阅读说明：本技术 一种自动化智能种菜系统 (Automatic intelligent vegetable planting system ) 是由 陈锐鸿 曾俊皓 吴佳楷 叶青青 杨泰鑫 牙举辉 李胤镔 于 2019-12-02 设计创作，主要内容包括：本发明公开了一种自动化智能种菜系统,属于种菜机技术领域,所述底座顶部的一侧安装有多组固定钣金,所述固定钣金的顶部安装有多组放置架,且所述放置架上放置有松土组件、播种组件、浇水组件、除草组件和收割组件,且所述松土组件、播种组件、浇水组件、除草组件和收割组件的顶部皆安装有第二连接组件,所述第一光轴座的侧顶部还设有第三轨道,所述底座顶部的两侧设有同步带和轴承座。本发明有效地实现整个种植过程自松土、播种、浇水、施肥到摘收的系列化操作,适用场合更为广泛,以一种自动化的工业化的方式生产农作物,致力于更高效率的种植,具有高效,灵活,应用广泛。(The invention discloses an automatic intelligent vegetable planting system, which belongs to the technical field of vegetable planting machines, wherein a plurality of groups of fixed metal plates are arranged on one side of the top of a base, a plurality of groups of placing frames are arranged on the tops of the fixed metal plates, a soil loosening assembly, a seeding assembly, a watering assembly, a weeding assembly and a harvesting assembly are placed on the placing frames, second connecting assemblies are arranged on the tops of the soil loosening assembly, the seeding assembly, the watering assembly, the weeding assembly and the harvesting assembly, a third rail is further arranged on the top of the side of a first optical axis seat, and synchronous belts and bearing seats are arranged on two sides of the top of the base. The invention effectively realizes the series of operations from soil loosening, sowing, watering, fertilizing to picking in the whole planting process, has wider application occasions, produces crops in an automatic industrialized mode, is dedicated to planting with higher efficiency, and has high efficiency, flexibility and wide application.)

1. The utility model provides an automatic change intelligent kind dish system which characterized in that: including base (78) and install first step motor (1) of the tip department of base (78) top both sides with install the second track (4) of base (78) top both sides, base (78) top both sides tip is equipped with and is located synchronous pulley (8) of second track (4) inboard, install support arm (5) through guide rail section bar gyro wheel (10) on second track (4), support arm (5) are kept away from first optical axis seat (14) is installed to the one end of second track (4), just first optical axis (13) are installed to the inboard of first optical axis seat (14), one side at first optical axis seat (14) top is equipped with rack (12), be equipped with slider (15) on first optical axis (13), just be equipped with second step motor (2) on slider (15), the output of second step motor (2) be equipped with gear (11) that rack (12) mutually supported A first track (3) is arranged at the bottom of the sliding block (15), a stepping motor pulley type ball screw linear guide rail (16) is arranged on the first track (3), one end of the stepping motor pulley type ball screw linear guide rail (16) far away from the first optical axis (13) is provided with a first connecting component (18), a plurality of groups of fixed metal plates (17) are arranged on one side of the top of the base (78), a plurality of groups of placing racks are arranged on the top of the fixed metal plates (17), and a soil loosening assembly, a seeding assembly, a watering assembly, a weeding assembly and a harvesting assembly are arranged on the placing frame, and the tops of the scarification component, the sowing component, the watering component, the weeding component and the harvesting component are all provided with a second connecting component (19), a third track (6) is arranged at the top of the side of the first optical axis seat (14), two sides of the top of the base (78) are provided with a synchronous belt (7) and a bearing seat (9); the first connecting assembly (18) comprises a steering engine and a connecting ejector block (20), the connecting ejector block (20) is fixedly connected with one end of a pulley-type ball screw linear guide rail (16) of a stepping motor, the other end of the pulley-type ball screw linear guide rail (16) of the stepping motor is connected with the steering engine, a first steering engine (30) is arranged at the middle position of the inner side of the connecting ejector block (20), a plurality of groups of through holes are formed in the connecting ejector block (20) in the radial direction outwards, a swing rod (29) connected with the output end of the first steering engine (30) is arranged in each through hole, a connecting block (26) is arranged at the other end of each swing rod (29), a first spring (22) is arranged at one end, far away from the first steering engine (30), of each first spring (22) is provided with a wedge-shaped push block (28) which slides in each through hole, a steering engine fixing plate (25) is installed inside the connecting ejector block (20), the first steering engine (30) is fixed on the steering engine fixing plate (25), a push block mounting plate (24) is arranged on the inner side of the connecting ejector block (20), a copper rod (23) is arranged on the push block mounting plate (24), a middle position of the bottom of the connecting ejector block (20) is provided with a guide pipe (21), and a plurality of guide pipe mounting blocks (27) are further arranged on the inner ring part of the connecting ejector block (20);

the working method of the intelligent vegetable planting system comprises the following steps:

1) determining that a program is about to enter: determining one of the intelligent vegetable planting system entering a soil loosening program, a seeding program, a watering program, a weeding program and a harvesting program as an entering program,

2) the first connecting component is butted with the component corresponding to the program to be entered: the second stepping motor (2) moves to drive the gear (11) to be matched with the rack (12), so that the workbench moves to the position above a component corresponding to a program to be entered along the Y-axis direction, the first connecting component (18) is aligned with the positioning hole of the lower connecting cover (32), the steering engine drives the stepping motor pulley type ball screw linear guide rail (16) to drive the first connecting component (18) to descend along the Z-axis direction, and the wedge-shaped pushing block (28) is pushed into the socket to be popped out under the action of the first spring (22), so that the upper connecting block (20) and the lower connecting cover (32) are clamped, and the butt joint of the first connecting component and the component corresponding to the program to be entered is completed;

