain pressure range with the ground, avoiding damage to the seeder due to uneven ground or encountering gravel, thus effectively improving the stability and lifespan of the seeder. On the other hand, when seeding two rows, the two seeders can be mechanically decoupled, allowing them to float up and down independently and automatically adapt to uneven ground or encountering gravel, thereby avoiding damage to the seeder and improving its robustness and lifespan.

[0033] (6) The sowing system adopts a modular design, and the seeder connecting frame can be quickly disassembled and replaced to achieve single-row and double-row switching of the seeder. For the double-row working mode, the row spacing can be adjusted by adjusting the mounting holes of the flexible connecting mechanism and the seeder connecting frame to meet the agronomic needs of different regions.

[0034] (7) The use of remote control operation mode effectively reduces labor intensity. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the structure of an electric precision corn planter for hilly and mountainous areas, provided as an embodiment of the present invention.

[0037] Figure 2 This is a schematic diagram showing the layout of a power system and a seeder, provided for an embodiment of the present invention.

[0038] Figure 3 This is a schematic diagram of a fuselage structure provided for an embodiment of the present utility model.

[0039] Figure 4 This is a schematic diagram of an electrical system structure provided for an embodiment of the present utility model.

[0040] Figure 5 This is a schematic diagram of a power system structure provided for an embodiment of the present utility model.

[0041] Figure 6 This is a schematic diagram of a motor unit with a steering wheel hub provided for an embodiment of the present utility model.

[0042] Figure 7 This is a schematic diagram of a radial bearing assembly structure provided for an embodiment of the present utility model.

[0043] Figure 8 This is a schematic diagram of a seeding system provided in an embodiment of the present invention.

[0044] Figure 9 This is a schematic diagram of a flexible connection mechanism for a seeder provided in an embodiment of the present utility model.

[0045] Figure 10 A simplified diagram of a flexible connection mechanism for a seeder provided in an embodiment of this utility model.

[0046] Figure 11 This is a schematic diagram of a lifting mechanism provided for an embodiment of the present utility model.

[0047] Figure 12 A schematic diagram of a seeder connecting frame structure provided for an embodiment of this utility model.

[0048] Figure 13 This is a hardware and software architecture diagram of a seeder provided for an embodiment of the present invention.

[0049] Figure 14 A schematic diagram of a seeder control program provided for an embodiment of this utility model. Detailed Implementation

[0050] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The terms "upper," "lower," "front," "rear," "left," and "right," etc., used when describing the installation position or direction of the structure or components in this embodiment are based on the orientation shown in the accompanying drawings. They are merely for convenience of description, used to distinguish the relative positions of various components or directions, and do not represent the orientation of the system or functional components in this embodiment during use.

[0051] like Figures 1-14 As shown, this utility model embodiment provides an electric precision corn seeder for hilly and mountainous areas, including a machine body 1. An electrical system 2, a power system 3, and a seeding system 4 are installed on the machine body 1. The seeding system 4 is installed in the middle of the frame 1-1 of the machine body 1, located between the front and rear wheel axles of the power system 3. The seeder lifting mechanism 4-5 of the seeding system 4 is connected to the frame 1-1. The soil-covering wheel 4-6 of the seeding system 4 is synchronously arranged below the middle of the machine body 1 along with the seeder 4-1. The lifting action of the seeding system 4 is driven by an electric push rod 4-4, which is controlled by the MCU controller of the electrical system 2. The speed and steering angle of the hub motor 3-11 of the power system 3 are adjusted by the electrical control board 2-5 of the electrical system 2 according to operating instructions, ensuring that the movement of the seeder 4-1 and the seeding action are coordinated.

[0052] As shown in Figure 3, the machine body 1 includes a frame 1-1, a housing 1-2, a seeder door lock 1-3, a seeder door cover 1-4, a battery door cover 1-5, a battery door lock 1-6, an electrical door lock 1-7, and an electrical door cover 1-8. The frame 1-1 is located at the bottom of the machine body 1, the housing 1-2, the seeder door lock 1-3, the seeder door cover 1-4, the battery door cover 1-5, and the battery door lock 1-6 are located at the top of the machine body 1, and the electrical door lock 1-7 and the electrical door cover 1-8 are located on the side of the machine body 1.

