Description:FIELD OF THE INVENTION
[0001] The present invention generally relates to agricultural equipment and more particularly relates to an apparatus for seed sowing purposes.

BACKGROUND OF THE RELATED ART
[0002] The convergence of robotics and automation within the agricultural sector has experienced significant growth in recent years, driven by the pursuit of enhanced growth, productivity, and sustainability. Notably, the emergence of seed-sowing robots has garnered attention.
[0003] Researchers from all across the world have invented a variety of seed sowing devices. For example, a Chinese patent application CN107124939B discloses an integrated punching seeder, which comprises a travelling trolley, a power supply, a seed flow control mechanism, a punching device and a control device, wherein the punching device comprises a fixed shaft which is vertically arranged downwards, a rotary drill rod and a drill rod motor which can drive the rotary drill rod to rotate, the rotary drill rod is sleeved at the lower end of the fixed shaft through threads, the fixed shaft and the rotary drill rod are of hollow structures, and the bottom of the rotary drill rod is open. Another patent application US11917937B2 discloses a seed unit for placing seeds into soil that includes a seed meter for singulating seeds, a shaft to deliver the seeds into soil during operation, and an actuator coupled to the shaft. The actuator moves the shaft during operation and the shaft delivers seeds into the soil without a continuous seed trench.
[0004] However, these existing models are bulky and impractical for implementation in compact agricultural environments. Hence, there has long been a need in the art for a seed sowing device that is compact, sustainable, precise and proficient in terms of seed sowing in the ground. In this regard, the device for seed sowing according to the present invention substantially departs from the conventional concepts and designs of the prior art.
[0005] These and other advantages will be more readily understood by referring to the following detailed description disclosed hereinafter with reference to the accompanying drawing and which are generally applicable to other evaporators to fulfill particular application illustrated hereinafter.

SUMMARY OF THE INVENTION
[0006] According to one embodiment of the present invention, a compact robotic end effector apparatus for seed-sowing is disclosed. The apparatus includes a motor mount configured to hold a stepper motor to operate the apparatus. In various embodiments, the motor mount includes an attachment to fix the apparatus to a robot system. The apparatus further includes an outer barrel flexibly coupled with the motor mount, having a slot. In various embodiments, the apparatus includes a lead screw, axially placed within the barrel and coupled with the stepper motor. In various embodiments, the lead screw is configured to slide down along with a nut assembly on activation of the stepper motor. The apparatus further includes a punch holder having one end fixed to the nut assembly and configured to move vertically within the barrel on operation of the lead screw. Further, a punching tool is attached at a bottom of the punch holder and adapted to punch hole in the ground. The apparatus also includes a seed box attached externally to the outer barrel and configured to hold the seeds to be sowed. A seed picker is attached to the nut assembly, having a vacuum motor adapted to regulate pick up of at least one seed from the seed box. In various embodiments, on forward operation of the lead screw, the punch holder is configured to move downward along the slot to drive the punching tool to punch a hole in the ground and the seed picker is concurrently configured to move downward and rotate about an axis of the barrel from an initial position to pick up at least one seed from the seed box, the downward motion of the punch holder is stopped, and on reverse operation of the lead screw, the punch holder is retracted into the barrel and the seed picker is configured to reverse a rotation thereof back to the initial position carrying the at least one seed and drop the same into a seed guide for deposition into the hole punched in the ground.
[0007] In various embodiments, the apparatus is configured to pick up seeds of different sizes. In various embodiments, the seed box, the seed picker and the seed guide are positioned along the circumference of the outer barrel. In various embodiments, an end support at a bottom portion of the outer barrel to limit motion of the nut assembly within the barrel.
[0008] In various embodiments, the seed picker is attached to the nut assembly and extends through the slot, wherein the slot is shaped with a profile configured to move the seed picker from the initial position above the seed guide to the position above the seed box on forward rotation of the lead screw, and retract back to the initial position when the lead screw is rotated in the opposite direction. In various embodiments, movement of the seed picker activates the vacuum motor to initiate pick up of the at least one seed from the seed box through an orifice, and retraction of the seed picker deactivates the vacuum motor to drop the picked up seed into the seed guide.
[0009] In various embodiments, the seed guide comprises a tube extending radially outward of the outer barrel to receive one or more seeds from the seed picker, and shaped to drop the same into an axial portion of the barrel.
[0010] In various embodiments, the seed box is a tubular receptacle placed at a radial distance and extending outward of the outer barrel, and placed vertically below a level of the seed guide. In various embodiments, the seed box is provided with attachment for feeding seeds from a hopper.
[0011] This and other aspects are disclosed herein.

