A multifunctional composite micro-tillage machine

Abstract

The present invention relates to a multifunctional composite micro-tillage machine, belonging to the field of agricultural technology. The present invention includes four parts, namely a walking mechanism, a furrowing mechanism, a seedling-laying mechanism, and a soil-covering mechanism; the furrowing mechanism is connected to the front edge of the walking mechanism body frame, the seedling-laying mechanism is connected to the front side of the walking mechanism body frame, and the soil-covering mechanism is connected to the rear side of the walking mechanism body frame. The present invention is based on the perspective of overall mechanical lightweight, with simple transmission, and can simultaneously realize multiple functions. The equipment is small in size and has good adaptability to land. The planting spacing and operation density are controllable. The principle innovation is carried out in the mechanical structure design to achieve controllable opening depth, rolling to stabilize the soil and shape it, planting and covering to stabilize the roots, and good straightness to improve the crop survival rate. Compared with other micro-tillage machines, it has a great improvement, can greatly reduce labor intensity, and achieve efficient planting.

Description

Technical Field

[0001] The invention relates to an automatic land planting machine, belonging to the technical field of agriculture. Background Art

[0002] Planting machinery is agricultural machinery that plants crops in the soil according to certain agronomic requirements. Since ancient times, my country has attached great importance to agricultural planting, continuously strengthening the construction of modern agricultural infrastructure such as high-standard farmland and agricultural mechanization, and improving the level of agricultural science and technology innovation and its application. The terrain in southern my country is mostly mountainous and hilly, with rugged mountain roads and scarce fields. The land type of planting is mainly slender, small, and fragmented terraces. Large-scale agricultural automated machinery for plain terrain has limitations and is difficult to promote and apply on a large scale. At present, the main way to solve the problem of mechanical planting on fragmented terrain is to use micro-tillage machines. Taking advantage of their small size and ease of use, they can greatly improve farming efficiency, further liberate labor, and realize the modernization and intelligence of agricultural machinery.

[0003] At present, with the increasing demand for micro-tillage machines, the requirements for automated land planting mainly include:

[0004] (1) Integrated optimization micro-tillage machine, the advantage is the optimization and integration of modules. Patent CN217470679U adopts the method of disassembling and integrating the tillage, but it can only realize a single function and its operating efficiency is low. Although patent CN210352047U realizes the optimization of the knife group with the replaceable knife function, its adaptability to fragmented land still needs to be improved. (2) Push-type micro-tillage machine, the advantage is that it has good adaptability to parallel hard land. Patent CN111492736A can be pushed without effort when walking on flat ground with hard geology for a long time, but it cannot be operated synchronously with planting and covering soil, and the operation is time-consuming and energy-consuming. (3) Planting optimization micro-tillage machine, the advantage is that it takes into account the density control of crops. Patent CN115053667A has some improvements in regulating the density of planting and sowing, but its suitability for terrain is low. In summary, the three types of micro-tillage machines still have disadvantages such as single function, low working efficiency, and low degree of automation.

[0005] In order to overcome the above problems, the present invention discloses a multifunctional composite micro-tillage machine, which comprehensively considers and upgrades the shortcomings of the above three micro-tillage machines, and has made innovative designs in mechanical structure design. It adopts the principle of reducing manpower and material consumption and controlling planting and maintenance to ensure survival rate based on functional integration. From the perspective of machinery, it can achieve lightweight, low cost, high efficiency, and high automation to greatly reduce labor intensity. From the perspective of planting, it can achieve controllable opening depth, rolling to stabilize soil and shape, digital controllable planting spacing operation, planting covering to stabilize roots, and good straightness. Compared with other micro-tillage machines, it has great improvement and realizes efficient planting. Summary of the Invention

[0006] The present invention aims to solve the problems of existing micro-tillage machines with single and disjointed functions, bulky models, unoptimized planting and low survival rate. It provides a multifunctional composite micro-tillage machine that can sequentially realize multiple integrated planting functions, including path planning, ridge opening and rolling to stabilize soil, digital spacing optimization, and adaptive soil covering, thereby ensuring automated planting in a single operation.