[0053] like Figure 4As shown, electrical system 2 includes an LED light 2-1, an emergency switch 2-2, a signal transmission antenna 2-3, a work indicator light 2-4, an electrical control board 2-5, a power access board 2-6, a key switch 2-7, and a control switch 2-8. The LED light 2-1 and control switch 2-8 are located on the top left side of electrical system 2. The emergency switch 2-2, signal transmission antenna 2-3, and work indicator light 2-4 are located on the top right side of electrical system 2. The electrical control board 2-5 and power access board 2-6 are located on the right side of electrical system 2. The LED light 2-1 provides illumination at night or in low light conditions. The emergency switch 2-2 cuts off the power in case of remote control failure. The signal transmission antenna 2-3 enhances signal transmission. The work indicator light 2-4 indicates the seeder's operating status. The electrical control board 2-5 is the control center of the seeder, used to process signal interpretation commands, thereby controlling the modules of each subsystem.

[0054] like Figure 5 As shown, the power system adopts a distributed four-wheel drive mode. The power system 3 includes four independent hub motor sets 3-1 with steering wheels and a new energy power battery 3-3. The four hub motor sets 3-1 with steering wheels are respectively installed at the four corners of the frame 1-1 of the machine body 1, forming the walking mechanism of the seeder; the new energy power battery 3-3 serves as the power source and is installed in the area corresponding to the battery door cover 1-5 inside the machine body 1, located on the frame 1-1.

[0055] like Figure 6 As shown, each set of steering hub motors 3-1 includes a hub motor 3-11, a protective nut 3-12, a shift fork bracket 3-13, a shift fork crossbeam 3-14, a shift fork shaft 3-15, a radial bearing assembly 3-16, an RV worm gear reducer 3-17, a closed-loop stepper motor 3-18, a hub support 3-19, a photoelectric sensor 3-20, and a light shield 3-21. The photoelectric sensor 3-20 and the light shield 3-21 together form the zero-point switch of the steering hub motor set 3-1.

[0056] like Figure 7 As shown, the radial bearing assembly 3-16 includes a lower end cover 3-161, a radial bearing 3-162, a base 3-163, an upper end cover 3-164, an upper bushing 3-165, a deep groove ball bearing 3-166, a bushing 3-167, and a lower bushing 3-168. The radial bearing assembly 3-16 mainly bears the radial force, axial force, and bending moment of the shift fork shaft.

[0057] Each set of steering hub motors 3-1 is mounted and fixed on the frame 1-1, and can steer independently. Hub motors 3-11 are mounted and fixed to two shift fork brackets 3-13 via protective nuts. The two shift fork brackets 3-13 are mounted and fixed to the shift fork crossbeam 3-14 via screws. The shift fork crossbeam 3-14 is fixed to the shift fork shaft 3-15 via screws. The shift fork shaft 3-15 is mounted on a radial bearing assembly 3-16, which is fixed to the hub bracket 3-19 via screws. RV worm gear reducers 3-17 are mounted and fixed to the radial bearing assembly 3-16 via screws. Closed-loop stepper motors 3-18 are mounted and fixed to RV worm gear reducers 3-17 via screws. The closed-loop stepper motor 3-18 transmits power to the RV worm gear reducer 3-17 via a key, and then to the shift fork shaft 3-15 via another key, thereby driving the hub motor 3-11 to perform steering motion. The photoelectric sensor 3-20 is fixed on the hub bracket 3-19, and the light shield 3-21 is fixed on the shift fork crossbeam 3-14. When the zero-point switch formed by the two is triggered, the hub motor 3-11 rotates to the forward position, denoted as ψ = 0.

[0058] like Figure 1 and Figure 2 As shown, the layout of the power system 3 and the seeding system 4; wheel track L T The distance between the steering centers of the left and right wheels; wheelbase L W L is the distance between the steering centers of the front and rear wheels. S ψ is the distance between the seeder axis and the front wheel axis; ψ is the yaw angle of the hub motor, where the subscripts T and W correspond to the four hub motors, with clockwise being positive and counterclockwise being negative; L R R represents the turning radius when controlled by the joystick; R represents the rotational speed of the hub motors, where the subscript numbers correspond to the four hub motors; and L represents the distance between the seeder axis and the front wheel axis. S .