3) and completing the program operation to be entered: the gantry driven by a synchronous belt (7) driven by a first stepping motor (1) moves on a second track (4) to realize X-axis direction movement, a second stepping motor (2) moves to drive a gear (11) to move on a rack (12) so as to enable a workbench to move along the Y-axis direction, the implementation position to enter a program is determined, a steering engine drives a stepping motor pulley type ball screw linear guide rail (16) to drive a first connecting assembly (18) to move along the Z-axis direction to realize the height to be implemented by the program to enter, and the program to enter is completed;

4) releasing the fixation of the corresponding component of the entering program: the gantry driven by a synchronous belt (7) driven by a first stepping motor (1) moves on a second track (4) to move in the X-axis direction, a second stepping motor (2) moves to drive a gear (11) to be matched with a rack (12) so that a workbench moves in the Y-axis direction, a program to be entered is moved to a corresponding position of a placing rack, a first steering engine (30) rotates to drive a swing rod (29) to pull four wedge-shaped push blocks (28) into an upper connecting block (20), and fixing of the program to be entered to the corresponding component can be loosened.

2. The automatic intelligent vegetable planting system of claim 1, wherein: the second connecting assembly (19) comprises a lower connecting cover (32) connected with the connecting top block (20), engaging blocks (31) are arranged on the side portions of the lower connecting cover (32), inserting holes matched with the wedge-shaped pushing blocks (28) are formed in four sides of the top of the lower connecting cover (32), copper sheets (33) are arranged on the top and the bottom of the lower connecting cover (32), limiting holes matched with the wedge-shaped pushing blocks (21) are formed in the middle position of the inner portion of the lower connecting cover (32), and second springs (34) are arranged between the copper sheets (33).

3. The automatic intelligent vegetable planting system of claim 2, wherein: the subassembly that loosens the soil include with connect down lid (32) bottom fixed first shell (35) with second shell (40) are installed to first shell (35) bottom, the top is equipped with direct current gear motor (39) in first shell (35), just shaft coupling (36) are installed to the output of direct current gear motor (39), loose soil is installed to the output of shaft coupling (36) and is bored (37), the lateral part of direct current gear motor (39) is equipped with and is used for fixing the fixed panel beating (38) of motor of direct current gear motor (39).

4. The automatic intelligent vegetable planting system of claim 2, wherein: the seeding subassembly is including installing third shell (41) of lower junction cover (32) bottom and installing fourth shell (47) of third shell (41) bottom, the bottom is equipped with second steering wheel (42) in fourth shell (47), the top of second steering wheel (42) is equipped with fan-shaped carousel (43), the bottom of fan-shaped carousel (43) is equipped with ejection of compact bottom plate (44), ejection of compact funnel (45) are installed to the bottom of fourth shell (47), fourth shell (47) with the inside of third shell (41) is equipped with feed hopper (46).

5. The automatic intelligent vegetable planting system of claim 2, wherein: the subassembly that waters is including installing connect fifth shell (48) of lid (32) bottom down, sixth shell (54) are installed to the bottom of fifth shell (48), the interior top of fifth shell (48) is equipped with direct current suction pump (49), the bottom of direct current suction pump (49) is connected with water pipe (51), the bottom of water pipe (51) is equipped with T type three way connection (52), just the bottom of T type three way connection (52) is equipped with bottom (53), direct current suction pump (49) with water pipe (51) are connected through tightring (50).

6. The automatic intelligent vegetable planting system of claim 2, wherein: the weeding assembly comprises a flange coupling (55) fixed to the bottom of the lower connecting cover (32), a second optical axis (56) is installed at the bottom of the flange coupling (55), a three-jaw fixing base plate (68) is hinged to the side portion of the flange coupling (55), a side plate (67) is installed on one side of the three-jaw fixing base plate (68), a triangular sliding disc (58) is installed at the end portion of the second optical axis (56), a connecting small block (66) is hinged to the side portion of the triangular sliding disc (58), a jaw head connecting block (65) is hinged to the side portion of the side plate (67), a jaw (64) is hinged to one end, away from the side plate (67), of the jaw head connecting block (65), a tooth-shaped clamp (61) is arranged at the tail portion of the jaw (64), a jaw head cushion block (60) is arranged on the side portion of the jaw (64), and a U-shaped connecting block (63) is hinged to, the U-shaped connecting block (63) is far away from one end of each claw jaw (64) is hinged to the bottom of the triangular sliding disc (58), a gasket (59) is arranged on the inner side of each claw jaw (64), a third steering engine (57) is further installed on the side portion of each side plate (67), and a triangular fixing upper plate (62) is installed at the bottom of each triangular sliding disc (58).