[0007] The present invention addresses the problems existing in the existing micro-tillage planting device and makes a fundamental innovation. The basic idea is as follows: ① Innovation of the walking device. The x-axis and y-axis wheel groups are used to increase the terrain adaptability of the walking chassis. When walking in the x-axis direction, the x-axis wheel group pushes the machine forward; when walking in the y-axis direction, the y-axis drives the electric push rod to be energized and extended, propping up the machine frame, and then the y-axis wheel group drives the machine forward; when encountering complex terrain, the y-axis drives the electric push rod to make the x-axis wheel group and the y-axis wheel group work together to break away from the complex terrain. ② Grooving and rolling. A parallelogram mechanism formed by a set of machine connecting rods is designed to press the ditching blades into the soil. The torque is transmitted by the motor and the pulley, reducing noise while reducing smoke and odor. The ditching blades rotate to open the ditch. In order to prevent the machine body from being affected by the rolled-up soil, a soil isolation cover is designed to isolate the soil. At the same time, a pair of symmetrical rollers are designed to press the soil into a ditch shape when moving forward for easy planting. ③ In order to achieve planting and covering soil, a screw slide is designed to lower the component to the required height for planting seedlings. In order to achieve interval planting and fertilization, a planter is designed with a long channel design at the lower end; at the same time, in order to automatically adapt to the different undulating sections of soil, a covering wheel group is designed. The shock absorber provides pressure to press the soil into the pit, realizing the completion of multi-threaded work in a single stroke.

[0008] To achieve the above-mentioned purpose and principle, the technical solution of the present invention is as follows:

[0009] A multifunctional composite micro-tillage machine is composed of four modules: a walking mechanism 1, a furrowing mechanism 2, a seedling planting mechanism 3, and a soil covering mechanism 4.

[0010] The trenching mechanism 2 is connected to the front edge of the body frame 101 of the walking mechanism 1, the seedling placing mechanism 3 is connected to the front side of the body frame 101 of the walking mechanism 1, and the soil covering mechanism 4 is connected to the rear side of the body frame 101 of the walking mechanism 1;

[0011] The walking mechanism 1 includes a body frame 101, an x-axis driving connector 102, a driving motor 103, a driving wheel 104, a y-axis driving electric push rod 105, a y-axis driving electric push rod upper end connector 106, a y-axis driving electric push rod lower end connector 107, and a y-axis driving connector 108;

[0012] The x-axis driving connector 102 is fixed to the x-axis side of the machine frame 101, and the y-axis driving electric push rod upper end connector 106, the y-axis driving electric push rod lower end connector 107 and the y-axis driving connector 108 are fixed to the y-axis side of the machine frame 101. The upper side of the y-axis driving electric push rod 105 is fixed to the y-axis driving electric push rod upper end connector 106, and the lower side of the y-axis driving electric push rod 105 is fixed to the y-axis driving electric push rod lower end connector 107. The y-axis driving electric push rod 105 lifts the machine body and switches the walking direction. The driving motor 103 and the driving wheels 104 are arranged in groups of two and are respectively fixed on the x-axis driving connector 102 and the y-axis driving connector 108. The driving wheels are arranged in groups of two and are used to drive the x-axis and y-axis movement of the machine body to adapt to different terrains and digitally control the planting spacing;

[0013] The trenching mechanism 2 comprises a lifting electric push rod connector 201, a machine body connecting rod connector 202, a lifting electric push rod 203, a machine body connecting rod 204, a lifting connecting rod 205, a trenching frame 206, a trenching blade 207, a trenching blade connecting shaft 208, a trenching motor fixing part 209, a trenching drive motor 210, a trenching active pulley 211, a trenching driven pulley 212, a trenching drive belt 213, a trenching roller 214, and a soil barrier 215.

[0014] The lifting electric push rod connector 201 is fixed above the front edge of the body frame 101, and the body connecting rod connector 202 is fixed below the front edge of the body frame 101. A pair of lifting electric push rods 203 are hinged to the lifting electric push rod connector 201, a pair of lifting connecting rods 205 are correspondingly hinged to the pair of lifting electric push rods 203, a pair of lifting connecting rods 205 are correspondingly hinged to the trenching frame 206, and a pair of body connecting rods 204 are respectively hinged to the body connecting rod connector 202 and the trenching frame 206 at both ends. The lifting electric push rod 203 is used to adjust the distance between the connecting rod structures, and the trenching frame 206 is controlled to be lifted and lowered to adjust the trenching depth; the trenching blades 207 are grouped in two, and the angle between the same group is 60°, two groups are symmetrically distributed on the trenching blade connecting shaft 208, the trenching motor fixing part 209 is connected to the upper left side of the trenching frame 206, the trenching drive motor 210 is fixed to the trenching motor fixing part 209, the trenching active pulley 211 is connected to the trenching drive motor 210, the trenching driven pulley 212 is connected to the end of the trenching blade connecting shaft 208, the trenching active pulley 211 and the trenching driven pulley 212 are driven by the trenching drive belt 213 to open the soil, the trenching rollers 214 are symmetrically distributed on the rear side of the trenching frame 206, and are used for rolling and stabilizing the soil. The soil isolation cover 215 is fixed to the front side of the trenching frame 206 to prevent soil blocks from getting stuck in the motor and affecting the work;

