Remote-control ditching and seeding machine for astragalus mongholicus seeds

Abstract

The invention belongs to the field of agricultural machinery, and particularly discloses an astragalus membranaceus seed remote control ditching seeder which comprises a tractor, a ditching mechanism, a seeding trolley and a control system. A walking mechanism is arranged at the bottom of the tractor, and the ditching mechanism is installed on the tractor and comprises a ditching tool bit and a wrench adjusting mechanism. The seeding trolley is suspended behind the tractor through a traction connection structure and comprises a seeding trolley chassis, a seeding box, a vibration motor and a seeding roller. A strip-shaped discharging port is formed in the bottom of the sowing box, the vibration motor generates high-frequency vibration to enable seeds to evenly fall, the sowing roller is driven by a motor, and equidistant grooves in the surface of the sowing roller are used for quantitatively pushing the seeds to a ditching track. The control system synchronously matches the crawler belt advancing speed and the seeding roller rotating speed to ensure that the unit distance seeding rate is constant. According to the seeder, the tractor, the ditching mechanism, the seeding trolley and the control system are integrated, integrated operation of ditching, seeding and soil covering is achieved, the operation efficiency and the seeding quality are remarkably improved, and the labor cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of agricultural machinery, in particular to an astragalus seed remote control furrowing seeder. Background Art

[0002] As a rhizome of traditional Chinese medicine with important medicinal value, the cultivation process of Astragalus has extremely strict requirements on furrowing depth, sowing uniformity and terrain adaptability. However, the current traditional method of planting Astragalus mainly relies on manual operation or semi-mechanized equipment. These methods have many technical problems in actual application, which seriously restrict the mechanization level and production efficiency of Astragalus planting. Existing wheel seeders are prone to slipping or sinking in complex terrain such as hills and collapsible soils. The climbing ability is less than 15°, which makes it difficult to adapt to the operation needs of small plots in mountainous areas (area ≤ 2 mu). The mechanization coverage rate is less than 30%. In addition, conventional furrowing devices mostly use fixed depth or hydraulic adjustment, which are complex in structure, high in cost, and cannot be operated in the field without power supply. Fixed-depth furrowing cutter heads cannot accurately adapt to the shallow tillage sowing requirements of Astragalus (3cm-5cm). The furrowing depth error under hard soil conditions is as high as ±2cm, resulting in a fluctuation of 20%-40% in seedling emergence rate, seriously affecting the planting quality. Astragalus seeds are small and prone to sticking. Traditional mechanical seed meters are prone to clogging and uneven seeding, resulting in seed uniformity of less than 50% and seed dosage errors exceeding 0.5 kg per mu. This results in over 30% seed waste, increasing planting costs and impacting yield and quality. Existing equipment mostly performs furrowing, sowing, and soil covering in separate steps. This process relies on manual labor, resulting in low efficiency, with daily production capacity of less than 2 mu, and inconsistent soil cover thickness, which affects seed germination rates. Complex electronic control systems have a high failure rate, and maintenance costs account for 40%-60% of the total equipment cost. Professional repair is required, making it difficult to promote in rural areas.

[0003] In addition, the patent with publication number CN108738544A discloses an automatic seeder for Chinese medicinal astragalus seeds. The device uses a cylinder to adjust the furrowing depth, but it still cannot solve the adaptation problem in non-electric scenarios, and its wheeled chassis has a high risk of sinking in collapsible soil, which cannot fundamentally solve the problems existing in the existing technology.

[0004] In summary, the existing Astragalus cultivation technology cannot take into account terrain adaptability, furrowing accuracy, sowing uniformity and operation efficiency at the same time. There is an urgent need to develop an integrated furrowing and sowing mechanical equipment suitable for the cultivation of rhizome Chinese medicinal materials such as Astragalus, so as to break through the technical bottleneck of complex terrain and small-particle seed sowing. Summary of the Invention

[0005] The purpose of the present invention is to provide a remote-controlled furrowing seeder for astragalus seeds to solve technical problems such as insufficient agronomic adaptability, high labor costs, and poor sowing quality, promote the popularization and application of mechanized Chinese medicinal material planting in complex terrain scenes, improve the efficiency and quality of astragalus planting, and reduce labor costs and labor intensity.

