Range-extending type electric spiral ditching fertilizer applicator and control method thereof

Abstract

The invention relates to the field of agricultural machinery, in particular to a range-extending type electric spiral ditching fertilizer applicator and a control method thereof.The range-extending type electric spiral ditching fertilizer applicator comprises an electric crawler chassis, a ditching fertilizer applying mechanism and a lifting type conveying mechanism, a range extender for continuously charging a battery is arranged in the electric crawler chassis, and a control system controls walking, steering and working of the whole machine. The invention has the advantages that: 1, new energy is used for replacing the traditional diesel engine, so that the noise is reduced, and the environmental pollution is avoided; 2, the cruising ability of a battery of the crawler electric chassis is increased, the operation is more flexible, and the working efficiency is improved; 3, the equipment can realize three operations of spiral ditching, fertilization and soil covering at one time; and fourthly, the fertilizer box is fixed on the rack of the whole machine, so that the mechanical structure of the whole machine is simplified, and the cleanliness of the whole machine is improved.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and specifically relates to an extended-range electric spiral trenching and fertilizing machine and a control method thereof. Background Art

[0002] China is the country with the largest orchard planting area in the world, and the fruit output ranks first in the world. However, the mechanization level of orchard production is low, and it is difficult to improve the industrial level. At present, there are already some orchard robot products in China, which can be used for operations such as spraying, weeding and transportation, improving the intelligent level of orchard machinery. Tracked vehicles have the characteristics of strong adaptability to the road surface and strong load-bearing capacity. Among them, the diesel engine-driven tracked chassis is mostly used in outdoor agricultural production activities, with high noise and environmental pollution.

[0003] At present, the electric tracked chassis on the market has the following disadvantages. First, all of them use a single battery pack to provide energy for the traveling motor, and the battery life is short. Second, the battery is located at the bottom of the chassis and cannot be used for agricultural operations. For example, when working in a complex environment, sundries such as stones in the field are likely to cause irreversible damage to the battery, and even the battery may be damaged and explode. Third, at present, most electric tracked chassis place the drive wheel and the drive motor at the rear of the chassis. However, when performing some agricultural operations, placing the drive wheel at the end of the tracked chassis is likely to cause a large chassis space and unstable center of gravity, and the traditional chassis cannot be equipped with a variety of implements.

[0004] At the same time, the current trench digging and fertilizing machine mechanism has the following defects. For example, in a tracked spiral trench digging and fertilizing machine with the patent document number CN221283762U of our company, the fertilizer tank and the spiral trench digging and fertilizing box body are fixed together. If the spiral trench digging and fertilizing box body needs to move up and down, the fertilizer tank needs to move up and down together with the spiral trench digging and fertilizing box body. However, the weight of the fertilizer tank is relatively large, the lifting force required for up and down movement is large and it is easy to shake, which requires high requirements for the execution elements of the lifting device. Only a cylinder with a relatively large pressure can be selected as the execution element, which has a greater impact on the intelligence and cleanliness of the whole machine.

[0005] To solve these problems, the invention proposes an extended-range electric spiral trenching and fertilizing machine and a control method. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to overcome the above-mentioned deficiencies of the prior art and provide an extended-range electric spiral trenching and fertilizing machine and a control method thereof.

[0007] The technical solution of the present invention includes a crawler assembly bracket 4. A tensioning wheel assembly 5 and a driving wheel 20 are respectively provided at the front and rear ends of the crawler assembly bracket 4. The driving wheel 20 is connected to the motor reducer unit 18, vertically and fixedly mounted on the crawler assembly bracket 4. The load wheels 2 are evenly distributed on the crawler assembly bracket 4. The crawler assembly brackets 4 are fixedly connected to each other through a frame base 19. A frame assembly 15, a column 14 with a linear guide, and an electric push rod 17 are provided on the frame base 19. An armrest 8 and a control panel 9 are provided at the rear end of the frame assembly 15. A fertilizer tank 28 and a conveying motor 27 are fixedly mounted above. A lifting bracket 16 and a spiral trenching box body 36 are connected to the column 14 with a linear guide. The electric push rod 17 is connected to the lifting bracket 16 to move the spiral trenching box body 36 up and down. It is characterized in that: an elevating fertilizer conveying mechanism B is provided between the spiral trenching box body 36 and the fertilizer tank 28, including a conveying trough 35 provided at the top of the spiral trenching box body 36 and a four-stage transmission drive chain. The conveying trough 35 is of the same width as the bottom of the fertilizer tank 28 and is located directly below the front end of the fertilizer tank 28. The two are connected through a telescopic hose 30. Conveying augers 43 are provided on both sides of the conveying trough 35. The working motor 22 transmits power to the feeding auger 42, the conveying auger 43, and the spiral trenching and fertilizing barrel 37 in sequence through the four-stage transmission drive chain; the front end of the frame assembly 15 is connected and fixed to the column 14 with a linear guide. A battery 6, a range extender 13, and a controller 11 are provided in the middle part of the frame assembly 15. The battery 6 is directly above the tensioning wheel assembly 5. The controller 11 and the range extender 13 are respectively provided above and in front of the battery 6.