[0015] The seedling lowering mechanism 3 includes a slide motor 301, a screw slide 302, a slide planter connector 303, a support profile 304, a planter upper end 305, a leveling servo 306, and a planter lower end 307;

[0016] The screw slide 302 is symmetrically fixed to the front end of the body frame 101, the slide motor 301 is fixed to the upper end of the screw slide 302, the slide planter connector 303 is fixed to the screw slide 302, and is used to control the planting depth of the seedlings. The support profile 304 is fixed to the groove in the slide planter connector 303, and the upper end 305 of the planter is also connected to the support profile 304 with a groove. The lower end 307 of the planter is hinged to the upper end 305 of the planter, and the leveling servo 306 is fixed to the upper end 305 of the planter and is hinged to the lower end 307 of the planter to adjust the planting angle. The upper end of the planter upper end 305 is provided with an opening, and the lower end of the planter lower end 307 is provided with a long channel design to facilitate the entry of planted seedlings and fertilizers into the ditch.

[0017] The soil covering mechanism 4 includes a soil covering connecting frame 401, a shock absorber 402, a wheel group connecting member 403, a front soil covering wheel 404, and a rear soil covering wheel 405;

[0018] The soil covering connecting frame 401 is fixed to the middle and rear side of the body frame 101, and four shock absorbers 402 are hinged to the soil covering connecting frame 401 in groups of two. The wheel group connecting member 403 is hinged to a group of shock absorbers 402 to provide pressure to compact the ground while maintaining the adaptability of the land. The front soil covering wheel 404 is hinged to the wheel group connecting member 403, and the rear soil covering wheel 405 is hinged to the wheel group connecting member 403. The wheel group connecting member 403 is bent at 117.5°, so that the front soil covering wheel 404 and the rear soil covering wheel 405 are opposite to each other and distributed in a V shape to press the soil back into the opened ridge.

[0019] The beneficial effects of the present invention are:

[0020] 1. The machine of the present invention adopts a lightweight design with multiple parallel processes, multiple functions and a compact structure, which provides guarantee for automated operations on rough and broken terrain;

[0021] 2. The walking mechanism of the present invention provides x-axis and y-axis movement modes to further ensure adaptability to operations in different soil types. Secondly, the moving distance can be digitally adjusted, and the density of planting spacing operations can be controlled;

[0022] 3. The present invention innovatively adopts a ditching mechanism and rolling design, which can control the ditching depth and the groove stability, ensuring the planting needs of different planting objects;

[0023] 4. The seedling lowering mechanism of the present invention is designed with a long channel and has a leveling function, which can ensure that the crops are placed vertically downwards, ensuring the straightness of the planted objects;

[0024] 5. The soil covering mechanism of the present invention adopts a composite high-speed soil covering, which has good adaptability to different soils, can meet the soil covering and root stabilization needs of planting in various terrains, and improve the survival rate of crops. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A multifunctional composite micro-tillage machine

[0026] Figure 2 X-axis and Y-axis bidirectional walking mechanism structure diagram