7. The automatic intelligent vegetable planting system of claim 2, wherein: the harvesting component comprises a fourth steering engine fixing plate (69) arranged at the bottom of the lower connecting cover (32), the bottoms of the two sides of the fourth steering engine fixing plate (69) are provided with third optical axes (77), the bottom of the outer side of the fourth steering engine fixing plate (69) is sleeved with a rear clamping jaw (73), a clamping jaw connecting metal plate (75) is arranged on the rear clamping jaw (73), an arc-shaped snap ring (74) is arranged at the bottom of the rear clamping jaw (73), a third optical axis fixing metal plate (76) is arranged at the bottom of the side of the fourth steering engine fixing plate (69), a fourth steering engine swing arm (70) is arranged in the middle of the side of the fourth steering engine fixing plate (69), an arc-shaped pull rod (71) is arranged on the fourth steering engine swing arm (70), and the arc-shaped pull rod (71) is hinged with a front clamping jaw (72), and one end of the front clamping jaw (72), which is far away from the fourth steering engine swing arm (70), is hinged to the top of the rear clamping jaw (73).

Technical Field

The invention relates to a vegetable planting system, in particular to an automatic intelligent vegetable planting system, and belongs to the technical field of vegetable planting machines.

Background

Agricultural automation is an important technology which is recently raised, because the productivity can be liberated, the work efficiency is improved, and the life quality of workers is greatly reduced, so that the agricultural automation is a future trend to be developed vigorously, the agricultural automation is started earlier abroad, german america is taken as a main country to firstly develop a three-axis vegetable planting platform, then the robots of the three-axis vegetable planting platform can provide different fertilizers for the soil according to different types of soil to achieve the maximization of the yield, the three-axis vegetable planting platform is continuously updated and improved along with continuous development, the robots capable of identifying weeds and accurately removing the weeds are developed in the america in recent years, the work efficiency is high, and compared with the traditional manual operation, the three-axis vegetable planting platform is naturally improved.

In our country, because of the limitation of technology and economy, agricultural automation is not as fast as developed in developed countries naturally, and the starting time loudness is later, so many things are in the research and development stage, the research and development of agricultural robots in China is really started in the nineties of the twentieth century, then an automatic grafting robot has already realized grafting production, the robot is researched and developed by Chinese agricultural university, mainly aiming at the seedling grafting of melons and fruits, the survival capability of the seedlings of melons and fruits can be improved, the machine obtains independent intellectual property rights, subsequently, other domestic mechanisms also start the research and development of agricultural robots, and obtain better achievements, and also obtain certain application in actual production, but because most agricultural robots have single functions and are limited to the work or individual industrial content, meanwhile, the manufacturing cost is relatively high, and the intelligent vegetable planting machine cannot be effectively popularized and applied, so that the novel intelligent vegetable planting machine is designed to solve the problems.

Disclosure of Invention

The invention mainly aims to provide an automatic intelligent vegetable planting system, which effectively realizes the series of operations from soil loosening, sowing, watering, fertilizing to picking in the whole planting process, has wider application occasions, produces crops in an automatic industrialized mode, aims at planting with higher efficiency and has high reliability.

The purpose of the invention can be achieved by adopting the following technical scheme:

an automatic intelligent vegetable planting system comprises a base, first stepping motors and second rails, wherein the first stepping motors are mounted at end portions of two sides of the top of the base, the second rails are mounted at two sides of the top of the base, synchronous belt wheel synchronous belt wheels positioned on the inner sides of the second rails are arranged at end portions of two sides of the top of the base, supporting arms are mounted on the second rails through guide rail section bar rollers, a first optical shaft seat is mounted at one end, away from the second rails, of each supporting arm, a first optical shaft seat is mounted on the inner side of the corresponding first optical shaft seat, a rack is arranged on one side of the top of the corresponding first optical shaft seat, a sliding block is arranged on the corresponding first optical shaft, a second stepping motor is arranged on the corresponding sliding block, a gear matched with the rack is arranged at the output end of the second stepping motor, a first rail is arranged at the bottom of the sliding block, and, a first connecting assembly is mounted at one end, away from the first optical axis, of the stepping motor pulley type ball screw linear guide rail, a plurality of groups of fixing metal plates are mounted at one side of the top of the base, a plurality of groups of placing frames are mounted at the tops of the fixing metal plates, a soil loosening assembly, a seeding assembly, a watering assembly, a weeding assembly and a harvesting assembly are placed on the placing frames, second connecting assemblies are mounted at the tops of the soil loosening assembly, the seeding assembly, the watering assembly, the weeding assembly and the harvesting assembly, a third rail is further arranged at the top of one side of the first optical axis seat, and a synchronous belt and a bearing seat are arranged at two sides of the top of the base; the first connecting assembly comprises a steering engine and a connecting ejector block, the connecting ejector block is fixedly connected with one end of a pulley-type ball screw linear guide rail of the stepping motor, the other end of the pulley-type ball screw linear guide rail of the stepping motor is connected with the steering engine, a first steering engine is arranged at the middle position of the inner side of the connecting ejector block, the connecting ejector block is radially outwards provided with a plurality of groups of through holes, a swing rod connected with the output end of the first steering engine is arranged in each through hole, the other end of each swing rod is provided with a connecting block, one end of each connecting block, far away from the first steering engine, is provided with a first spring, one end of each first spring, far away from the first steering engine, is provided with a wedge-shaped push block sliding in each through hole, a steering engine fixing plate is arranged inside the connecting ejector block, the first steering engine is fixed on the steering, the push block mounting plate is provided with a copper bar, the middle position of the bottom of the connecting ejector block is provided with a plurality of groups of conduit mounting blocks;

the working method of the intelligent vegetable planting system comprises the following steps:

1) determining that a program is about to enter: determining one of the intelligent vegetable planting system entering a soil loosening program, a seeding program, a watering program, a weeding program and a harvesting program as an entering program,