[0008] The four-stage transmission drive chain includes a right-angle gearbox 31 fixed above the conveying trough 35, a shaft three 34 provided at the front end of the conveying trough 35, and a driving sprocket one 39 provided on an input shaft 38. A transition shaft 26 penetrates through the right-angle gearbox 31. A driven sprocket two 29 connected to the driving sprocket one 39 through a chain is provided on the transition shaft 26. The transition shaft 26 transmits power to the feeding auger 42 and a shaft two 32 respectively through two pairs of bevel gears in the right-angle gearbox 31. A driving sprocket two 41 is provided on the shaft two 32. Power is transmitted to a driven sprocket four 40 on the shaft three 34 through a chain, and then power is transmitted to a driven sprocket one 25 on a shaft one 24 through driven sprockets three 33 on both sides of the shaft three 34, finally driving the conveying auger 43 to rotate.

[0009] The fertilizer tank 28 is wider at the top and narrower at the bottom, and a middle surface 45 is provided in the middle of the lower part. Feeding augers 44 are provided on both sides of the lower part of the fertilizer tank 28, and the axis of the feeding auger 44 is higher than the middle surface 45 of the fertilizer tank 28. The included angle β of the middle surface is 60° - 70°.

[0010] The fertilizer tank 28 is also provided with a cam stirring mechanism, which includes a disc 46, two swing rods 48 and a long rod 50 arranged between the swing rods 48. The swing rod 48 is provided with a long slot 49 and is connected to the shaft 47 at the top. A pin 51 that cooperates with the long slot 49 is arranged on the edge of the disc 46. The disc 46 is connected to a stirring motor 52 outside the fertilizer tank 28. The rotation of the stirring motor 52 drives the swing rod 48 to reciprocate left and right with the shaft 47 as the center, so that the long rod 50 stirs the fertilizer in the fertilizer tank 28.

[0011] The described frame assembly 15 includes a first frame 3, a second frame 7 and a third frame 12 welded in sequence from bottom to top. The armrest 8, the control panel 9 and the battery 6 are all arranged on the second frame 7. A controller mounting bracket 10 is also arranged above the battery 6. The controller 11 for controlling the whole machine and the range extender 13 for continuously supplying power to the battery 6 are both fixed on the controller mounting bracket 10. The fertilizer tank 28 is fixed on the third frame 12. The widths of the second frame 7 and the third frame 12 do not exceed the distance between the two crawler assembly brackets 4.

[0012] The described first frame 3 is of the same width as the column 14 with a wire rail and is fixed. The mounting plate 21 for fixing the working motor 22 is arranged on the frame base 19.

[0013] The described control method is realized through a power supply system and a control system; The described power supply system includes a battery 6 for supplying power to the control system and a range extender 13 for continuously replenishing the power of the battery 6. The battery 6 is connected in parallel with all the electrical execution components in the control system; The described control system includes a controller 11 and an electric push rod 17, a motor speed reduction unit 18, a working motor 22 and a conveying motor 27 respectively connected thereto. The controller 11 respectively controls the rotation speeds of the motor speed reduction units 18 on the left and right sides to realize the forward movement, stop, backward movement and in-situ turning of the electric crawler chassis A; the controller 11 simultaneously controls the working motor 22 and the conveying motor 27 to rotate together to realize the trench digging, fertilizer stirring, conveying and fertilizing of the down-type spiral trench digging and fertilizing mechanism B; the controller 11 simultaneously controls the telescopic movement of the electric push rod 17 to realize the rising and falling of the down-type spiral trench digging and fertilizing mechanism B; The described controller 11 is provided with corresponding control buttons on the control panel 9.