BRIEF DESCRIPTION OF THE DRAWINGS
[0012] The invention has other advantages and features which will be more readily apparent from the following detailed description of the invention and the appended claims, when taken in conjunction with the accompanying drawings, in which:
[0013] FIG. 1A: a schematic perspective view of an Automated Seed Metering and Planting (ASMP) robotic end effector.
[0014] FIG. 1B: a schematic showing internal components of ASMP robotic end effector.
[0015] FIG. 2A-2E: showing different configurations of the proposed ASMP robotic end effector design enabling seed sowing operation.
[0016] FIG. 3: showing a test prototype of ASMP robotic end effector.
[0017] Referring to the figures, like numbers indicate like parts throughout the various views.

DETAILED DESCRIPTION OF THE EMBODIMENTS
[0018] While the invention has been disclosed with reference to certain embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the scope of the invention. In addition, many modifications may be made to adapt to a particular situation or material to the teachings of the invention without departing from its scope.
[0019] Throughout the specification and claims, the following terms take the meanings explicitly associated herein unless the context clearly dictates otherwise. The meaning of "a", "an", and "the" include plural references. The meaning of "in" includes "in" and "on." Referring to the drawings, like numbers indicate like parts throughout the views. Additionally, a reference to the singular includes a reference to the plural unless otherwise stated or inconsistent with the disclosure herein.
[0020] The present disclosure provides a compact robotic end effector apparatus. The apparatus may be used for controlled seeding in diverse settings, encompassing open fields and enclosed environments such as greenhouses. The apparatus of the present invention is an integral assembly having a number of components such as a motor mount, an outer barrel, a lead screw, a punch holder, a punching tool, a seed box, a seed picker and a seed guide.
[0021] In various embodiments, the invention includes a compact robotic end effector apparatus. The apparatus is an automated seed metering and planting (ASMP) robotic end effector. The apparatus 100 is described further with reference to the drawings. As shown in FIG. 1, the apparatus 100 includes a motor mount 102 coupled to an outer barrel 108. The motor mount 102 may have a three dimensional shape configured to provide a space to hold a stepper motor 104 to operate the apparatus 100. In various embodiments, the motor mount 102 includes an attachment to fix the apparatus to a robot system 106.
[0022] In various embodiments, the motor mount 102 may be flexibly coupled with the outer barrel 108. In various embodiment, the outer barrel may be a hollow structure having a slot 110 as show in FIG. 1A. In various embodiments, the outer barrel may include a lead screw 112, a nut assembly 114 and a punch holder 116 within the structure. In various embodiment, the outer barrel may include a seed box 120, a seed picker 122 and a seed guide 126 positioned along the circumference of the structure. In various embodiments, the outer barrel 108 may include an end support 128 at a bottom portion to limit motion of the nut assembly 114 within the barrel as shown in FIG. 1B. In various embodiments, the outer barrel 108 may be incorporated with a control unit adapted to limit movement of the lead screw 112 and the stepper motor 104 using signals from a plurality of sensors. In various embodiments, the programmable unit may receive instructions to vary depth of travel of the punch to suit different types of crops. In various embodiments, the sensor inputs may be configured to avoid damage to the apparatus 100 by limiting travel of the punch and other parts as well as preventing overload of the motors.
[0023] In various embodiments, the lead screw 112 may be axially placed within the barrel 108. In various embodiments, the lead screw 112 may be coupled with the stepper motor 104. In various embodiments, the lead screw 112 is configured to slide down the nut assembly 114 on activation of the stepper motor 104.
[0024] In various embodiments, the outer barrel 108 may include the punch holder 116 with a circumference lesser than the barrel to movably fit therewithin, as shown in FIG. 1B. In various embodiments, the punch holder 116 may be configured to move vertically within the barrel on operation of the lead screw 112. In various embodiments, a punching tool 118 may be attached at a bottom of the punch holder 116. In various embodiments, the punching tool 118 may be a solid structure adapted to punch hole in the ground.
[0025] In various embodiments, the seed box 120 may be a tubular receptacle placed at a radial distance and extending outward of the barrel 108. In various embodiments, the seed box is configured to hold seeds 132 to be sowed in the ground. In various embodiments, the seed box 120 may be provided with attachment for feeding seeds from a hopper. In various embodiments, the hopper may be designed to supply seeds of a wide variety of crops to the seed box 120.