[0006] To achieve the above-mentioned objectives, the present invention provides the following scheme: a remote-controlled furrowing seeder for astragalus seeds, comprising a tractor, a furrowing mechanism, a sowing trolley and a control system, wherein a walking mechanism is provided at the bottom of the tractor; the furrowing mechanism is provided on the tractor, comprising a furrowing cutter head and a wrench adjustment mechanism, and the furrowing cutter head is mounted on the front end of the tractor through the wrench adjustment mechanism; the sowing trolley comprises a sowing trolley chassis, a sowing box, a vibration motor and a sowing roller, the sowing trolley chassis is suspended behind the tractor through a traction connection structure, a strip-shaped discharge port is provided at the bottom of the sowing box, the vibration motor is installed on the outer wall of the sowing box, and is used to generate high-frequency vibration to make the seeds fall evenly, the sowing roller is rotatably connected to the bottom of the discharge port of the sowing box and is driven by a motor, and the roller surface is provided with equidistant grooves for quantitatively pushing seeds to the furrowing track; the control system is used to synchronously match the crawler travel speed and the sowing roller speed to ensure a constant sowing amount per unit distance.

[0007] The above technical solution proposes a remote-controlled furrowing seeder for astragalus seeds that integrates a tractor, a furrowing mechanism, a sowing trolley and a control system, realizing the integrated operation of furrowing, sowing and covering the soil, significantly improving the operation efficiency and sowing quality, and reducing labor costs.

[0008] Furthermore, the trenching cutter head is connected to the tractor bottom plate through a Z-shaped double-layer steel sheet, which automatically buffers when encountering hard soil, ensuring that the trenching depth adjustment range is 3cm-5cm and the trenching depth error is ≤1cm, thereby enhancing the stability and reliability of the trenching mechanism in complex terrain.

[0009] Furthermore, the remote-controlled furrowing seeder for astragalus seeds also includes an angle self-adjusting system for maintaining a stable furrowing depth when working on a hillside. The angle self-adjusting system includes:

[0010] Gyroscope sensor, used to detect the machine's tilt angle in real time;

[0011] An electric servo mechanism connected to the trenching cutter head is used to adjust the pitch angle of the trenching cutter head;

[0012] a microcontroller that receives gyroscope data and controls the electric servo mechanism;

[0013] Elastic buffer device to absorb the impact of terrain fluctuations.

[0014] The above optimization scheme adds an angle self-adjustment system, which adjusts the angle of the furrowing cutter head in real time through a gyroscope sensor, electric servo mechanism and microcontroller to ensure stable furrowing depth during hillside operations. The adjustment accuracy reaches ±0.1cm, which improves the sowing quality.

[0015] Furthermore, the angle self-adjustment system ensures that the trenching depth is always within the range of 3cm-5cm through closed-loop control, and the adjustment accuracy reaches ±0.1cm, further improving the trenching accuracy and operational adaptability.

[0016] Furthermore, a soil covering plate is installed at the rear of the sowing trolley to automatically cover the seed furrow when moving. The installation of the soil covering plate at the rear of the sowing trolley realizes the integrated operation of furrowing, sowing and soil covering, reduces manual intervention, and improves operation efficiency and seed germination rate.

[0017] Furthermore, the furrowing cutter head is detachably connected to the wrench adjustment mechanism, and the sowing box is detachably connected to the sowing trolley, which facilitates quick replacement of parts, adapts to different row spacings and sowing requirements, and improves the flexibility and versatility of the equipment.

[0018] Furthermore, the travel mechanism is a dual-track system, comprising a crawler chassis, driving wheels, driven wheels, and tracks. The tracks are 5 cm wide and have a contact patch length of 60-70 cm. The crawler chassis utilizes a carbon steel frame and is equipped with a remote-controlled steering system, with a turning radius of ≤1.5 m. The dual-track system enhances the equipment's ability to navigate complex terrain, providing a large contact patch, low pressure, and improved anti-slip performance.

[0019] Furthermore, the walking mechanism also includes a shock-absorbing spring, which is installed between the crawler chassis and the driven wheel to absorb vibrations caused by terrain fluctuations, further improving the stability and operating accuracy of the equipment in complex terrain.

[0020] Furthermore, the transverse width of the trenching cutter head is 2cm-5cm, which can be replaced according to the row spacing requirements to meet the needs of different planting specifications, thereby improving the adaptability of the equipment.