[0027] Figure 3 X-axis wheel structure diagram

[0028] Figure 4 Y-axis wheel structure diagram

[0029] Figure 5 Ditching mechanism structure diagram

[0030] Figure 6 Connecting rod structure diagram of trenching mechanism

[0031] Figure 7 Front end structure diagram of trenching mechanism

[0032] Figure 8 Seedling structure diagram

[0033] Figure 9 Seedling placement mechanism planter structure diagram

[0034] Figure 10 Structural diagram of covering structure

[0035] The numbers in the figure are: 1-walking mechanism, 101-body frame, 102-x-axis driving connection, 103-driving motor, 104-driving wheel, 105-y-axis driving electric push rod, 106-y-axis driving electric push rod upper end connection, 107-y-axis driving electric push rod lower end connection, 108-y-axis driving connection, 2-ditching mechanism, 201-lifting electric push rod connection, 202-body connecting rod connection, 203-lifting electric push rod, 204-body connecting rod, 205-lifting connecting rod, 206-ditching frame, 207-ditching blade, 208-ditching blade connecting shaft, 2 09-trenching motor fixing, 210-trenching drive motor, 211-trenching active pulley, 212-trenching driven pulley, 213-trenching drive belt, 214-trenching ridge roller, 215-soil barrier, 3-seedling lowering mechanism, 301-slide motor, 302-screw slide, 303-slide planter connector, 304-support profile, 305-planter upper end, 306-leveling servo, 307-planter lower end, 4-soil covering mechanism, 401-soil covering connecting frame, 402-shock absorber, 403-wheel group connector, 404-front covering wheel, 405-rear covering wheel. DETAILED DESCRIPTION

[0036] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0037] Example: Figure 1-10 The multifunctional compound micro-tillage machine shown includes a traveling mechanism 1, a furrowing mechanism 2, a seedling planting mechanism 3, and a soil covering mechanism 4;

[0038] The trenching mechanism 2 is started first, and the lifting electric push rod 203 is energized and extended during operation. The trenching blade 207 is pressed into the soil through the parallelogram mechanism formed by the body connecting rod 204, the lifting connecting rod 205, and the trenching frame 206. The depth of the soil is controlled according to the required planting of seedlings and the depth is detected;

[0039] The trenching drive motor 210 is energized to drive the trenching active pulley 211, which is then transmitted through the trenching drive belt 213, so that the trenching driven pulley 212 obtains torque, and transmits the force to two groups of trenching blades 207 symmetrically distributed in pairs, with an angle of 60 degrees between the groups, through the trenching blade connecting shaft 208, so that the trenching blades 207 rotate to open the trench;

[0040] The walking mechanism 1 is composed of two sets of driving motors 103 connected to the x-axis driving connector 102 on the body frame 101, which are energized to drive the driving wheels 104 forward, controlling the body to move forward and at the same time pushing the trenching mechanism 2 to dig trenches;

[0041] The walking mechanism 1, when the sensor detects a boundary or foreign matter, the y-axis driving electric push rod 105 of the body frame 101 is energized and extended, propping up the body frame 101, and then two sets of driving motors 103 connected to the y-axis driving connector 108 respectively drive the wheels 104 forward to change the moving direction;

[0042] The trenching mechanism 2 is symmetrically distributed on the rear side of the trenching frame 206, and the trenching rollers 214 are used to press the loose soil into a trench shape through the power provided by the walking mechanism 1;

[0043] The offline seedling mechanism 3, a pair of slide motors 301 are energized to drive two sets of screw slides 302 respectively, so that the slides drive the slide planter connector 303, the support profile 304, the planter upper end 305 and other components to the required depth for planting the seedlings;

[0044] The offline seedling mechanism 3 detects through the sensor and the leveling servo 306 works so that the lower end 307 of the planter is vertically inserted downward into the ditch;

[0045] The offline seedling mechanism 3 plants the seedlings through the upper opening of the planter upper end 305 and through the long channel at the lower end of the planter lower end 307 into the ditch;

[0046] The offline seedling mechanism 3 can be placed between the planted seedlings through the planting guide cylinder, and can carry fertilizer when the planted seedlings fall, thereby achieving interval fertilization;

[0047] The soil covering mechanism 4 is powered by the walking mechanism 1 and pressure is provided by the shock absorbers 402 of the hinged soil covering connecting frames 401 in pairs, so that the front soil covering wheels 404 and the rear soil covering wheels 405 are arranged in pairs in a V shape, so that the soil is pressed into the pit to complete the planting of a crop seedling.

[0048] When a crop seedling of the multifunctional composite micro-tillage machine reaches the soil covering process, the first two processes, trenching and planting, are still in progress, that is, the three threads work simultaneously.

[0049] The specific embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by ordinary technicians in this field without departing from the scope of the present invention.