[0014] The present invention has the following beneficial effects compared with the prior art: First, using new energy to replace traditional diesel engines greatly reduces noise and avoids environmental pollution; second, it increases the battery life of the tracked electric chassis and is more flexible to operate, improving work efficiency; third, the device protects the battery and electrical components, ensures the stability of the center of gravity of the whole machine, and at the same time, the chassis can be installed with a variety of tools, and the whole machine can realize three operations of spiral trenching, fertilizing, and soil covering at one time, and the trenching and fertilizing depth can be adjusted; fourth, the fertilizer tank is fixed on the frame of the whole machine, with good stability, reducing the pressure requirement for the lifting actuator. Using an electric push rod instead of an oil cylinder improves the intelligence of the whole machine, removes the complicated oil circuit, simplifies the mechanical structure of the whole machine and improves the cleanliness of the whole machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic structural diagram of the invention; Figure 2 is Figure 1 a schematic structural diagram of the electric tracked chassis A in Figure 3 is Figure 2 a K-direction view of Figure 4 is Figure 1 a schematic structural diagram of removing the electric tracked chassis A in Figure 5 is Figure 1 a schematic structural diagram of the lifting type fertilizer conveying mechanism B in Figure 6 is a front sectional view of the fertilizer tank (28) in Embodiment 1; Figure 7 is a front sectional view of the fertilizer tank (28) in Embodiment 2; Figure 8 is Figure 7 a sectional view taken along A-A in Figure 9 is a schematic diagram of the control system principle of the present invention.

[0016] In the figure: 1, bearing seat; 2, load-bearing wheel; 3, first frame; 4, track assembly bracket; 5, tensioning wheel assembly; 6, battery; 7, second frame; 8, handrail; 9, control panel; 10, controller mounting bracket; 11, controller; 12, third frame; 13, range extender; 14, column with linear guide; 15, frame assembly; 16, lifting bracket; 17, electric push rod; 18, motor reduction unit; 19, frame base; 20, drive wheel; 21, working motor mounting plate; 22, working motor; 23, telescopic universal coupling; 24, shaft one; 25, passive sprocket one; 26, intermediate shaft; 27, conveying motor; 28, fertilizer tank; 29, passive sprocket two; 30, telescopic hose; 31, right-angle gearbox; 32, shaft two; 33, passive sprocket three; 34, shaft three; 35, conveying trough; 36, spiral trenching box; 37, spiral trenching and fertilizing barrel; 38, input shaft; 39, active sprocket one; 40, passive sprocket four; 41, active sprocket two; 42, feeding auger; 43, conveying auger; 44, feeding auger; 45, intermediate plane; 46, disc; 47, shaft; 48, swing rod; 49, long slot; 50, long rod; 51, pin; 52, stirring motor; A, electric crawler chassis; B, lifting type fertilizer conveying mechanism; β, intermediate plane angle. Detailed implementation mode

[0017] A range-extended electric spiral trenching and fertilizing machine and control method, including a range-extended electric spiral trenching and fertilizing machine and a control system.

[0018] The range-extended electric spiral trenching and fertilizing machine includes track assembly brackets 4, tensioning wheel assemblies 5 and drive wheels 20 on both sides. Uniformly distributed load-bearing wheels 2 are provided on the track assembly brackets 4. The drive wheels 20 are fixed to the front ends of the track assembly brackets 4 through bearing seats 1. The motor reduction unit 18 is connected to the drive wheels 20 and vertically fixed on the track assembly brackets 4. The tensioning wheel assemblies 5 are fixed to the tail ends of the track assembly brackets 4. The track assembly brackets 4 are fixedly connected through a frame base 19. A frame assembly 15, a column 14 with a linear guide and an electric push rod 17 are provided on the frame base 19. A mounting plate 21 for fixing the working motor 22 is also provided on the frame base 19.