[0021] Furthermore, the trenching cutter head adopts a manganese steel curved blade with a cutting edge angle of 30°-45°, which enhances the durability and trenching effect of the cutter head and further improves the performance and service life of the equipment.

[0022] Compared with the prior art, the present invention has at least the following beneficial effects:

[0023] The remote-controlled furrowing seeder for astragalus seeds of the present invention has significantly improved the mechanization level and operating efficiency of astragalus planting through a number of innovative designs. Its dual-track walking system enhances the equipment's ability to pass through complex terrains, adapts to small plots in mountainous areas, hills and collapsible soils, and greatly improves the mechanization coverage rate. The furrowing mechanism adopts a furrowing cutter head with adjustable depth, which can accurately control the furrowing depth and error to meet the needs of shallow tillage sowing of astragalus. The sowing trolley is equipped with a vibration motor and a sowing roller, which uses high-frequency vibration to make the seeds fall evenly, improve sowing uniformity, and reduce seed consumption. The whole machine adopts an integrated design of "ditching-sowing-covering", and the crawler travel speed is linked to the sowing frequency. The daily operating capacity of a single machine is increased to 8-12 acres, the efficiency is increased by 4-6 times, and the proportion of labor costs is reduced from 60% to less than 20%. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 This is a front view of the remote-controlled furrowing seeder for astragalus seeds of the present invention;

[0026] Figure 2 A top view of the remote-controlled furrowing seeder for astragalus seeds according to the present invention;

[0027] Figure 3 This is an axonometric view of the remote-controlled furrowing seeder for astragalus seeds of the present invention;

[0028] Figure 4 This is a right side view of the sowing trolley in the remote-controlled furrow seeder for astragalus seeds of the present invention;

[0029] In the figure: 1. Z-shaped double-layer steel sheet; 2. Track; 3. Driving wheel; 4. Handle; 5. Tractor bottom plate; 6. Upper driven wheel; 7. Lower driven wheel; 8. Shock-absorbing spring; 9. Universal wheel; 10. Fixed bracket; 11. Seeding box; 12. Motor; 13. Seeding roller; 14. Seeding vehicle chassis; 15. Tractor switch; 16. Display screen; 17. Trenching cutter head; 18. Wrench adjustment mechanism. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] Existing technologies have significant deficiencies in the mechanization adaptability, sowing accuracy, and operating efficiency of the cultivation of rhizome Chinese medicinal herbs such as astragalus. Specifically, existing agricultural machinery is difficult to adapt to complex terrains such as small plots in mountainous areas, hills, and collapsible soils, resulting in a low mechanized coverage rate; rhizome Chinese medicinal herbs such as astragalus require shallow tillage sowing (3cm-5cm depth), but existing trenching equipment has difficulty in accurately controlling the trenching depth; astragalus seeds are small, and existing sowing equipment is prone to clogging and uneven sowing; manual sowing is inefficient and costly. The existence of these problems has seriously restricted the mechanization upgrade of Chinese medicinal herb cultivation.

[0032] To solve the above problems, the present invention proposes a remote-controlled furrowing and seeding machine for Astragalus seeds, comprising a tractor, a traveling mechanism provided at the bottom of the tractor, a furrowing mechanism located at the front end above the tractor, a seeding trolley suspended at the rear of the tractor, and a control system. Figures 1 to 4 The remote-controlled furrowing seeder for astragalus seeds in this embodiment utilizes a dual-track system to enhance its ability to navigate complex terrain. An adjustable furrowing cutter head 17 is mounted at the front end, allowing for precise control of the furrowing depth via a wrench adjustment mechanism 18. A seeding trolley is mounted at the rear end, and its seeding box 11 incorporates a motorized vibration mechanism, which uses high-frequency vibration to evenly distribute the small astragalus seeds. The entire machine utilizes a coordinated furrowing-sowing-soil covering design, with the travel speed of the tracks 2 synchronized with the seeding frequency.