Claims

1. A multifunctional composite micro-tillage machine, characterized by: Including walking mechanism, ditching mechanism, seedling planting mechanism, and soil covering mechanism; The walking mechanism includes a body frame, an x-axis driving connector, a driving motor, a driving wheel, a y-axis driving electric push rod, an upper end connector of the y-axis driving electric push rod, a lower end connector of the y-axis driving electric push rod, and a y-axis driving connector; The trenching mechanism comprises a lifting electric push rod connecting piece, a machine body connecting rod connecting piece, a lifting electric push rod, a machine body connecting rod, a lifting connecting rod, a trenching frame, a trenching blade, a trenching blade connecting shaft, a trenching motor fixing piece, a trenching drive motor, a trenching active pulley, a trenching driven pulley, a trenching drive belt, a trenching roller, and a soil barrier; The seedling lowering mechanism includes a slide motor, a screw slide, a slide planter connector, a support profile, an upper end of the planter, a leveling servo, and a lower end of the planter; The soil covering mechanism includes a soil covering connecting frame, a shock absorber, a wheel group connecting piece, a front soil covering wheel, and a rear soil covering wheel; The x-axis drive connecting piece is fixed to the x-axis side of the body frame, the upper end connecting piece of the y-axis drive electric push rod, the lower end connecting piece of the y-axis drive electric push rod and the y-axis drive connecting piece are fixed to the y-axis side of the body frame; the upper side of the y-axis drive electric push rod is fixed to the upper end connecting piece of the y-axis drive electric push rod, and the lower side of the y-axis drive electric push rod is fixed to the lower end connecting piece of the y-axis drive electric push rod, and the y-axis drive electric push rod lifts the body and switches the walking direction; the drive motor and the drive wheels are fixed in groups of two, respectively, on the x-axis drive connecting piece and the y-axis drive connecting piece, and the drive wheels in groups of two are used to drive the x-axis and y-axis movements of the body.

2. The multifunctional compound micro-tillage machine according to claim 1, characterized in that: The trenching mechanism is connected to the front edge of the walking mechanism frame, the seedling placement mechanism is connected to the front side of the walking mechanism frame, and the soil covering mechanism is connected to the rear side of the walking mechanism frame. The lifting electric push rod connecting piece is fixed above the front edge of the body frame, the body connecting rod connecting piece is fixed below the front edge of the body frame, a pair of lifting electric push rods are hinged to the lifting electric push rod connecting piece, a pair of lifting connecting rods are correspondingly hinged to the pair of lifting electric push rods, a pair of lifting connecting rods are correspondingly hinged to the ditching frame, and the two ends of a pair of body connecting rods are respectively hinged to the body connecting rod connecting piece and the ditching frame. The lifting electric push rod is telescopically adjusted to adjust the distance between the connecting rod structures, and the ditching frame is lifted and lowered to adjust the ditching depth; the ditching blades are grouped in two, and the angle between the same group 60°, two groups are symmetrically distributed on the trenching blade connecting shaft, the trenching motor fixing part is connected to the upper left side of the trenching frame, the trenching drive motor is fixed to the trenching motor fixing part, the trenching active pulley is connected to the trenching drive motor, the trenching driven pulley is connected to the end of the trenching blade connecting shaft, the trenching active pulley and the trenching driven pulley are driven by the trenching drive belt to open the soil, the trenching rollers are symmetrically distributed on the rear side of the trenching frame, used for rolling and stabilizing the soil, and the soil isolation cover is fixed on the front side of the trenching frame to prevent soil blocks from getting stuck in the motor and affecting the work; The screw slide is symmetrically fixed to the front end of the body frame, the slide motor is fixed to the upper end of the screw slide, the slide planter connector is fixed to the screw slide, and is used to control the planting depth of the seedlings. The support profile is fixed to the groove in the slide planter connector, and the upper end of the planter is also connected to the support profile by the groove. The lower end of the planter is hinged to the upper end of the planter, and the leveling servo is fixed to the upper end of the planter and hinged to the lower end of the planter to adjust the planting angle. The upper end of the upper end of the planter is provided with an opening, and the lower end of the lower end of the planter is provided with a long channel design to facilitate the entry of the seedlings and fertilizers into the ditch. The soil covering connecting frame is fixed to the rear side of the body frame, four shock absorbers are hinged to the soil covering connecting frame in groups of two, and the wheel group connecting piece is hinged to a group of shock absorbers to provide pressure to compact the ground while maintaining the adaptability of the land. The front soil covering wheel is hinged to the wheel group connecting piece, and the rear soil covering wheel is hinged to the wheel group connecting piece. The wheel group connecting piece is bent at 117.5 degrees, so that the front soil covering wheel and the rear soil covering wheel are opposite to each other and distributed in a V shape to press the soil back into the opened ridge.

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