[0026] In various embodiments, the seed picker 122 may be attached to the nut assembly of the barrel 108. In various embodiments, the seed picker 122 may include a vacuum motor 124 adapted to regulate pick up of at least one seed from the seed box 120. In various embodiments, the seed picker 122 may extends through the slot 110 of the barrel.
[0027] With reference to FIG. 2A-2E, different positions of the proposed apparatus during a seed sowing operation are shown. In various embodiments, on forward operation of the lead screw 112, the punch holder 116 moves downward along the slot 110 as shown in FIG. 2B to drive the punching tool 118 to punch a hole in the ground as shown in FIG. 2C. The seed picker 122 concurrently or simultaneously moves downward and in rotation about the axis of the barrel from an initial position to pick up at least one seed from the seed box 120. At this point, the downward motion of the punch holder 116 is stopped. In various embodiments, on reverse operation of the lead screw 112, the punch holder 116 is retracted into the barrel 108 as shown in FIG. 2D. In various embodiments, the seed picker 122 is configured to reverse a rotation thereof back to the initial position carrying the at least one seed and drop the same into a seed guide 126 for deposition into the hole punched in the ground as shown in FIG. 2E. In various embodiments, the movement of the seed picker 122 activates the vacuum motor 124 to initiate pick up of the at least one seed from the seed box 120 through an orifice 130, and retraction of the seed picker deactivates the vacuum motor to drop the picked up seed into the seed guide 124 as shown in FIG. 2D. In various embodiments, the seed guide 126 comprises a tube extending radially outward of the outer barrel 108 to receive one or more seeds from the seed picker 122, and shaped to drop the same into an axial portion of the barrel. In various embodiments, the seed box 120 may be placed vertically below a level of the seed guide 126 as shown in FIG. 1A. In various embodiments, the slot 110 is shaped with a profile configured to move the seed picker 122 from the initial position above the seed guide 124 to the position above the seed box 120 on forward rotation of the lead screw 112, and retract back to the initial position when the lead screw 112 is rotated in the opposite direction as shown in FIG. 2A.
[0028] In various embodiments, the apparatus 100 is configured to pick up seeds of different sizes and shapes. In various embodiments, the apparatus 100 may be adapted to pick up target seeds of different sizes and shapes by replacing the seed picker 122 having appropriate sized openings to generate the suction required to retain the seed at the tip of the seed picker. The vacuum line connected to the seed picker creates the suction concentration at this hole. So when the seed picker touches a seed, it sucks and keeps the seed at the tip of the seed picker. When the seed picker traverses to drop point, the vacuum turns off and the seed is dropped off.
[0029] The invention as set forth in the foregoing embodiments has many advantages. The apparatus 100 of the present invention is a low cost, portable, easy to fabricate and highly efficient robotic end effector for seed- sowing. The apparatus is compact, energy efficient and has a minimal operation cost with no complex instrumentation involved. The apparatus may be an interchangeable robotic end effector tailored for the precise planting of seeds, thus augmenting practices in precision agriculture through robotic means. The apparatus may be used as an automated seed metering and planting robotic end effector (ASMP Robotic End Effector). The efficiency of the apparatus may facilitate control over various planting parameters, including seed quantity per planting and planting depth. The apparatus when integrated with mobile manipulators or robotic farm vehicles featuring autonomous navigation capabilities may function as an automated solution for controlled seeding in diverse settings, encompassing open fields and enclosed environments such as greenhouses. The apparatus of the present invention may accommodate seeds of varying sizes and form factors by interchanging the counterparts, rendering it a sustainable solution for precision agriculture seeding activities. The control unit of the apparatus of the present invention may be seamlessly integrated into off-the-shelf robot manipulators, relying solely on the single stepper motor and pneumatic supply for actuation. The apparatus 100 when integrated with an actuation system may accomplish tasks such as seed retrieval from the hopper or storage units, puncturing holes of desired depth in the soil surface, and controlled dispensing of the desired quantity of seeds. The apparatus may close punched holes through controlled manipulations of the robot manipulator, to gently compact the surrounding soil.
[0030] Although the detailed description contains many specifics, these should not be construed as limiting the scope of the invention but merely as illustrating different examples and aspects of the invention. Various other modifications, changes and variations which will be apparent to those skilled in the art may be made in the arrangement, operation and details of the system and method of the present invention disclosed herein without departing from the scope of the invention as described here and as set forth in the claims attached herewith.