[0059] The motion control of electric corn precision planters is mainly divided into three categories: translation, in-situ turning, and joystick control.

[0060] When the seeder moves horizontally, the yaw angles of the four hub motors meet the preset relationship: The rotational speeds satisfy the preset relationship: R1 = R2 = R3 = R4 = R S , where R S For target speed;

[0061] When the seeder turns in place, the yaw angles of the four hub motors meet the preset relationship:

[0062]

[0063] The rotational speeds satisfy the preset relationships: R1 = -R2 = -R3 = R4 = R S, where R S It is the target speed;

[0064] When the seeder is controlled by the joystick, the yaw angles of the four hub motors meet the preset relationship:

[0065]

[0066] The rotational speed satisfies:

[0067]

[0068] Where R S It is the target speed.

[0069] like Figure 8 As shown, the sowing system 4 includes a seeder 4-1, a seeder fixing frame 4-2, a seeder flexible connection mechanism 4-3, an electric push rod 4-4, a seeder lifting mechanism 4-5, and a soil covering wheel 4-6. The seeder 4-1 is connected to the seeder lifting mechanism 4-5 through one seeder fixing frame 4-2 and the seeder flexible connection mechanism 4-3. The seeder lifting mechanism 4-5 is connected to the telescopic end of the electric push rod 4-4. The electric push rod 4-4 is fixed on the frame 1-1. The soil covering wheel 4-6 is connected to the seeder flexible connection mechanism 4-3 through another seeder fixing frame 4-2.

[0070] like Figure 9 and Figure 10 As shown, the flexible connection mechanism 4-3 of the seeder includes a connecting rod 4-31, a flexible fixing frame 4-32, a pin fixing seat 4-33, a spring damper 4-34, and a flexible floating frame 4-35; wherein, the flexible fixing frame 4-32, the flexible floating frame 4-35, and the connecting rod 4-31 form a parallelogram mechanism. One pin fixing seat 4-33 is installed on the top of the flexible fixing frame 4-32, and another pin fixing seat 4-33 is installed on the bottom of the flexible floating frame 4-35, with the spring damper 4-34 connecting the two pin fixing seats 4-33.

[0071] like Figure 11 As shown, the seeder lifting mechanism 4-5 includes a seeder connecting frame 4-51, a lifting bracket 4-52, a lifting pin 4-53, a push rod pin 4-54, a lifting connecting rod 4-55, an electric push rod 4-56, a push rod support 4-57, and a lifting fixing frame 4-58. The lifting bracket 4-52, the lifting connecting rod 4-55, and the lifting fixing frame 4-58 form a parallelogram mechanism. By controlling the extension and retraction of the electric push rod 4-56, the push rod pin 4-54 can be moved up and down, thereby causing the lifting bracket 4-52 and the seeder connecting frame 4-51 to move horizontally up and down while maintaining a constant angle with the ground.

[0072] like Figure 12As shown, the seeder connecting frame 4-51 has multiple seeder connecting holes 4-511 and seeder connecting frame fixing holes 4-512; the multiple seeder connecting holes 4-511 are symmetrically and evenly distributed from left to right; the installation position of the seeder 4-1 can be adjusted according to agronomic needs to change the distance between two seeders 4-1, thereby meeting different row spacing requirements.

[0073] like Figure 13 As shown in the figure, this utility model embodiment also provides a hardware and software architecture diagram of the seeder. The seeder system 4 also includes a seeder camera, which encodes the image and sends it to the user remote control via an image transmission signal transceiver. The user remote control decodes the image and displays it on the remote control screen. The user remote control encodes the user's commands for operating the joystick and buttons on the remote control and sends the encoded data to the image transmission signal transceiver via an antenna. The transceiver sends the data to the MCU controller via the MCU controller peripheral circuit. The MCU controller parses the data to obtain control commands. The MCU controller controls the corresponding stepper motor, hub motor, electric push rod, work indicator light, and lighting device according to the obtained control commands, thereby controlling the operation of the electric corn precision seeder. The zero-point switch is used to calibrate the relative direction angle between the four sets of steering hub motors and the machine body to ensure that the machine body 1 can complete steering, translation, and remote control movement.