2) the first connecting component is butted with the component corresponding to the program to be entered: the second stepping motor moves to drive the gear and the rack to be matched so that the workbench moves to the position above the component corresponding to the program to be entered along the Y-axis direction, the first connecting component is aligned with the positioning hole of the lower connecting cover pair, the steering engine drives the stepping motor pulley type ball screw linear guide rail to drive the first connecting component to descend along the Z-axis direction, the wedge-shaped pushing block is pushed into the socket to be popped out under the action of the first spring, the upper connecting block and the lower connecting cover are clamped, and then the butt joint of the first connecting component and the component corresponding to the program to be entered is completed;

3) and completing the program operation to be entered: the gantry driven by a synchronous belt driven by a first stepping motor moves on a second track to realize movement in the X-axis direction, the second stepping motor moves to drive a gear to move on a rack so as to enable a workbench to move in the Y-axis direction, the implementation position of the program to be entered is determined, and a steering engine drives a stepping motor pulley type ball screw linear guide rail to drive a first connecting assembly to move in the Z-axis direction to realize the implementation height of the program to be entered, so that the program to be entered is completed;

4) releasing the fixation of the corresponding component of the entering program: the gantry driven by the synchronous belt driven by the first stepping motor moves on the second track to realize X-axis direction movement, the second stepping motor moves to drive the gear and the rack to be matched so that the workbench moves along the Y-axis direction, the component to be entered into the program moves to the corresponding position of the placing rack, the first steering engine rotates to drive the swing rod to pull the four wedge-shaped push blocks into the upper connecting block, and fixation of the component to be entered into the program can be loosened.

Preferably, the second connecting assembly comprises a lower connecting cover connected with the connecting top block, the side part of the lower connecting cover is provided with an engaging block, four sides of the top part of the lower connecting cover are provided with inserting holes matched with the wedge-shaped pushing block, the top and the bottom of the lower connecting cover are provided with copper sheets, the middle position inside the lower connecting cover is provided with limiting holes matched with the lower connecting cover, and a second spring is arranged between the copper sheets.

Preferably, the assembly that loosens the soil include with connect the fixed first shell in lid bottom down with the second shell is installed to first shell bottom, the top is equipped with direct current gear motor in the first shell, just the shaft coupling is installed to direct current gear motor's output, the loose soil of the output of shaft coupling is installed and is bored, direct current gear motor's lateral part is equipped with and is used for fixing the fixed panel beating of direct current gear motor's motor.

Preferably, the seeding subassembly is including installing the third shell of lower connecting cover bottom and installing the fourth shell of third shell bottom, the bottom is equipped with the second steering wheel in the fourth shell, the top of second steering wheel is equipped with fan-shaped carousel, the bottom of fan-shaped carousel is equipped with ejection of compact bottom plate, ejection of compact funnel is installed to the bottom of fourth shell, the fourth shell with the inside of third shell is equipped with feed hopper.

Preferably, the subassembly of watering is including installing the fifth shell of lower connection cover bottom, the sixth shell is installed to the bottom of fifth shell, the interior top of fifth shell is equipped with the direct current suction pump, the bottom of direct current suction pump is connected with the water pipe, the bottom of water pipe is equipped with T type three way connection, just T type three way connection's bottom is equipped with the bottom, the direct current suction pump with the water pipe passes through the tighrening ring and connects.

Preferably, the weeding assembly comprises a flange coupling fixed to the bottom of the lower connecting cover, a second optical axis is mounted at the bottom of the flange coupling, a three-jaw fixing bottom plate is hinged to the side portion of the flange coupling, a side plate is mounted on one side of the three-jaw fixing bottom plate, a triangular sliding disc is mounted at the end portion of the second optical axis, a connecting small block is hinged to the side portion of the triangular sliding disc, a jaw head connecting block is hinged to the side portion of the side plate, a jaw clamp is hinged to one end, away from the side plate, of the jaw head connecting block, a tooth-shaped clamp is arranged at the tail of the jaw clamp, a jaw clamp cushion block is arranged on the side portion of the jaw clamp, a U-shaped connecting block is hinged to the top portion of the jaw clamp, one end, away from the jaw clamp, of the U-shaped connecting block is hinged to the bottom of the triangular sliding, and a triangular fixed upper plate is arranged at the bottom of the triangular sliding disc.

Preferably, the harvesting assembly is installed and comprises a fourth steering engine fixing plate connected with the bottom of the cover at the lower part, a third optical axis is arranged at the bottoms of two sides of the fourth steering engine fixing plate, a rear clamping jaw is sleeved at the bottom of the outer side of the fourth steering engine fixing plate, a clamping jaw connecting metal plate is arranged on the rear clamping jaw, an arc-shaped buckle ring is arranged at the bottom of the rear clamping jaw, a third optical axis fixing metal plate is arranged at the side bottom of the fourth steering engine fixing plate, a fourth steering engine swing arm is arranged at the middle part of the side of the fourth steering engine fixing plate, an arc-shaped pull rod is arranged on the fourth steering engine swing arm, the arc-shaped pull rod is hinged to a front clamping jaw, and the.

