CN107926222B - Robot control system of seeder - Google Patents
Robot control system of seeder Download PDFInfo
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- CN107926222B CN107926222B CN201711252067.4A CN201711252067A CN107926222B CN 107926222 B CN107926222 B CN 107926222B CN 201711252067 A CN201711252067 A CN 201711252067A CN 107926222 B CN107926222 B CN 107926222B
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- seeding
- lifting
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- rod
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/002—Dibble seeders
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
- A01C7/208—Chassis; Coupling means to a tractor or the like; Lifting means; Side markers
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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Sowing (AREA)
Abstract
The invention discloses a robot control system of a seeder, which comprises a lifting seeding taper rod and a controller, wherein the controller controls the running speed of an electric hub and the rotating speed of a motor, and the controller determines the seeding distance between two pits of seeds or seedlings by controlling the electric hub to move forwards in a pulse mode; the controller controls the motor to rotate to perform sowing operation; the electric hub is driven to move forward by starting a controller switch, a motor drives a rotating gear to rotate through a motor gear arranged on a rotating shaft, the rotating gear drives a crankshaft to rotate, and the crankshaft drives a lifting seeding taper rod to do up-and-down reciprocating motion through a connecting rod crank neck and a connecting rod; the motor is controlled to rotate through the controller, when the lifting seeding taper rod is lifted, the movable stop block on the lifting seeding taper rod pushes the insertion plate to plug the seeding inlet upwards, and when the seeding inlet on the lifting seeding taper rod is aligned with the through hole, seeds or seedlings cannot enter the seeding channel through the guide pipe.
Description
Technical Field
The invention relates to the field of agricultural planting, in particular to a robot control system of a seeding machine.
Background
In recent years, vegetable planters have been reported in China, and the vegetable planters are only popularized in a small range due to factors such as unreliable performance and limitation of sowing conditions. At present, in rural vegetable planting, manual and simple labor tools are mainly used for both field planting and facility agricultural planting, so that the labor and the labor are wasted, the efficiency is low, the seeds are wasted, and vegetable growers are very bitter. The manual seeding mode has three kinds: namely broadcast sowing, drill sowing and hole sowing.
The existing vegetable planter has the following defects: firstly, the density of the sowed seeds is not uniform, the seeds are sparse and deficient, the seedlings are thinned and need thinning, the seeds are very troublesome to scatter, sometimes the seeds are scattered outside the ridge, the seed emergence rate is influenced, and secondly, the seeds are thinned and need thinning while overcoming some defects of the sowing, and the waste of the seeds is also caused. Scientific hole sowing, seed saving, good illumination and ventilation effects, uniform nutrition and low thinning labor intensity, but low sowing efficiency. In addition, at present, all the vegetable planting machines are large, some of the vegetable planting machines are provided with power, air is polluted during operation, the price of the whole machine is high, the movement is inconvenient, and the vegetable planting machines are difficult to apply to vegetable seeding in facility agriculture.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a robot control system of a seeder, which solves the problems that the existing greenhouse vegetable seeding is low in mechanization degree, complex in equipment and high in cost, seeds are wasted in seeding, and the emergence rate is influenced.