[0019] The frame assembly 15 includes a first frame 3, a second frame 7, and a third frame 12 welded successively from bottom to top. An armrest 8 and a control panel 9 are provided at the tail end of the second frame 7, and the rest stores the battery 6. Above the battery 6, there is also a controller mounting bracket 10. The controller 11 for controlling the whole machine and the range extender 13 for continuously powering the battery 6 are both fixed on the controller mounting bracket 10. The drive wheel 20 and the motor reduction unit 18 are arranged in front of the chassis, mainly to increase the weight at the front of the whole machine, increase the grip, and prevent the front of the equipment from tilting up and being toppled due to insufficient gravity during spiral trenching. The battery 6 and the range extender 13 are arranged at the rear upper part to avoid the battery 6 and the range extender 13 from bumping during agricultural operations, prevent damage, avoid explosion, and at the same time improve the performance of the chassis when crossing ditches and ridges.

[0020] At the same time, the first frame 3 is as wide as the column 14 with a wire rail and is fixed together. The third frame 12 is as high as the column 14 with a wire rail and is fixed together. A lifting bracket 16 is provided on the column 14 with a wire rail. The spiral trenching box 36 is fixed on the lifting bracket 16. Below the spiral trenching box 36, there is a spiral trenching and fertilizing barrel 37, and above it, there is a lifting type fertilizer conveying mechanism B. The electric push rod 17 pushes the spiral trenching box 36 and the spiral trenching and fertilizing barrel 37 to move up and down together. The spiral trenching box 36 and the lifting type fertilizer conveying mechanism B are both arranged in front of the whole machine. Such a distribution can adjust the center of gravity of the whole machine to the midpoint and avoid the equipment from tipping over during operation.

[0021] The lifting type fertilizer conveying mechanism B includes a top conveying groove 35 of the spiral trenching box 36. The conveying groove 35 is as wide as the fertilizer box 28 and is located directly below the top of the fertilizer box 28. On both sides of the conveying groove 35, there are conveying augers 43 wound around the first shaft 24. The input shaft 38 of the spiral trenching and fertilizing barrel 36 is connected to the working motor 22 through a telescopic universal coupling 23. The working motor 22 transmits the power to the feeding auger 42 and the conveying auger 43 again through a four-stage transmission chain. Embodiment 1:

[0022] The fertilizer box 28 is fixed on the third frame 12. On both sides of the fertilizer box 28, there are feeding augers 44, which are respectively driven by separate conveying motors 27. The fertilizer box 28 has a shape that is wider at the top and narrower at the bottom, and there is an intermediate surface 45 in the middle of the lower part. There are grooves for conveying fertilizer on both sides of the intermediate surface 45. The axes of the feeding augers 44 on both sides are higher than the intermediate surface 45 of the fertilizer box 28, so that a part of the feeding auger 44 is above the intermediate surface 45. The included angle β of the intermediate surface 45 is 60° - 70°. In this way, the fertilizer above the fertilizer box 28 can be fed into the conveying groove 35 under the action of the feeding auger 44. If the axis of the feeding auger 44 is lower than the intermediate surface 45 of the fertilizer box 28, the fertilizer above the intermediate surface 45 is likely to accumulate above it. Embodiment 2:

[0023] To avoid the accumulation and caking of fertilizers and make the fertilizers above the middle surface 45 more smoothly delivered to the lower feeding auger 44, in combination with the first embodiment, a cam stirring mechanism is further provided in the fertilizer box 28 and is arranged above the middle surface 45. The cam stirring mechanism includes a disc 46, two swing rods 48 and a long rod 50 arranged between the swing rods 48. A long groove 49 is provided on the swing rod 48, and the top is connected to the shaft 47. The shaft 47 is fixedly arranged on the fertilizer box 28 throughout. A pin 51 for cooperating with the long groove 49 is provided on the edge of the disc 46. The disc 46 is connected to the stirring motor 52 outside the fertilizer box 28. When the stirring motor 52 rotates, it drives the pin 51 on the disc 46 to rotate. The pin 51 moves in the long groove 49, driving the swing rod 48 to reciprocate left and right with the shaft 47 as the center, so that the long rod 50 between the swing rods 48 reciprocates left and right to stir the fertilizers in the fertilizer box 28.