The invention has the beneficial technical effects that:

the invention provides an automatic intelligent vegetable planting system, wherein a mechanism body of the equipment is a gantry driven by two synchronous belts driven by first stepping motors, the gantry is fixed on a second rail through an upper row of guide rail profile rollers and a lower row of guide rail profile rollers, the guide rail profile rollers can play a role of preventing toppling, the motion of the gantry is used as an X axis, two first optical axes are arranged on the gantry and used as a rail for a working platform to move along an axis (transverse direction), and a rack for the working platform to move, the working platform is combined through the gear and the rack and driven by a second stepping motor to move along a Y axis, a linear module driven by the vertically-arranged synchronous motors is used for the tail end operators to move on the Z axis, the linear module is used for installing first connecting components for each tail end operator, and the connection of the components is realized through the first connecting components and the second connecting components on each tail end operator, so that the movement of each tail end operator is realized and the movement of each tail end operator is controlled Each end operator comprises loose soil, seeding, watering and the like, the whole planting process is effectively realized, the self-loosening, the seeding, the watering and the fertilizing are carried out in the X-axis, Y-axis and Z-axis directions in a picking and collecting mode, the application occasions are wider, meanwhile, the procedure to be entered is determined firstly, then the first connecting assembly is butted with the corresponding assembly of the procedure to be entered, then the procedure to be entered is started, and finally the assembly to be entered is loosened and fixed.

Crops are produced in an automatic industrialized mode, and efficient planting is facilitated;

meanwhile, the first connecting assembly is controlled by a steering engine, the wedge-shaped push block is kept in a push-out state in an initial state, the conical positioning head can allow accurate butt joint under the condition of error, when the first connecting assembly needs to be connected with a tail end operator, the first connecting assembly is aligned with the positioning hole of the lower connecting cover, the steering engine drives the stepping motor pulley type ball screw linear guide rail to drive the first connecting assembly to descend along the Z-axis direction (namely the length direction of the stepping motor pulley type ball screw linear guide rail), the wedge-shaped push block is pushed into the socket to be popped out under the action of the first spring, the upper connecting block and the lower connecting cover are clamped, and the work is finished; the first steering wheel of then drive when terminal operation ware is lifted off to needs, first steering wheel rotates and drives inside four wedge ejector shoes pull-in connection module of pendulum rod, can loosen terminal operation ware, the advantage of the first connecting assembly of this kind of mode is in control simply, the steering wheel only is working energy saving when loosening connecting block and lower connecting cover, and if the terminal operation ware of outage suddenly still firmly fixes and can not fall off and cause the damage on equipment, the transmission of electric power can be realized to the connection of copper bar and copper sheet, the second spring of copper sheet bottom enables copper bar and copper sheet and remains the laminating state all the time, ensure power transmission's stability, high reliability.

Drawings

FIG. 1 is a schematic perspective view of the entire device of a preferred embodiment of an automated intelligent vegetable planting system according to the present invention;

FIG. 2 is a schematic perspective view of an upper connecting assembly of an automated intelligent vegetable planting system according to a preferred embodiment of the present invention;

FIG. 3 is a top partial perspective view of an upper connecting assembly of a preferred embodiment of an automated intelligent food preparation system according to the present invention;

FIG. 4 is a schematic perspective view of a lower connecting assembly of an automated intelligent vegetable planting system according to a preferred embodiment of the present invention;

FIG. 5 is a side cross-sectional view of a lower connection assembly of a preferred embodiment of an automated intelligent food preparation system in accordance with the present invention;

fig. 6 is a schematic perspective view of a soil loosening assembly in accordance with a preferred embodiment of an automated intelligent vegetable planting system of the present invention;

FIG. 7 is a side view of a seeding assembly in accordance with a preferred embodiment of an automated intelligent vegetable planting system of the present invention;

FIG. 8 is a side view of a watering assembly of a preferred embodiment of an automated intelligent seed dish system in accordance with the present invention;

FIG. 9 is a schematic perspective view of a weeding assembly of a preferred embodiment of an automated intelligent vegetable planting system according to the present invention;

fig. 10 is a perspective view of a harvesting assembly in accordance with a preferred embodiment of an automated intelligent vegetable planting system of the present invention.

FIG. 11 is a flow chart of the method of operation of an automated intelligent vegetable planting system in accordance with a preferred embodiment of the present invention

In the figure: 1-a first stepping motor, 2-a second stepping motor, 3-a first rail, 4-a second rail, 5-a support arm, 6-a third rail, 7-a synchronous belt, 8-a synchronous pulley, 9-a bearing seat, 10-a guide rail profile roller, 11-a gear, 12-a rack, 13-a first optical axis, 14-a first optical axis seat, 15-a slider, 16-a stepping motor pulley type ball screw linear guide rail, 17-a fixed sheet metal, 18-a first connecting component, 19-a second connecting component, 20-a connecting top block, 21-a positioning mounting block, 22-a first spring, 23-a copper rod, 24-a push block mounting plate, 25-a steering engine fixing plate, 26-a connecting block and 27-a guide pipe mounting block, 28-wedge-shaped push block, 29-swing rod, 30-first steering engine, 31-meshing block, 32-lower connecting cover, 33-copper sheet, 34-second spring, 35-first shell, 36-coupler, 37-soil loosening drill, 38-motor fixing metal plate, 39-direct current speed reducing motor, 40-second shell, 41-third shell, 42-second steering engine, 43-sector rotary table, 44-discharging bottom plate, 45-discharging hopper, 46-feeding hopper, 47-fourth shell, 48-fifth shell, 49-direct current water pump, 50-fastening ring, 51-water pipe, 52-T-shaped three-way joint, 53-bottom cover, 54-sixth shell, 55-flange coupler and 56-second optical axis, 57-a third steering engine, 58-a triangular sliding disc, 59-a washer, 60-a jaw cushion block, 61-a tooth-shaped clamp, 62-a triangular fixed upper plate, 63-a U-shaped connecting block, 64-a jaw, 65-a jaw head connecting block, 66-a connecting small block, 67-a side plate, 68-a three-jaw fixed bottom plate, 69-a fourth steering engine fixing plate, 70-a fourth steering engine swinging arm, 71-an arc-shaped pull rod, 72-a front clamping jaw, 73-a rear clamping jaw, 74-an arc-shaped snap ring, 75-a clamping jaw connecting metal plate, 76-a third optical axis fixing metal plate, 77-a third optical axis and 78-a base.