[0074] like Figure 14 As shown, the seeder control program flow is as follows: S1: Initialize various hardware peripherals; S2: Receive and parse data, and determine the instruction type; S3: Execute the corresponding control subroutine according to the instruction type, including stationary turning, translation control, joystick control, seeder lifting and lowering, and direction calibration; S4: After control is completed, it can return to receive instructions again. Specifically, when the seeder translates, the yaw angle of the four hub motors meets specific conditions, and the rotational speed meets specific conditions, where R... S The target speed; when the seeder turns in place, the yaw angle of the four hub motors meets specific conditions, and the rotational speed meets specific conditions, where R S It is the target speed; when the seeder is controlled by the joystick, the yaw angle of the four hub motors meets specific conditions, and the rotational speed meets specific conditions, where R S It is the target speed.

[0075] This utility model embodiment also provides a control method for an electric precision corn planter in hilly and mountainous areas, including the following steps:

[0076] Step 1, Motion Control: This includes at least one of translation control, stationary steering control, and joystick control; specifically, in translation control, the yaw angle and speed of the four hub motors are controlled to meet a preset relationship, enabling the seeder to translate left and right, and the speeds of the four hub motors are all related to the target speed R. SMatching; during stationary steering control, the yaw angles of the four hub motors are symmetrically distributed, and their speeds satisfy the target speed R. S The corresponding preset relationships enable the seeder to turn in place with a zero turning radius; when controlled by the joystick, the yaw angle and speed of the four hub motors are controlled according to the joystick input signal to satisfy the corresponding preset relationships, so that the seeder turns at the turning radius L set by the joystick. R Perform a turning motion;

[0077] Step 2, Seeding System Control: The parallelogram lifting mechanism is driven by an electric push rod, allowing the seeder to rise and fall while maintaining a constant angle with the ground to adjust the seeding depth; the parallelogram flexible connection mechanism allows the seeder to float up and down while maintaining a preset pressure range with the ground, and in double-row seeding mode, the two seeders can float independently; by changing the installation position of the seeder on the seeder connecting frame, the single-row and double-row seeding modes can be switched, and the row spacing in double-row mode can be adjusted.

[0078] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. An electric precision corn planter for hilly and mountainous areas, characterized in that, Includes a fuselage (1), on which an electrical system (2), a power system (3) and a seeding system (4) are installed; The seeding system (4) is installed in the middle of the frame (1-1) of the machine body (1), located between the front and rear wheel axles of the power system (3); the seeder lifting mechanism (4-5) of the seeding system (4) is connected to the frame (1-1); the soil covering wheel (4-6) of the seeding system (4) is arranged synchronously with the seeder (4-1) at the lower middle part of the machine body (1); The lifting action of the sowing system (4) is driven by an electric push rod (4-4), which is controlled by the MCU controller of the electrical system (2). The speed and steering angle of the hub motor (3-11) of the power system (3) are adjusted by the electrical control board (2-5) of the electrical system (2) according to the operation instructions to ensure that the movement of the sower (4-1) is coordinated with the sowing action.

2. The electric precision corn planter for hilly and mountainous areas according to claim 1, characterized in that, The sowing system (4) includes a seeder (4-1), a seeder mounting frame (4-2), a seeder flexible connection mechanism (4-3), an electric push rod (4-4), a seeder lifting mechanism (4-5), and a soil covering wheel (4-6). The seeder (4-1) is connected to the seeder lifting mechanism (4-5) through one seeder mounting frame (4-2) and the seeder flexible connection mechanism (4-3). The seeder lifting mechanism (4-5) is connected to the telescopic end of the electric push rod (4-4). The electric push rod (4-4) is fixed on the frame (1-1). The soil covering wheel (4-6) is connected to the seeder flexible connection mechanism (4-3) through another seeder mounting frame (4-2).

3. The electric precision corn planter for hilly and mountainous areas according to claim 2, characterized in that, The flexible connection mechanism (4-3) of the seeder includes a connecting rod (4-31), a flexible fixing frame (4-32), a pin fixing seat (4-33), a spring damper (4-34), and a flexible floating frame (4-35); wherein, the flexible fixing frame (4-32), the flexible floating frame (4-35), and the connecting rod (4-31) form a parallelogram mechanism; one pin fixing seat (4-33) is installed on the top of the flexible fixing frame (4-32), and another pin fixing seat (4-33) is installed on the bottom of the flexible floating frame (4-35), and the spring damper (4-34) is connected between the two pin fixing seats (4-33).