The invention is realized by the following technical scheme:
a robot control system of a seeding machine comprises a lifting seeding taper rod and a controller, wherein the controller controls the running speed of an electric hub and the rotating speed of a motor, and the controller determines the seeding distance between two pits of seeds or seedlings by controlling the electric hub to move forwards in a pulse mode; the controller controls the motor to rotate to perform sowing operation;
the electric hub is driven to move forward by starting a controller switch, a motor drives a rotating gear to rotate through a motor gear arranged on a rotating shaft, the rotating gear drives a crankshaft to rotate, and the crankshaft drives a lifting seeding taper rod to do up-and-down reciprocating motion through a connecting rod crank neck and a connecting rod;
the motor is controlled to rotate by the controller, when the lifting seeding taper rod is lifted, the movable stop block on the lifting seeding taper rod pushes the inserting plate to plug the seeding inlet upwards, and when the seeding inlet on the lifting seeding taper rod is aligned with the through hole, seeds or seedlings cannot enter the seeding channel through the guide pipe;
the controller controls the motor to rotate, when the lifting seeding taper rod reaches the top and is ready to descend, the movable stop block cannot stop the inserting plate due to the extrusion and the overturning of the inserting plate, and the inserting plate descends in advance, so that the plugging of the seeding inlet is opened;
the controller controls the motor to rotate, and when the lifting seeding taper rod moves downwards and a seeding inlet on the lifting seeding taper rod is aligned with the through hole, seeds or seedlings can enter the seeding channel;
the controller controls the motor to rotate, the lifting seeding conical rod continues to move downwards, the conical head of the lifting seeding conical rod is inserted into soil, and meanwhile, the rotating baffle plate seals the seeding outlet under the extrusion of the soil;
the motor is controlled to rotate through the controller, then the lifting seeding taper rod is lifted upwards, at the moment, the rotating baffle is reset under the driving of the coil spring to open the plug of the seeding outlet, and seeds or seedlings fall into soil.
Furthermore, four sets of electric hubs are arranged at the bottom of the rack and connected with a storage battery.
Furthermore, the electric hub and the motor are both connected with the controller, and the controller is used for controlling the electric hub and the motor to work.
Furthermore, be equipped with the rotating baffle that prevents soil entering lower extreme seeding export on the conical head of lift seeding awl pole bottom, rotating baffle installs on the conical head through the hinge, still is equipped with the wind spring on the hinge, and under the condition that does not pressurize rotating baffle, rotating baffle is in the open mode in real time.
Furthermore, the movable stop block is arranged on the mounting block through a pin shaft, the mounting block is arranged on the lifting seeding taper rod, a coil spring is further arranged on the pin shaft, and the movable stop block is in a propping state in real time under the condition that the movable stop block is not extruded by external force.
Further, the hopper is fixed on the frame.
Furthermore, the seeding channel is arranged on the rear side of the axis of the lifting seeding taper rod. The seeding channel is eccentrically arranged and is mainly designed for the hopper and close to the hopper.
Furthermore, the support column of frame is elevation structure. The support column of frame is elevation structure to can adjust the degree of depth in the soil of going out and going out of lift seeding awl pole according to the vegetable planting degree of depth of different types.
Furthermore, the lifting structure is formed by suspending the supporting columns and the bottom frame, an L-shaped adjusting frame is arranged at the corresponding position of the bottom frame and the supporting columns, and the height of the rack is adjusted by adjusting the distance between the supporting columns and the bottom frame through the L-shaped adjusting frame.
Compared with the prior art, the invention has the following advantages and beneficial effects:
according to the robot control system of the seeding machine, the running speed of the electric hub and the rotating speed of the motor are controlled through the setting of the controller, so that the seeding distance between two pits of seeds or seedlings is determined, the seeds or the seedlings are accurately fed into soil, and the support columns of the rack are of a lifting structure, so that the depth of the lifting seeding conical rods entering and exiting the soil can be adjusted according to the planting depth of different types of vegetables.
In addition, the invention solves the problem that seeds or seedlings can not enter the sowing channel through the guide pipe when the lifting sowing tapered rod is lifted.
Still through be equipped with the rotating baffle that prevents that soil from getting into lower extreme seeding export on the conical head at lift seeding awl pole bottom, rotating baffle installs on the conical head through the hinge, still is equipped with the wind spring on the hinge, under the circumstances that does not pressurize rotating baffle, and rotating baffle is in the open mode in real time. When the in-process of soil is inserted to the seeding awl pole that goes up and down, under the extrusion of soil, rotating baffle rotates around the hinge and exports the shutoff with lower extreme seeding to prevent that soil from getting into the lower extreme and sowing the export, after the recess of seed or seedling is by extrusion, after the seeding awl pole that goes up and down promoted, rotating baffle opened under the effect of coil spring, opened the shutoff to lower extreme seeding export, seed or seedling in the seeding passageway get into in the soil recess.