Detailed Description

In order to make the technical solutions of the present invention more clear and definite for those skilled in the art, the present invention is further described in detail below with reference to the examples and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

As shown in fig. 1-10, the automatic intelligent vegetable planting system provided in this embodiment includes a base 78, a first stepping motor 1 installed at end portions of two sides of the top of the base 78, and a second rail 4 installed at two sides of the top of the base 78, the end portions of two sides of the top of the base 78 are provided with synchronous pulleys 8 located inside the second rail 4, the second rail 4 is provided with a supporting arm 5 through a guide rail profile roller 10, one end of the supporting arm 5 away from the second rail 4 is provided with a first optical axis seat 14, the inner side of the first optical axis seat 14 is provided with a first optical axis 13, one side of the top of the first optical axis seat 14 is provided with a rack 12, the first optical axis 13 is provided with a slider 15, the slider 15 is provided with a second stepping motor 2, an output end of the second stepping motor 2 is provided with a gear 11 mutually matched with the rack 12, the bottom of the slider 15 is provided with a first rail 3, and the first rail 3 is provided with, first connecting assembly 18 is installed to the one end that first optical axis 13 was kept away from to step motor pulley type ball screw linear guide 16, step motor pulley type ball screw linear guide 16 drives first connecting assembly 18 and moves on along step motor pulley type ball screw linear guide 16 length direction, the fixed panel beating 17 of multiunit is installed to one side at base 78 top, the multiunit rack is installed at the top of fixed panel beating 17, and placed the subassembly that loosens the soil on the rack, the seeding subassembly, the subassembly that waters, weed the subassembly and reap the subassembly, and the subassembly that loosens the soil, the seeding subassembly, the subassembly that waters, weed the subassembly and reap the top of subassembly and all install second coupling assembling 19, the side top of first optical axis seat 14 still is equipped with third track 6, the both sides at base 78 top are equipped with hold-in range 7 and bearing frame 9.

In this embodiment, the first connecting assembly 18 includes a steering engine (not shown in the figures) and a connecting top block 20, the connecting top block 20 is fixedly connected with one end of the stepping motor pulley type ball screw linear guide rail 16, the other end of the stepping motor pulley type ball screw linear guide rail 16 is connected with the steering engine, a first steering engine 30 is arranged at a middle position of the inner side of the connecting top block 20, a plurality of sets of through holes are radially and outwardly formed in the connecting top block 20, a swing rod 29 connected with an output end of the first steering engine 30 is arranged in each through hole, a connecting block 26 is arranged at the other end of each swing rod 29, a first spring 22 is arranged at one end of each connecting block 26 far away from the first steering engine 30, a wedge-shaped push block 28 sliding in each through hole is arranged at one end of the first spring 22 far away from the first steering engine 30, a steering engine fixing plate 25 is arranged inside the connecting top block 20, the first steering engine 30 is fixed on, be equipped with bar copper 23 on the ejector pad mounting panel 24, the intermediate position department of connecting the kicking block 20 bottom is equipped with location installation piece 21, it still is equipped with multiunit pipe installation piece 27 to connect the interior annular portion of kicking block 20, second coupling assembling 19 includes and is connected the lower connection lid 32 that the kicking block 20 is connected, the lateral part of lower connection lid 32 is equipped with meshing piece 31, four sides at lower connection lid 32 top are equipped with the socket of mutually supporting with wedge ejector pad 28, the top and the bottom of lower connection lid 32 all are equipped with copper sheet 33, and the inside intermediate position department of lower connection lid 32 is equipped with the spacing hole of mutually supporting with 21, be equipped with second spring 34 between the copper sheet 33.

The mechanism body of the equipment is a gantry driven by a synchronous belt 7 driven by two first stepping motors 1, the gantry is fixed on a second track 4 through an upper row of guide rail profile rollers 10 and a lower row of guide rail profile rollers 10, the guide rail profile rollers 10 can play a role of preventing toppling over at the same time, the motion of the gantry is taken as an X axis, two first optical axes 13 are arranged on the gantry and taken as a track for a working platform to move along a Y axis (transverse direction), and a rack 12 for the working platform to move. The working platform is combined through a gear 11 and a rack 12 and driven by the second stepping motor 2 to move along the Y axis.

The linear guide rail of the pulley type ball screw of the stepping motor arranged on the working platform is a Z-axis module, and the linear guide rail of the pulley type ball screw of the stepping motor drives the first connecting component 18 to move up and down along the direction of the linear guide rail of the pulley type ball screw of the stepping motor through driving, so that the motion of the tail end operator on the Z axis is realized.