[0024] To improve the fertilization rate, a telescopic hose 30 for preventing fertilizers from spilling is further provided between the conveying trough 35 and the fertilizer box 28.

[0025] The four-stage transmission drive chain includes a right-angle gearbox 31 fixed above the conveying trough 35, a shaft three 34 supported by bearings on the front side of the conveying trough 35, and a driving sprocket one 39 arranged on the input shaft 38. A transition shaft 26 penetrates through the right-angle gearbox 31. A driven sprocket two 29 connected to the driving sprocket one 39 by a chain is arranged on the transition shaft 26. The transition shaft 26 transmits power to the feeding auger 42 and the shaft two 33 respectively through two pairs of bevel gears. A driving sprocket two 41 is arranged on the shaft two 33. Power is transmitted to the driven sprocket four 40 on the shaft three 34 through a chain, and then power is transmitted to the driven sprocket one 25 on the shaft one 24 through the driven sprockets three 33 on both sides of the shaft three 34 through a chain, finally driving the conveying auger 43 to rotate.

[0026] Another advantage of arranging the lifting fertilizer conveying mechanism B in front of the battery 6 is that it can clean the hard lumps, gravel and other sundries in the field, avoid damaging the battery and the working motor at the rear, and improve the service life.

[0027] The control method of the described range-extended electric screw ditching and fertilizing machine is realized through the power supply system and the control system; The power supply system includes a battery 6 for supplying power to the control system and a range extender 13 for continuously replenishing the battery 6 with electricity. The battery 6 is connected in parallel with all the electrical execution components in the control system, so as to ensure that each electrical execution component can be repaired separately when a problem occurs.

[0028] The control system includes a controller 11, an electric push rod 17, a motor reduction unit 18, a working motor 22, and a conveying motor 27 that are respectively connected thereto. The controller 11 controls the rotation speeds of the motor reduction units 18 on the left and right sides respectively to achieve the forward movement, stop, reverse movement, and in-situ turning of the electric crawler chassis A; the controller 11 simultaneously controls the working motor 22 and the conveying motor 27 to rotate together to achieve the trench digging, fertilizer stirring, conveying, and fertilizing of the down-type spiral trench digging and fertilizing mechanism B; the controller 11 simultaneously controls the telescopic movement of the electric push rod 17 to achieve the lifting and lowering of the down-type spiral trench digging and fertilizing mechanism B.

[0029] The controller 11 is provided with corresponding control buttons on the control panel 9 for easy manual operation.

Claims

1. An extended-range electric spiral furrowing fertilizer spreader, comprising a crawler assembly bracket (4), wherein the front and rear ends of the crawler assembly bracket (4) are respectively provided with a tensioning wheel assembly (5) and a driving wheel (20), wherein the driving wheel (20) is connected to a motor reduction unit (18), vertically fixed to the crawler assembly bracket (4), and the load-bearing wheels (2) are evenly distributed on the crawler assembly bracket (4), and the crawler assembly brackets (4) are fixedly connected through a frame base (19), and the frame base (19) is provided with The invention comprises a frame assembly (15), a column (14) with a linear rail and an electric push rod (17). The rear end of the frame assembly (15) is provided with a handrail (8) and a control panel (9). A fertilizer box (28) and a conveying motor (27) are fixed on the upper side. A lifting bracket (16) and a spiral ditching box (36) are connected to the column (14) with a linear rail. The electric push rod (17) is connected to the lifting bracket (16) to move the spiral ditching box (36) up and down. The invention is characterized in that: A lifting fertilizer conveying mechanism B is provided between the spiral furrowing box (36) and the fertilizer box (28), comprising a conveying trough (35) provided on the top of the spiral furrowing box (36) and a four-stage transmission drive chain. The conveying trough (35) is as wide as the bottom of the fertilizer box (28) and is located directly below the front end of the fertilizer box (28). The two are connected by a telescopic hose (30). Conveying augers (43) are provided on both sides of the conveying trough (35). The working motor (22) is driven by a four-stage transmission drive chain. The dynamic chain transmits power to the feeding auger (42), the conveying auger (43) and the spiral furrowing fertilizer barrel (37) in sequence; the front end of the frame assembly (15) is connected and fixed to the column (14) with the linear rail, and a battery (6), a range extender (13) and a controller (11) are provided in the middle of the frame assembly (15); the battery (6) is located directly above the tension wheel assembly (5), and the controller (11) and the range extender (13) are respectively provided above and at the front end of the battery (6).