By adopting the invention, automatic vegetable or crop planting can be realized in a planting space with a narrow space, such as a greenhouse, and the equipment is particularly suitable for planting vegetables or crops which need to be planted at intervals on ridge fields. Compared with the existing seeder which can sow the ridge soil after ploughing, the invention directly drills the hole on the soil, is convenient and fast, and greatly improves the planting efficiency and quality.
The invention is suitable for seeding and also suitable for seeding seedlings. The pot seedlings can be placed in a hopper for sowing.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a structural diagram of a state that a through hole is blocked by an inserting plate when a lifting seeding taper rod rises;
FIG. 2 is a structural diagram of the present invention showing the state that the lifting seeding taper rod is lifted to the high point inserting plate to extrude and turn over the movable stop block;
FIG. 3 is a schematic structural view of the state that the inserting plate is lowered in advance when the lifting seeding taper rod is ready to be lowered;
FIG. 4 is a structural diagram illustrating a state that seeds or seedlings enter a sowing channel when a sowing inlet is aligned with a through hole in a descending process of a lifting sowing tapered rod according to the present invention;
FIG. 5 is a structural diagram of the state that the falling conical head of the lifting seeding conical rod is inserted into soil;
FIG. 6 is a structural diagram of the state that the seeds or seedlings enter the soil after the falling conical head of the lifting seeding conical rod is inserted into the soil;
FIG. 7 is a schematic view of the control principle of the present invention;
FIG. 8 is a schematic structural view of the movable stop of the present invention;
reference numbers and corresponding part names in the drawings:
1-frame, 2-lifting seeding taper rod, 3-stop collar, 4-crankshaft, 5-motor, 6-accumulator, 7-connecting rod, 8-connecting rod bent neck, 9-rotating gear, 10-rotating shaft, 11-motor gear, 12-seeding channel, 13-seeding inlet, 14-seeding outlet, 15-taper head, 16-through hole, 17-conduit, 18-hopper, 19-slot, 20-plug board, 21-movable block, 22-electric hub, 23-controller, 24-rotating baffle, 25-hinge shaft, 26-pin shaft, 27-mounting block, 28-support column, 29-underframe and 30-L-type adjusting bracket.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Examples
As shown in fig. 1-8, the robot control system of the seeding machine of the present invention comprises a lifting seeding taper rod 2 and a controller 23, wherein the controller 23 controls the operation speed of an electric hub 22 and the rotation speed of a motor 5, and the controller 23 determines the seeding distance between two nests of seeds or seedlings by controlling the electric hub 22 to advance in a pulse mode; the controller 23 controls the motor 5 to rotate to perform sowing operation;
the electric hub 22 is driven to move forward by starting the switch of the controller 23, the motor 5 is provided with a motor gear 11 through a rotating shaft 10 to drive a rotating gear 9 to rotate, the rotating gear 9 drives a crankshaft 4 to rotate, and the crankshaft 4 drives a lifting seeding taper rod 2 to do up-and-down reciprocating motion through a connecting rod crank 8 and a connecting rod 7;
the controller 23 controls the motor 5 to rotate, when the lifting seeding taper rod 2 is lifted, the movable stop block 21 on the lifting seeding taper rod 2 pushes the inserting plate 20 to upwards seal the seeding inlet 13, and when the seeding inlet 13 on the lifting seeding taper rod 2 is aligned with the through hole 16, seeds or seedlings cannot enter the seeding channel 12 through the guide pipe 17;
the controller 23 controls the motor 5 to rotate, when the lifting seeding taper rod 2 reaches the top and is ready to descend, the movable stop dog 21 turns over due to the extrusion of the inserting plate 20, the movable stop dog 21 cannot stop the inserting plate 20, the inserting plate 20 descends in advance, and therefore the plug of the seeding inlet 13 is opened;
the controller 23 controls the motor 5 to rotate, and when the lifting seeding conical rod 2 moves downwards and the seeding inlet 13 on the lifting seeding conical rod 2 is aligned with the through hole 16, seeds or seedlings can enter the seeding channel 12;
the controller 23 controls the motor 5 to rotate, the lifting seeding conical rod 2 continues to move downwards, the conical head 15 of the lifting seeding conical rod 2 is inserted into soil, and meanwhile the rotating baffle 24 seals the seeding outlet 14 under the extrusion of the soil;
the motor 5 is controlled to rotate by the controller 23, then the lifting seeding taper rod 2 is lifted upwards, at the moment, the rotating baffle plate 24 is reset under the driving of the coil spring to open the plug of the seeding outlet 14, and seeds or seedlings fall into the soil.