[0033] Specifically, if Figures 1 to 4 As shown, the walking mechanism adopts a dual-track walking system, including a crawler chassis, a driving wheel 3, a driven wheel, and a crawler track 2. The driven wheel includes an upper driven wheel 6 and a lower driven wheel 7. The driving wheel 3 and the upper driven wheel 6 are rotatably connected to the ends of the crawler chassis. A plurality of lower driven wheels 7 are provided, and the multiple lower driven wheels 7 are rotatably connected below the crawler chassis. The crawler track 2 is located on the outer periphery of the driving wheel 3, the upper driven wheel 6, and each lower driven wheel 7, and meshes with the gear teeth of the driving wheel 3 and the driven wheels. The crawler chassis at the bottom of the tractor prevents the entire tractor from sinking by increasing the ground contact area and reducing pressure, while also providing stable driving force to ensure smooth travel in complex terrain.

[0034] In one specific embodiment, the crawler track 2 is 5 cm wide and has a ground contact length of 60-70 cm. The crawler chassis utilizes a carbon steel structural frame and is equipped with a remote-controlled steering device, with a turning radius of ≤1.5 mm. This design is suitable for small plots in mountainous areas (≤2 mu) and complex terrains such as hills and collapsible soils. By increasing the ground contact area and reducing pressure, the equipment prevents sinking while providing stable driving force. Furthermore, this design improves the equipment's anti-slip performance by 40% compared to a wheeled chassis, and its climbing ability is ≥20°.

[0035] This embodiment further enhances the machine's adaptability and maneuverability in complex terrain through the combination of a dual-track system, a carbon steel chassis frame, and a remote-controlled steering mechanism. Specifically, the width and contact length of the crawler tracks increase the contact patch, reducing pressure and preventing the machine from sinking. The remote-controlled steering mechanism enables tight turning radiuses, making it suitable for operations on small plots in mountainous areas. The carbon steel chassis frame provides sufficient strength and durability.

[0036] Specifically, the trenching mechanism is installed on the tractor and includes a trenching cutter head 17 and a wrench adjustment mechanism 18. The trenching cutter head 17 is mounted to the front end of the tractor via the wrench adjustment mechanism 18. The trenching cutter head 17 is connected to the tractor's floor plate 5 via a Z-shaped double-layer steel plate 1. This automatically cushions the impact of hard soil, ensuring a trenching depth error of ≤1 cm. The adjustable trenching cutter head 17 uses a wrench to adjust the height of the threaded screw, precisely controlling the trenching depth. The Z-shaped double-layer steel plate 1 automatically cushions the impact of hard soil, ensuring a consistent trenching depth.

[0037] In a specific embodiment, the blade of the trenching cutter head 17 is an arc-shaped blade made of manganese steel with a cutting edge angle of 30°-45°. It is installed on the front bracket of the tractor base plate 5 through a wrench adjustment mechanism 18. The adjustment mechanism consists of a threaded screw and a limit slot. The rotating wrench drives the threaded screw to move up and down, driving the trenching cutter head 17 to rise and fall. The trenching depth adjustment range is 3cm-5cm, and the adjustment accuracy can reach ±0.1cm. Furthermore, the lateral width of the trenching cutter head 17 is 2cm-5cm, and blades of different specifications can be replaced according to the row spacing requirements (20cm-30cm). The trenching cutter head 17 is connected to the tractor base plate 5 through a Z-shaped double-layer steel sheet 1, which automatically buffers when encountering hard soil. This design makes the trenching depth error ≤1cm, and the depth adjustment can be completed by a single person within 3 minutes. It has a simple structure and low cost, and is suitable for field scenes without power supply. The trenching mechanism of the above structure realizes precise control of the trenching depth and automatic buffering function. This design not only meets the needs of shallow tillage sowing of Astragalus, but also can adapt to different soil conditions, ensure the consistency of trenching depth, and avoid equipment damage.

[0038] Specifically, the sowing trolley is suspended from the rear of a tractor by a traction connection structure. The sowing trolley includes a seeding box 11, a vibration motor, and a seeding roller 13. The seeding box 11 is mounted on the sowing trolley chassis 14 via a fixed bracket 10. A strip-shaped discharge port is opened at the bottom of the seeding box 11. The vibration motor is mounted on the outer wall of the seeding box 11 to generate high-frequency vibrations to evenly drop the seeds. The seeding roller 13 is rotatably connected below the discharge port of the seeding box 11 and is driven by a motor 12. The roller surface is provided with equidistant grooves for quantitatively pushing the seeds to the furrowing track. The sowing trolley's motor vibration mechanism generates high-frequency vibrations, which causes the small-particle astragalus seeds to fall evenly despite friction and avoid clogging.