EXAMPLE
[0031] FABRICATION AND TESTING OF PROTOTYPE
[0032] FIG. 3 shows a test prototype of ASMP robotic end effector. The test prototype has been fabricated and evaluated using moong bean seeds, successfully demonstrating its intended performance by proficiently retrieving seeds and depositing them into self-punctured holes. The seed picker hole of the prototype was designed with a diameter of 2 mm to accommodate green grams. The average dimensions of green grams were length= 4.21 mm, width= 3.17 mm and thickness= 3.08 mm. The prototype may be adapted to pick up seeds of different sizes and shapes by replacing the seed picker with one that has a hole having diameter specifically designed for the target seed. The seed picker was intentionally designed to be detachable, enabling the device to be used for various seed types.
, Claims:1. A compact robotic end effector apparatus (100) for seed-sowing, the apparatus comprising:
a motor mount (102) configured to hold a stepper motor (104) to operate the apparatus (100), the motor mount (102) having an attachment to fix the apparatus to a robot system (106);
an outer barrel (108) flexibly coupled with the motor mount (102), having a slot (110);
a lead screw (112), axially placed within the barrel (108) and coupled with the stepper motor (104), a lead screw (112) configured to slide down a nut assembly (114) on activation of the stepper motor (104);
a punch holder (116) having one end fixed to the nut assembly (114) and configured to move vertically within the barrel on operation of the lead screw (112);
a punching tool (118) attached at a bottom of the punch holder (116) and adapted to punch hole in the ground;
a seed box (120) attached externally to the outer barrel (108) and configured to hold the seeds (132) to be sowed; and
a seed picker (122), attached to the nut assembly (114), having a vacuum motor (124) adapted to regulate pick up of at least one seed from the seed box (120), wherein,
on forward operation of the lead screw (112), the punch holder (116) is configured to move downward along the slot (110) to drive the punching tool (118) to punch a hole in the ground and the seed picker (122) is concurrently configured to move downward and rotate about an axis of the barrel from an initial position to pick up at least one seed from the seed box (120), the downward motion of the punch holder (116) is stopped, and on reverse operation of the lead screw (112), the punch holder (116) is retracted into the barrel (108) and the seed picker (122) is configured to reverse a rotation thereof back to the initial position carrying the at least one seed and drop the same into a seed guide (126) for deposition into the hole punched in the ground.

2. The apparatus as claimed in claim 1, wherein the apparatus (100) is configured to pick up seeds of different sizes.

3. The apparatus as claimed in claim 1, wherein the seed box (120), the seed picker (122) and the seed guide (124) are positioned along the circumference of the outer barrel (108).

4. The apparatus as claimed in claim 1, including an end support (128) at a bottom portion of the outer barrel (108) to limit motion of the nut assembly (114) within the barrel.

5. The apparatus as claimed in claim 1, wherein the seed picker (122) is attached to the nut assembly (114) and extends through the slot (110), wherein the slot is shaped with a profile configured to move the seed picker (122) from the initial position above the seed guide (124) to the position above the seed box (120) on forward rotation of the lead screw (112), and retract back to the initial position when the lead screw (112) is rotated in the opposite direction.

6. The apparatus as claimed in claim 1, wherein movement of the seed picker (122) activates the vacuum motor (124) to initiate pick up of the at least one seed from the seed box (120) through an orifice (130), and retraction of the seed picker deactivates the vacuum motor to drop the picked up seed into the seed guide (124).

7. The apparatus as claimed in claim 1, wherein the seed guide (126) comprises a tube extending radially outward of the outer barrel (108) to receive one or more seeds from the seed picker (122), and shaped to drop the same into an axial portion of the barrel.

8. The apparatus as claimed in claim 1, wherein the seed box (120) is a tubular receptacle placed at a radial distance and extending outward of the outer barrel (108), and placed vertically below a level of the seed guide (126).

9. The apparatus as claimed in claim 8, wherein the seed box (120) is provided with attachment for feeding seeds from a hopper.