4. The electric precision corn planter for hilly and mountainous areas according to claim 3, characterized in that, The seeder lifting mechanism (4-5) includes a seeder connecting frame (4-51), a lifting bracket (4-52), a lifting pin (4-53), a push rod pin (4-54), a lifting connecting rod (4-55), an electric push rod (4-56), a push rod support (4-57), and a lifting fixing frame (4-58). The lifting bracket (4-52), the lifting connecting rod (4-55), and the lifting fixing frame (4-58) form a parallelogram mechanism. By controlling the extension and retraction of the electric push rod (4-56), the push rod pin (4-54) can be moved up and down, thereby causing the lifting bracket (4-52) and the seeder connecting frame (4-51) to move horizontally up and down while maintaining a constant angle with the ground.

5. The electric precision corn planter for hilly and mountainous areas according to claim 4, characterized in that, The seeder connecting frame (4-51) has multiple seeder connecting holes (4-511) and seeder connecting frame fixing holes (4-512); the multiple seeder connecting holes (4-511) are symmetrically and evenly distributed from left to right; the installation position of the seeder (4-1) can be adjusted according to agronomic needs to change the distance between two seeders (4-1) to meet different row spacing requirements.

6. The electric precision corn planter for hilly and mountainous areas according to claim 1, characterized in that, The seeding system (4) also includes a seeder camera, which encodes the image and sends it to the user remote control via an image transmission transceiver. The user remote control decodes the image and displays it on the remote control screen. The user remote control encodes the instructions of the joystick and button on the remote control, and sends the encoded data to the image transmission signal transceiver through the antenna. The transceiver sends the data to the MCU controller through the MCU controller peripheral circuit. The MCU controller parses the data to obtain control commands. The MCU controller controls the corresponding stepper motor, hub motor, electric push rod, work indicator and lighting execution components according to the obtained control commands, thereby controlling the operation of the electric corn precision planter. The zero point switch is used to calibrate the relative direction angle between the four sets of steering hub motors and the vehicle body to ensure that the machine body (1) completes steering, translation and remote control walking.

7. The electric precision corn planter for hilly and mountainous areas according to claim 1, characterized in that, The power system (3) includes four independent hub motor sets (3-1) with steering wheels and a new energy power battery (3-3). The four hub motor sets (3-1) with steering wheels are respectively installed at the four corners of the frame (1-1) of the machine body (1) to form the walking mechanism of the seeder. The new energy power battery (3-3) serves as the power source and is installed in the area corresponding to the battery door cover (1-5) inside the machine body (1), located on the frame (1-1).

8. The electric precision corn planter for hilly and mountainous areas according to claim 7, characterized in that, The layout of the power system (3) and the seeding system (4); wheel track L T The distance between the steering centers of the left and right wheels; wheelbase L W L is the distance between the steering centers of the front and rear wheels. S ψ is the distance between the seeder axis and the front wheel axis; ψ is the yaw angle (rotation angle) of the hub motor, where the subscripts T and W correspond to the four hub motors, with clockwise being positive and counterclockwise being negative; L R R represents the turning radius when controlled by the joystick; R represents the rotational speed of the hub motors, where the subscript numbers correspond to the four hub motors; and L represents the distance between the seeder axis and the front wheel axis. S ; ’ The motion control of electric corn precision planters is mainly divided into three categories: translation, in-situ turning, and joystick control. When the seeder moves horizontally, the yaw angles of the four hub motors meet the preset relationship: The rotational speeds satisfy the preset relationship: R1 = R2 = R3 = R4 = R S , where R S For target speed; When the seeder turns in place, the yaw angles of the four hub motors satisfy the following: The rotational speeds satisfy the preset relationships: R1 = -R2 = -R3 = R4 = R S , where R S It is the target speed; When the seeder is controlled by the joystick, the yaw angles of the four hub motors satisfy the following: The rotational speed meets the preset relationship: Where R S It is the target speed.

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