[0039] In a specific embodiment, the sowing vehicle chassis 14 of the sowing vehicle is connected to the hook seat behind the tractor bottom plate 5 through a hook, allowing the sowing vehicle to swing vertically by ±15 degrees to adapt to the undulations of the bottom surface. The sowing vehicle chassis 14 is equipped with a universal wheel 9, which contacts the ground to provide

[0040] The combined design of the traction connection structure, seeding box 11, seeding roller 13, and vibration motor ensures that the seeding trolley adapts to ground undulations and evenly distributes seeds. The traction connection allows the rear seeding trolley to adapt to ground undulations, allowing the trolley to swing vertically by ±15°. This design not only solves the problems of clogging and uneven seeding caused by traditional mechanical seeding, but also improves seeding accuracy and seed utilization.

[0041] In one embodiment, the sowing box 11 is a rectangular seed storage box with a capacity of 0.3-0.5L and a strip-shaped discharge port at the bottom, 0.5-1cm wide. A vibration motor inside the sowing box 11 generates high-frequency vibrations when activated. A sowing roller 13, located below the discharge port and driven by an independent motor 12, features equally spaced grooves on its surface. This design achieves 80% sowing uniformity, reducing seeding errors by 50% compared to traditional seeding methods. The error in seed usage per mu is ≤0.3kg, saving 30%-40% of seed.

[0042] In a specific embodiment, a soil covering plate can be installed at the rear of the seeding trolley to automatically cover the seed furrow as the device moves.

[0043] Specifically, the control system is communicated with the walking mechanism, the furrowing mechanism and the sowing trolley, and the integrated operation of the whole process of furrowing, sowing and covering is realized through the linkage control of the travel speed of the crawler 2 and the rotation speed of the sowing roller 13, as well as the addition of the covering plate. This design significantly improves the working efficiency, reduces manual intervention, and ensures the consistency of sowing quality. Specifically, the adjustable range of the travel speed of the crawler 2 is 0.1-1.2m / s-the adjustable range of the sowing amount is 2-5kg / hectare. Through the linkage of the control system, the sowing amount per unit distance is ensured to be constant (such as when the travel speed is 0.5m / s, the sowing amount is 3kg / hectare). This design enables the daily operating capacity of a single machine to reach 8-12 acres, the efficiency is increased by 4-6 times, and the proportion of labor costs is reduced from 60% to less than 20%.

[0044] The remote-controlled furrowing seeder for astragalus seeds in this embodiment adopts a "ditching-sowing-covering" linkage design, and achieves synchronous matching of the travel speed of the crawler 2 and the sowing frequency through mechanical connection, ensuring sowing uniformity and operation efficiency.

[0045] In one specific embodiment, the entire machine weighs ≤20kg and can be carried and maintained by a single person. The furrowing cutter head 17 and seeding trolley utilize quick-release connections (bolts or adhesive tape), allowing for rapid replacement of 3cm / 4cm / 5cm width furrowing cutters 17 with seeding cassettes 11 of varying capacities. Modular reassembly can be completed in less than three minutes to accommodate varying row spacing and seeding rates. This design reduces equipment costs by 80% and maintenance costs by 70% compared to hydraulic models, significantly improving the equipment's affordability and practicality.

[0046] To further optimize the solution and solve the problem of inconsistent trenching depth in hillside planting, an angle self-adjustment system was added to the trenching mechanism. The core components of the system include a gyroscope sensor, an electric servo mechanism, a microcontroller, and an elastic buffer device. The gyroscope sensor is installed on the main body of the machine and can detect the inclination angle of the machine relative to the horizontal plane in real time and transmit the data to the microcontroller. Based on the received inclination angle data, the microcontroller calculates the required pitch angle adjustment amount of the trenching cutter head 17 and then sends an instruction to the electric servo mechanism. The electric servo mechanism is connected to the trenching cutter head 17 and can accurately control the pitch angle of the trenching cutter head 17, thereby realizing automatic adjustment of the trenching depth. In addition, in order to cope with sudden changes in terrain, an elastic buffer device is added between the trenching cutter head 17 and the electric servo mechanism. The spring buffer device absorbs the impact force to ensure the stable operation of the trenching mechanism, further improving the accuracy and reliability of the trenching operation.