The utility model provides a seeding robot, includes frame 1, lift seeding taper rod 2, stop collar 3, bent axle 4, motor 5 and battery 6, and 3 fixed settings in frame 1 of stop collar, lift seeding taper rod 2 inserts and establishes in stop collar 3, 2 upper ends of lift seeding taper rod are connected on bent neck 8 of connecting rod of bent axle 4 through connecting rod 7, be equipped with running gear 9 on the bent axle 4, be equipped with motor gear 11 on the pivot 10 of motor 5, motor gear 11 is connected with the transmission of running gear 9 meshing, motor 5 is connected with battery 6.
A seeding channel 12 is arranged in the lower part of the lifting seeding taper rod 2, a seeding inlet 13 at the upper end of the seeding channel 12 is arranged on the middle rod wall of the lifting seeding taper rod 2, a seeding outlet 14 at the lower end of the seeding channel 12 is arranged on a taper head 15 of the lifting seeding taper rod 2, a through hole 16 corresponding to the seeding inlet 13 is arranged on the limiting sleeve 3, and the outer side of the through hole 16 is connected with a hopper 18 through a conduit 17; the bottom of the hopper 18 is provided with an inclination for facilitating the automatic and orderly flow of seeds or seedlings into the guide pipe 17.
A slot 19 is formed in the sleeve wall of the limiting sleeve 3 from the lower end to correspond to the through hole 16, the slot 19 is arc-shaped, an inserting plate 20 capable of moving up and down is inserted into the slot 19, the inserting plate 20 is also arc-shaped, the inserting plate 20 can fall on the rack 1 when not pushed by a movable stop 21, and the movable stop 21 is arranged at the position, corresponding to the inserting plate 20, of the lower end of the lifting seeding conical rod 2; when the lifting seeding taper rod 2 is lifted, the movable stop block 21 on the lifting seeding taper rod 2 pushes the inserting plate 20 to be upwards to block the seeding inlet 13, and seeds or seedlings cannot enter the seeding channel 12 through the guide pipe 17; at the top of lift seeding awl pole 2, when preparing to descend, movable stop 21 is because picture peg 20's extrusion upset, and movable stop 21 can't block picture peg 20, and picture peg 20 will descend to open the shutoff to seeding entry 13, when lift seeding awl pole 2 moves down, when seeding entry 13 on the lift seeding awl pole 2 aligns with through-hole 16, seed or seedling will get into seeding passageway 12. The amount of seeds or seedlings flowing into the sowing channel 12 is related to the running speed of the lifting sowing conical rod 2 and the size of the through holes 16, and if the amount of seeds in each vegetable needs to be adjusted, the seeds or seedlings can be obtained by adjusting the running speed of the lifting sowing conical rod 2 or adjusting the size of the through holes 16.
When in use, as shown in fig. 7, firstly, the running speed of the electric hub and the rotating speed of the motor are controlled through the setting of the controller, the electric hub is controlled to move forward in a pulse mode, and the sowing distance of two pits of seeds or seedlings is determined when the electric hub moves forward for a certain distance; the motor rotates to drive the crankshaft to reciprocate for a circle to perform seeding once.