2. The extended-range electric spiral ditching fertilizer spreader according to claim 1, characterized in that: The four-stage transmission drive chain comprises a right-angle gear box (31) fixed above the conveying trough (35), a shaft three (34) arranged at the front end of the conveying trough (35), and a driving sprocket one (39) arranged on the input shaft (38). A transition shaft (26) runs through the right-angle gear box (31). A passive sprocket two (29) connected to the driving sprocket one (39) through a chain is arranged on the transition shaft (26). The transition shaft (26) transmits power to the feeding auger (42) and the shaft two (32) respectively after conversion by two pairs of bevel gears in the right-angle gear box (31). A driving sprocket two (41) is arranged on the shaft two (32), which transmits power to the passive sprocket four (40) on the shaft three (34) through the chain. Then, the passive sprockets three (33) on both sides of the shaft three (34) transmit power to the passive sprocket one (25) on the shaft one (24) through the chain, thereby finally driving the conveying auger (43) to rotate.

3. The extended-range electric spiral ditching fertilizer spreader according to claim 1, characterized in that: The fertilizer box (28) is wide at the top and narrow at the bottom, and a middle surface (45) is provided at the middle of the bottom. Feeding hinges (44) are provided at both sides of the bottom of the fertilizer box (28), and the axis of the feeding hinges (44) is higher than the middle surface (45) of the fertilizer box (28), and the included angle β of the middle surface is 60°-70°.

4. The extended-range electric spiral ditching fertilizer spreader according to claim 1 or 3, characterized in that: The fertilizer box (28) is further provided with a cam stirring mechanism, comprising a disc (46), two rocking arms (48) and a long rod (50) arranged between the rocking arms (48); the rocking arm (48) is provided with a long groove (49) and the top is connected to the shaft (47); the edge of the disc (46) is provided with a pin (51) used in conjunction with the long groove (49); the disc (46) is connected to a stirring motor (52) outside the fertilizer box (28); the rotation of the stirring motor (52) drives the rocking arm (48) to reciprocate left and right with the shaft (47) as the center, so that the long rod (50) stirs the fertilizer in the fertilizer box (28).

5. The extended-range electric spiral ditching fertilizer spreader according to claim 1, characterized in that: The frame assembly (15) comprises a first frame (3), a second frame (7) and a third frame (12) welded in sequence from bottom to top, the handrail (8), the control panel (9) and the battery (6) are all arranged on the second frame (7), a controller mounting frame (10) is also arranged above the battery (6), a controller (11) for controlling the whole machine and a range extender (13) for continuously supplying power to the battery (6) are both fixed on the controller mounting frame (10), a fertilizer box (28) is fixed on the third frame (12), and the width of the second frame (7) and the third frame (12) does not exceed the distance between the two crawler assembly brackets (4).

6. The extended-range electric spiral ditching fertilizer spreader according to claim 5, characterized in that: The first frame (3) is of the same width as the column (14) with the linear rail and is fixed, and a mounting plate (21) for fixing the working motor (22) is provided on the frame base (19).

7. A control method for an extended-range electric spiral ditching fertilizer spreader, characterized in that: Including power supply system and control system; The power supply system comprises a battery (6) for supplying power to the control system and a range extender (13) for continuously replenishing power to the battery (6); the battery (6) is connected in parallel to all electrical actuators in the control system; The control system comprises a controller (11) and electric push rods (17), motor reducer units (18), working motors (22) and conveying motors (27) respectively connected thereto. The controller (11) controls the rotation speeds of the motor reducer units (18) on the left and right sides respectively to achieve the forward movement, stop, reverse movement and in-situ turning of the electric crawler chassis A. The controller (11) controls the working motor (22) and the conveying motor (27) to rotate together to achieve the ditching, fertilizer mixing, conveying and fertilizing of the descending spiral trenching and fertilizing mechanism B. The controller (11) controls the extension and retraction of the electric push rods (17) to achieve the ascent and descent of the descending spiral trenching and fertilizing mechanism B. The controller (11) is provided with corresponding control buttons on the control panel (9).

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