[0047] In the planting of rhizome Chinese medicinal materials such as astragalus in small plots in mountainous areas, although the furrowing and sowing integrated machine based on the crawler 2 chassis can adapt to complex terrain, it still faces a special challenge when operating on steep slopes. Due to the large inclination angle of the slope, the contact angle between the furrowing cutter head 17 and the ground will change when the machine is working uphill or downhill. This causes the furrowing depth to become shallower when going uphill and deeper when going downhill, and it is impossible to maintain a stable sowing depth of 3cm-5cm. This problem stems from the fact that the existing fixed furrowing cutter head 17 design cannot automatically adjust the angle according to the slope of the terrain, which affects the consistency of sowing and the quality of crop growth. In order to solve the above technical problems, the embodiment of the present application adds an angle self-adjustment system in an optional real-time manner. The system can effectively solve the problem of inconsistent furrowing depth in hillside planting and improve the sowing quality and uniformity of crop growth. At the same time, the system has a simple structure and is easy to integrate into the existing furrowing and sowing integrated machine, and has strong practicality and feasibility.

[0048] The working principle of the angle self-adjustment system of the above-mentioned trenching mechanism is as follows: when the machine is moving on a hillside, the gyroscope sensor continuously monitors the tilt angle of the machine. Based on the tilt angle monitored in real time, the microcontroller quickly calculates the angle that the trenching cutter head 17 needs to be adjusted to ensure that the trenching cutter head 17 always maintains a perpendicular relationship with the ground. Subsequently, the electric servo mechanism quickly adjusts the angle of the trenching cutter head 17 according to the calculation results of the microcontroller, so that it is always at the optimal cutting angle, thereby ensuring the uniformity of trenching. At the same time, the elastic buffer device can effectively absorb the impact caused by sudden changes in terrain, prevent damage to the trenching cutter head 17, and improve the smoothness of angle adjustment. The entire system continuously optimizes the angle of the trenching cutter head 17 through closed-loop control to ensure that the trenching depth always remains within the preset range of 3cm-5cm, thereby achieving precise trenching operations.

[0049] In one specific embodiment, the tractor is equipped with a tractor switch 15 and a display screen 16. The tractor switch 15 is located on the tractor floor 5 and is used to control the start and stop of the tractor. The display screen 16 is also located on the tractor floor 5 and is used to display information such as the power status and operating status of the equipment. The tractor switch 15 serves as the main control switch for the equipment. The operator can use the tractor switch 15 to remotely control the equipment's operating status, such as activating the track drive system, the furrowing cutter head 17, and the seeding mechanism. During the preparation and operation phases, the operator uses this switch to start the equipment and enter operation mode; at the end of the operation phase, the operator uses this switch to shut down the equipment, ceasing all mechanical operations.

[0050] It should be understood that, in actual application, the tractor has an internal power supply to provide power support for various power-consuming components, and two handles 4 are fixed to the tractor floor 5 to facilitate opening the tractor floor 5 for battery replacement or maintenance of the internal circuit system and components.

[0051] The embodiments of the present invention have the following beneficial effects:

[0052] 1. Improve terrain adaptability: The dual-track walking system has a large contact area, low pressure, 40% improved anti-slip performance, and a climbing ability of ≥20°. It can adapt to complex terrains such as small plots in mountainous areas, hills and collapsible soils, and the mechanization coverage rate is significantly improved.

[0053] 2. Precisely control the trenching depth: The trenching cutter head 17 can achieve 3cm-5cm depth adjustment through the wrench adjustment mechanism, with an accuracy of ±0.1cm. The Z-shaped double-layer steel sheet 1 connection structure automatically buffers when encountering hard soil, ensuring that the trenching depth error is ≤1cm, meeting the shallow tillage sowing requirements of Astragalus.

[0054] 3. Improve sowing uniformity: The sowing trolley is equipped with a vibration motor and sowing rollers, which make the seeds fall evenly through high-frequency vibration. The sowing uniformity reaches 80%, which is 50% lower than the traditional sowing error. The seed usage error per mu is ≤0.3kg, saving 30%-40% of seeds.

[0055] 4. Integrated operation process: The whole process of trenching, sowing and covering soil is linked, and the crawler travel speed is synchronously matched with the sowing frequency. The daily operating capacity of a single machine reaches 8-12 acres, the efficiency is increased by 4-6 times, and the proportion of labor costs is reduced from 60% to less than 20%.