Then, seeds or seedlings are placed into the hopper 18, the sowing robot is placed on a soil ridge, the electric hub 22 of the sowing robot is placed in a furrow, the controller switch is started, the electric hub drives the sowing robot to move forward, the motor drives the rotating gear 9 to rotate through the motor gear 11 arranged on the rotating shaft 10, the rotating gear 9 drives the crankshaft 4 to rotate, so that the crankshaft 4 drives the lifting sowing conical rod 2 to do up-and-down reciprocating motion through the connecting rod crank 8 and the connecting rod 7, as shown in fig. 1, when the lifting sowing conical rod 2 is lifted, the inserting plate 20 is pushed upwards by the movable stop block 21 on the lifting sowing conical rod 2 to block the sowing inlet 13, and when the sowing inlet 13 on the lifting sowing conical rod 2 is aligned with the through hole 16, the seeds or the seedlings cannot enter the sowing channel 12 through the guide pipe 17; as shown in fig. 2, when the ascending and descending seeding taper rod 2 reaches the top, as shown in fig. 3, and ready to descend, the movable stopper 21 is overturned due to the extrusion of the inserting plate 20, the movable stopper 21 cannot block the inserting plate 20, the inserting plate 20 descends in advance, so as to open the plug of the seeding inlet 13, as shown in fig. 4, when the ascending and descending seeding taper rod 2 moves downwards, and the seeding inlet 13 on the ascending and descending seeding taper rod 2 is aligned with the through hole 16, seeds or seedlings can enter the seeding channel 12. As shown in fig. 5, the ascending and descending seeding taper rod 2 continues to move downwards, and the taper head 15 of the ascending and descending seeding taper rod 2 is inserted into the soil.
When the in-process of soil is inserted to the seeding awl pole that goes up and down, under the extrusion of soil, rotating baffle rotates around the hinge and exports the shutoff with lower extreme seeding to prevent that soil from getting into the lower extreme and sowing the export, after the recess of seed or seedling is by extrusion, after the seeding awl pole that goes up and down promoted, rotating baffle opened under the effect of coil spring, opened the shutoff to lower extreme seeding export, seed or seedling in the seeding passageway get into in the soil recess.
As shown in fig. 6, the lifting seeding taper rod 2 is lifted upwards, at this time, the rotating baffle 24 is reset under the driving of the coil spring, the rotating baffle 241 is reset under the driving of the coil spring to open the plug of the seeding outlet 14, the seeds or seedlings fall into the soil, and the one-pot planting is completed.
Four sets of electric hubs 22 are arranged at the bottom of the frame 1, and the electric hubs 22 are connected with the storage battery 6. The electric hub 22 and the motor 5 are both connected with the controller 23, and the controller 23 is used for setting and controlling the electric hub 22 and the motor 5 to work.
Be equipped with the rotating baffle 24 that prevents soil entering seeding export 14 on the conical head 15 of lift seeding conical rod 2 bottom, rotating baffle 24 installs on conical head 15 through the hinge 25, still is equipped with the coil spring (not shown in the attached drawing) on the hinge 25, and under the condition that does not extrude rotating baffle 24, rotating baffle 24 is in opening in real time, and seeding export 14 is open state this moment.
As shown in fig. 8, the movable stopper 21 is mounted on a mounting block 27 through a pin 26, the mounting block 27 is mounted on the lifting seeding taper rod 2, a coil spring (not shown in the figure) is further arranged on the pin 26, and when the movable stopper 21 is not pressed by an external force, the movable stopper 21 is in a stretching state in real time to push the inserting plate 20 to move upwards.
The hopper 18 is fixed to the frame 1. The seeding channel 12 is arranged at the rear side of the axle center of the lifting seeding taper rod 2.
The support column 28 of the frame 1 is a lifting structure. One embodiment is that four support columns 28 and the chassis 29 are suspended, an L-shaped adjusting frame 30 is arranged at the corresponding position of the chassis 29 and the support columns 28, the height of the rack 1 is adjusted by adjusting the distance between the support columns 28 and the chassis 29 through the L-shaped adjusting frame 30, and then the depth of the lifting seeding taper rod in and out of the soil can be adjusted according to the planting depth of different types of vegetables.