The first connecting assembly 18 is controlled by a steering engine, the wedge-shaped push block 28 keeps a push-out state in an initial state, the conical positioning head can allow accurate butt joint under the condition of error, when the first connecting assembly 18 needs to be connected with a terminal operator, the first connecting assembly is aligned with the positioning hole corresponding to the lower connecting cover 32, the steering engine drives the stepping motor pulley type ball screw linear guide rail 16 to drive the first connecting assembly to descend along the Z-axis direction (namely the length direction of the stepping motor pulley type ball screw linear guide rail 16), and the wedge-shaped push block is pushed into the socket to be popped out under the action of the first spring 22, so that the upper connecting block and the lower connecting cover are clamped, and the work is finished; when the tail-end operator needs to be dismounted, the first steering engine 30 is driven, the first steering engine 30 rotates to drive the swing rod 29 to pull the four wedge-shaped push blocks 28 into the connecting module, the tail-end operator can be loosened, the first connecting assembly 18 in the mode has the advantage of simple control, the steering engine only works when the upper connecting block and the lower connecting cover are loosened, energy is saved, if the tail-end operator is still firmly fixed on equipment suddenly and cannot fall off to cause damage, the connection between the copper rod 23 and the copper sheet 33 can realize the transmission of electric power, the second spring 34 at the bottom end of the copper sheet 33 can enable the copper rod 23 and the copper sheet 33 to be always in a fit state, and the stability of electric power transmission is ensured.

In this embodiment, the ripping assembly includes and is connected the fixed first shell 35 in lid 32 bottom and first shell 35 bottom down and install second shell 40, and the top is equipped with direct current gear motor 39 in the first shell 35, and the output of direct current gear motor 39 installs shaft coupling 36, and loose soil drill 37 is installed to the output of shaft coupling 36, and the lateral part of direct current gear motor 39 is equipped with the fixed panel beating 38 of motor that is used for fixed direct current gear motor 39.

In this embodiment, the seeding assembly includes that the third shell 41 of installation in the bottom of lower junction cover 32 and the fourth shell 47 of installation in the third shell 41 bottom, and the bottom is equipped with second steering wheel 42 in the fourth shell 47, and the top of second steering wheel 42 is equipped with fan-shaped carousel 43, and the bottom of fan-shaped carousel 43 is equipped with ejection of compact bottom plate 44, and ejection of compact funnel 45 is installed to the bottom of fourth shell 47, and fourth shell 47 is equipped with feed hopper 46 with the inside of third shell 41.

The seeding subassembly shape is like the toothpick section of thick bamboo of invering, and the seed is stored in the jar of barreled, and there is the opening jar bottom, and the carousel is rotatory under the drive of second steering wheel 42 and is opened and close in good time after arriving a seeding position, and a quantitative seed just is released, and ejection of compact funnel 45 can put in the seed accurately to appointed position, holds the slew time of fan-shaped carousel 43 and the translation rate of whole device well, can constantly walk the limit along a direction and put in, and speed and efficiency are very high.

In the embodiment, the watering assembly comprises a fifth shell 48 arranged at the bottom of the lower connecting cover 32, a sixth shell 54 is arranged at the bottom of the fifth shell 48, a direct-current water suction pump 49 is arranged at the inner top of the fifth shell 48, a water pipe 51 is connected to the bottom of the direct-current water suction pump 49, a T-shaped three-way joint 52 is arranged at the bottom of the water pipe 51, a bottom cover 53 is arranged at the bottom of the T-shaped three-way joint 52, and the direct-current water suction pump 49 is connected with the water pipe 51 through a fastening ring 50.

The subassembly that waters draws water through direct current suction pump 49, carry the end operation ware with water pipe 51 on, the delivery port is T shape three way connection 52, can spray water to both ends simultaneously, time saving raises the efficiency, also can change the T venturi tube into single mouthful as required, the spraying, export such as porous, the user can be selected according to own demand, the nutrient solution of plant or the fertilizer of liquid can be selected and water mixes together with same end operation ware or a dedicated nutrient solution subassembly of exclusive use, the principle is the same.

In this embodiment, the weeding assembly comprises a flange coupling 55 fixed to the bottom of the lower connecting cover 32, a second optical axis 56 is mounted at the bottom of the flange coupling 55, a three-jaw fixing bottom plate 68 is hinged to the side of the flange coupling 55, a side plate 67 is mounted on one side of the three-jaw fixing bottom plate 68, a triangular sliding plate 58 is mounted at the end of the second optical axis 56, a connecting small block 66 is hinged to the side of the triangular sliding plate 58, a jaw head connecting block 65 is hinged to the side of the side plate 67, a jaw 64 is hinged to one end of the jaw head connecting block 65 away from the side plate 67, a tooth-shaped clamp 61 is mounted at the tail of the jaw 64, a jaw cushion block 60 is mounted at the side of the jaw 64, a U-shaped connecting block 63 is hinged to the top of the side of the jaw 64, one end of the U-shaped connecting block 63 away from the jaw 64 is hinged to the bottom of the triangular, the bottom of the triangular sliding disk 58 is provided with a triangular fixed upper plate 62.

After the position of weeds is identified and positioned in a visual mode and the like, the coordinate is sent to an upper computer, the upper computer sends an instruction to a single chip microcomputer, the single chip microcomputer controls a three-jaw mechanical arm to clamp the stem of the three-jaw mechanical arm and pull out the stem, the tooth-shaped lines on the tooth-shaped clamp 61 can increase the friction force of the claw tongs 64, so that the roots of the three-jaw mechanical arm are cut and removed, the single chip microcomputer controls the three-jaw mechanical arm to pull out the weeds through a program in the embodiment, and the program control technology is the prior art and is not described.