[0056] 5. Reduce equipment costs and maintenance difficulty: The whole machine weighs ≤ 20kg and can be carried and maintained by one person. The trenching cutter head 17 and the seeding trolley adopt quick-release connection to support rapid replacement. The equipment cost is 80% lower than that of hydraulic models, and the maintenance cost is reduced by 70%.

[0057] 6. Enhanced intelligence: The angle self-adjustment system ensures stable furrowing depth through closed-loop control, with an adjustment accuracy of ±0.1cm, adapting to hillside operations and improving sowing quality and crop growth uniformity.

[0058] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0059] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A remote-controlled furrowing seeder for astragalus seeds, characterized in that: include: A tractor, wherein a traveling mechanism is provided at the bottom of the tractor; A trenching mechanism is provided on the tractor and comprises a trenching cutter head (17) and a wrench adjustment mechanism (18); the trenching cutter head (17) is mounted on the front end of the tractor via the wrench adjustment mechanism (18); A seeding trolley comprises a seeding trolley chassis (14), a seeding box (11), a vibration motor and a seeding roller (13), wherein the seeding trolley chassis (14) is suspended behind a tractor through a traction connection structure, a strip-shaped discharge port is provided at the bottom of the seeding box (11), the vibration motor is mounted on the outer wall of the seeding box (11) and is used to generate high-frequency vibration to make seeds fall evenly, the seeding roller (13) is rotatably connected below the discharge port of the seeding box (11) and is driven by a motor (12), and the roller surface is provided with equidistant grooves for quantitatively pushing seeds to a furrowing track; The control system is used for synchronously matching the traveling speed of the crawler (2) and the rotation speed of the sowing roller (13) to ensure a constant sowing amount per unit distance.

2. The remote-controlled furrow seeder for astragalus seeds according to claim 1, characterized in that: The trenching cutter head (17) is connected to the tractor bottom plate (5) through a Z-shaped double-layer steel sheet (1), and automatically buffers when encountering hard soil, ensuring that the trenching depth adjustment range is 3cm-5cm and the trenching depth error is ≤1cm.

3. The remote-controlled furrow seeder for astragalus seeds according to claim 1 or 2, characterized in that: It also includes an angle self-adjusting system for maintaining a stable trenching depth during hillside operations. The angle self-adjusting system includes: Gyroscope sensor, used to detect the machine's tilt angle in real time; An electric servo mechanism connected to the trenching cutter head (17) for adjusting the pitch angle of the trenching cutter head (17); a microcontroller that receives gyroscope data and controls the electric servo mechanism; Elastic buffer device to absorb the impact of terrain fluctuations.

4. The remote-controlled furrow seeder for astragalus seeds according to claim 3, characterized in that: The angle self-adjusting system ensures that the trenching depth is always within the range of 3cm-5cm through closed-loop control, and the adjustment accuracy reaches ±0.1cm.

5. The remote-controlled furrow seeder for astragalus seeds according to claim 1, characterized in that: A soil covering plate for covering the seed furrow is connected to the rear of the sowing trolley.

6. The remote-controlled furrow seeder for astragalus seeds according to claim 1, characterized in that: The furrowing cutter head (17) is detachably connected to the wrench adjustment mechanism (18), and the sowing box (11) is detachably connected to the sowing trolley.

7. The remote-controlled furrow seeder for astragalus seeds according to claim 1, characterized in that: The walking mechanism is a double-track walking system, comprising a crawler chassis, a driving wheel (3), a driven wheel and a crawler (2), wherein the crawler (2) has a width of 5 cm and a ground contact length of 60 cm to 70 cm. The crawler chassis adopts a carbon steel structural frame and is equipped with a remote control steering device, with a turning radius of ≤1.5 m.

8. The remote-controlled furrow seeder for astragalus seeds according to claim 7, characterized in that: The walking mechanism further comprises a damping spring (8), which is installed between the crawler chassis and the driven wheel and is used to absorb vibrations caused by terrain fluctuations.

9. The remote-controlled furrow seeder for astragalus seeds according to claim 1, characterized in that: The transverse width of the trenching blade (17) is 2 cm to 5 cm, and is replaced according to the row spacing requirements.

10. The remote-controlled furrow seeder for astragalus seeds according to claim 9, characterized in that: The trenching cutter head (17) is made of manganese steel and has an arc-shaped blade with a cutting edge angle of 30°-45°.

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