According to the robot control system of the seeding machine, the lifting seeding conical rod which moves up and down is arranged, the running speed of the electric hub and the rotating speed of the motor are controlled through the setting of the controller, so that the seeding distance of two pits of seeds or seedlings is determined, the seeds or the seedlings are accurately fed into soil, and the support columns of the rack are of a lifting structure, so that the depth of the lifting seeding conical rod in and out of the soil can be adjusted according to the planting depth of different types of vegetables.
In addition, the invention solves the problem that seeds or seedlings can not enter the sowing channel through the guide pipe when the lifting sowing tapered rod is lifted.
Still through be equipped with the rotating baffle that prevents that soil from getting into lower extreme seeding export on the conical head at lift seeding awl pole bottom, rotating baffle installs on the conical head through the hinge, still is equipped with the wind spring on the hinge, under the circumstances that does not pressurize rotating baffle, and rotating baffle is in the open mode in real time. When the in-process of soil is inserted to the seeding awl pole that goes up and down, under the extrusion of soil, rotating baffle rotates around the hinge and exports the shutoff with lower extreme seeding to prevent that soil from getting into the lower extreme and sowing the export, after the recess of seed or seedling is by extrusion, after the seeding awl pole that goes up and down promoted, rotating baffle opened under the effect of coil spring, opened the shutoff to lower extreme seeding export, seed or seedling in the seeding passageway get into in the soil recess.
By adopting the invention, automatic vegetable or crop planting can be realized in a planting space with a narrow space, such as a greenhouse, and the equipment is particularly suitable for planting vegetables or crops which need to be planted at intervals on ridge fields.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. The utility model provides a seeder robot control system, includes lift seeding awl pole (2) and controller (23), its characterized in that: the controller (23) controls the running speed of the electric hub (22) and the rotating speed of the motor (5), and the controller (23) controls the electric hub (22) to advance in a pulse mode to determine the sowing distance between two pits of seeds or seedlings; the controller (23) controls the motor (5) to rotate to perform sowing operation;
through starting a controller (23) to be switched, an electric hub (22) drives a sowing robot to move forward, a motor gear (11) is arranged on a rotating shaft (10) of a motor (5), the motor gear (11) is in meshing transmission connection with a rotating gear (9), the motor (5) drives the rotating gear (9) to rotate through the motor gear (11) arranged on the rotating shaft (10), the rotating gear (9) drives a crankshaft (4) to rotate, and the crankshaft (4) drives a lifting sowing conical rod (2) to do up-and-down reciprocating motion through a connecting rod curved neck (8) and a connecting rod (7);
the motor (5) is controlled to rotate by the controller (23), when the lifting seeding conical rod (2) is lifted, the inserting plate (20) is pushed upwards by the movable stop block (21) on the lifting seeding conical rod (2) to plug the seeding inlet (13), and when the seeding inlet (13) on the lifting seeding conical rod (2) is aligned with the through hole (16), seeds or seedlings cannot enter the seeding channel (12) through the guide pipe (17);
the controller (23) is used for controlling the motor (5) to rotate, when the lifting seeding taper rod (2) reaches the top and is ready to descend, the movable stop block (21) is extruded and overturned due to the inserting plate (20), the movable stop block (21) cannot stop the inserting plate (20), the inserting plate (20) descends in advance, and therefore the seeding inlet (13) is plugged;
the controller (23) controls the motor (5) to rotate, when the lifting seeding conical rod (2) moves downwards and the seeding inlet (13) on the lifting seeding conical rod (2) is aligned with the through hole (16), seeds or seedlings can enter the seeding channel (12);
the controller (23) controls the motor (5) to rotate, the lifting seeding conical rod (2) continues to move downwards, the conical head (15) of the lifting seeding conical rod (2) is inserted into soil, and meanwhile, the rotating baffle (24) plugs the seeding outlet (14) under the extrusion of the soil;
the motor (5) is controlled to rotate through the controller (23), then the lifting seeding taper rod (2) is lifted upwards, at the moment, the rotating baffle (24) is reset under the driving of the coil spring to open the plugging of the seeding outlet (14), and seeds or seedlings fall into the soil.