In this embodiment, the harvesting assembly comprises a fourth steering engine fixing plate 69 installed at the bottom of the lower connecting cover 32, the bottoms of two sides of the fourth steering engine fixing plate 69 are provided with a third optical axis 77, the bottom outside the fourth steering engine fixing plate 69 is sleeved with a rear clamping jaw 73, a clamping jaw connecting metal plate 75 is arranged on the rear clamping jaw 73, an arc-shaped buckle ring 74 is arranged at the bottom of the rear clamping jaw 73, a third optical axis fixing metal plate 76 is arranged at the bottom of the side of the fourth steering engine fixing plate 69, a fourth steering engine swing arm 70 is arranged in the middle of the side of the fourth steering engine fixing plate 69, an arc-shaped pull rod 71 is arranged on the fourth steering engine swing arm 70, the arc-shaped pull rod 71 is hinged to a front clamping jaw 72.

The harvesting assembly is characterized in that the lateral size is large, so that the special manipulator is designed, and the fourth steering engine controls the two pull rods to pull the two clamping jaws 73 to move on the horizontal rail. When the pull rod is opened, the two clamping jaws 73 move outwards, which is equivalent to the opening of the whole paw, otherwise, the vegetable is tightened, the lower part of the vegetable is clamped below the arc-shaped retaining ring after tightening, the vegetable can be harvested by pulling upwards at the moment, the clamping jaws 73 have the advantages that only the root part of the lower part is clamped after clamping, a large amount of space is reserved between the two clamping jaws 73, vegetable leaves of the vegetable are not damaged as much as possible, important parts such as stems and stalks are not damaged, the selling phases are not damaged, if other types of plants are planted by users, other harvesting assemblies can be used instead, a conveying belt can be additionally arranged on the equipment, the crops harvested by the manipulator can be placed on the conveying belt and are automatically sent to the edge without continuous back-and-forth conveying of the manipulator, and the efficiency can be improved again.

As shown in fig. 11, the intelligent vegetable planting system works as follows:

1) determining that a program is about to enter: determining one of the intelligent vegetable planting system entering a soil loosening program, a seeding program, a watering program, a weeding program and a harvesting program as an entering program,

2) the first connecting component is butted with the component corresponding to the program to be entered: the second step motor (2) moves to drive the gear (11) to be matched with the rack (12) so that the workbench moves to the position above the component corresponding to the program to be entered along the Y-axis direction, the default position of the workbench is positioned above the component corresponding to the soil loosening program when the intelligent vegetable planting system is stopped, the first connecting component (18) is aligned with the positioning hole of the lower connecting cover (32), the steering engine drives the stepping motor pulley type ball screw linear guide rail (16) to drive the first connecting component (18) to descend along the Z-axis direction, and the wedge-shaped push block (28) is pushed into the socket to be ejected out under the action of the first spring (22) to clamp the upper connecting block (20) and the lower connecting cover (32), the butt joint of the first connecting assembly and the corresponding assembly of the program to be entered is completed, and the distances of the X axis, the Y axis and the Z axis which need to move are preset by the system in the embodiment; in this embodiment, if the entering procedure is a soil loosening procedure, the component corresponding to the entering procedure is a soil loosening component;

3) and completing the program operation to be entered: the gantry driven by a synchronous belt (7) driven by a first stepping motor (1) moves on a second track (4) to realize X-axis direction movement, a second stepping motor (2) moves to drive a gear (11) to move on a rack (12) so as to enable a workbench to move along the Y-axis direction, the implementation position to enter a program is determined, a steering engine drives a stepping motor pulley type ball screw linear guide rail (16) to drive a first connecting assembly (18) to move along the Z-axis direction to realize the height to be implemented by the program to enter, and the program to enter is completed; in this embodiment, the movement distances of the program to be entered corresponding to the X axis, the Y axis, and the Z axis are preset;

4) releasing the fixation of the corresponding component of the entering program: the gantry driven by a synchronous belt (7) driven by a first stepping motor (1) moves on a second track (4) to move in the X-axis direction, a second stepping motor (2) moves to drive a gear (11) to be matched with a rack (12) to enable a workbench to move in the Y-axis direction, so that a program to be entered is moved to a corresponding position of a placing rack, in the embodiment, the program to be entered is completed and then is defaulted to move to the upper side of a soil loosening assembly of the placing rack, a first steering engine (30) rotates to drive a swing rod (29) to pull four wedge-shaped push blocks (28) into an upper connecting block (20), and the fixing of the program to be entered to the assembly can be loosened. This step is followed by a renewed operation starting from step 1).

In conclusion, the whole planting process is effectively realized from self-loosening, sowing, watering, fertilizing to picking, the application occasions are wider, crops are produced in an automatic industrialized mode, the efficient planting is dedicated, the device has the advantages of being efficient, flexible, wide in application and the like, the core idea and the similar control system can be adjusted and changed on some mechanisms according to actual use requirements, the device can be applied to various different occasions, and the function of the device can be rapidly adapted to the planting industry along with the change and the replacement of the end manipulator from a waste factory building to an empty place where one person is unworn.

The above description is only for the purpose of illustrating the present invention and is not intended to limit the scope of the present invention, and any person skilled in the art can substitute or change the technical solution of the present invention and its conception within the scope of the present invention.