2. The robotic planter control system as claimed in claim 1, wherein: four sets of electric hubs (22) are arranged at the bottom of the rack (1), and the electric hubs (22) are connected with the storage battery (6).
3. The robotic planter control system as claimed in claim 2, wherein: the electric hub (22) and the motor (5) are connected with the controller (23), and the controller (23) is used for setting and controlling the electric hub (22) and the motor (5) to work.
4. The robotic planter control system as claimed in claim 1, wherein: be equipped with rotation baffle (24) that prevents soil entering seeding export (14) on conical head (15) of lift seeding awl pole (2) bottom, rotation baffle (24) are installed on conical head (15) through hinge (25), still are equipped with the coil spring on hinge (25), do not carry out under the extruded condition to rotation baffle (24), and rotation baffle (24) are in real time and open, and seeding export (14) are uncovered state this moment.
5. The robotic planter control system as claimed in claim 1, wherein: the movable stopper (21) is installed on an installation block (27) through a pin shaft (26), the installation block (27) is installed on the lifting seeding taper rod (2), a coil spring is further arranged on the pin shaft (26), and when the movable stopper (21) is not extruded by external force, the movable stopper (21) is in a stretching state in real time to push the inserting plate (20) to move upwards.
6. The robotic planter control system as claimed in claim 1, wherein: the hopper (18) is fixed on the frame (1).
7. The robotic planter control system as claimed in claim 1, wherein: the seeding channel (12) is arranged at the rear side of the axis of the lifting seeding taper rod (2).
8. The robotic planter control system as claimed in claim 1, wherein: the supporting column (28) of the frame (1) is of a lifting structure.
9. The robotic planter control system as claimed in claim 8, wherein: the lifting structure is formed by suspending a support column (28) and an underframe (29), an L-shaped adjusting frame (30) is arranged at the position, corresponding to the support column (28), of the underframe (29), and the L-shaped adjusting frame (30) is used for adjusting the distance between the support column (28) and the underframe (29) so as to adjust the height of the rack (1).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711252067.4A CN107926222B (en) | 2017-12-01 | 2017-12-01 | Robot control system of seeder |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711252067.4A CN107926222B (en) | 2017-12-01 | 2017-12-01 | Robot control system of seeder |
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| CN107926222A CN107926222A (en) | 2018-04-20 |
| CN107926222B true CN107926222B (en) | 2020-11-06 |
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| CN112772054B (en) * | 2020-12-31 | 2022-10-04 | 王述海 | Agricultural seeder |
| WO2023196396A2 (en) * | 2022-04-05 | 2023-10-12 | Reenvision Ag, Inc. | Seed spike and planter using the same |
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| FR2644970B1 (en) * | 1989-03-30 | 1991-11-22 | Fontaine Ateliers Claire | MACHINE FOR MAKING FOOTPRINTS IN THE SOIL |
| CN102027822B (en) * | 2010-10-19 | 2012-05-09 | 高迟 | Garlic planter |
| RU2478274C1 (en) * | 2011-10-27 | 2013-04-10 | Федеральное Государственное Образовательное Учреждение Высшего Профессионального Образования "Саратовский Государственный Аграрный Университет Имени Н.И. Вавилова" | Pneumatic-mechanical seeding unit |
| CN104137684B (en) * | 2014-08-07 | 2016-01-06 | 中国农业大学 | A kind of late gate formula precision corn amount straight cutting hole seeding arrangement |
| CN204180510U (en) * | 2014-11-11 | 2015-03-04 | 甘肃农业大学 | The direct insertion precision hill-drop sowing machine of corn on dry land full film double-furrow |
| CN107258168A (en) * | 2017-06-30 | 2017-10-20 | 赵志坚 | A kind of precision drilling mechanism and the seeder with the mechanism |
| CN107347313A (en) * | 2017-07-05 | 2017-11-17 | 刘小华 | One kind sows uniform agricultural seeding machine |
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2017
- 2017-12-01 CN CN201711252067.4A patent/CN107926222B/en active Active
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