A film laying planter and film breaking belt apparatus and method

Abstract

The application discloses a mulching film and drip irrigation belt cutting device and method, which is arranged at the rear end of a mulching film and drip irrigation belt sowing machine. The device comprises a frame, parallel grabbing mechanisms installed on the frame and used for grabbing and fixing the mulching film and drip irrigation belt in the air, telescopic shearing mechanisms symmetrically installed on both sides of the frame and used for shearing the mulching film and drip irrigation belt, a surrounding burying mechanism installed on the frame and located in front of the parallel grabbing mechanisms and used for burying and moderately tamping the sheared mulching film and drip irrigation belt to ensure stable laying, and a measurement and control system installed on the frame and used for detecting and controlling the working parameters of each mechanism in real time to realize efficient cutting of the mulching film and drip irrigation belt and automatic burying of the film belt. The application further discloses a cutting method of the mulching film and drip irrigation belt.

Description

TECHNICAL FIELD

[0001] The present application relates to seeding technology, in particular to a mulch seeding machine and a film belt cutting device and method thereof. BACKGROUND

[0002] Mulch seeding is an important dry farming technology, which has the advantages of warming, soil conservation, reducing water loss, and inhibiting weed growth. Mulching can help crop seedlings resist adverse weather processes such as low temperature and drought, which is conducive to promoting water absorption and growth of crops, and to further ensure the survival rate of seedlings, usually a drip irrigation belt is laid under the mulch film to supplement water in time. With the popularization of mulch planting technology, cotton planting machinery has developed rapidly, and the degree of mechanization has gradually improved, which plays a significant role in increasing operation efficiency and reducing labor costs, and has a very broad prospect.

[0003] The existing mulch seeding machine adopts a unit combined operation mode, which is mature in technology and has good effect, but the function is relatively single, especially the manual assistance is needed for pulling the film belt and pressing the film belt at the end of the ground, and the process is as follows: when the mulch seeding reaches the end of the ground, the mulch film and / or drip irrigation belt need to be cut off, and the sample machine needs to be turned around to re-lay the end of the mulch film and / or drip irrigation belt on the ground surface, and the mulch film and / or drip irrigation belt are cut off manually, which seriously affects the operation efficiency, and has problems such as high labor cost and great safety hazard. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a mulch seeding machine and a film belt cutting device and method thereof to solve the above-mentioned defects of the prior art.

[0005] In order to achieve the above-mentioned purpose, the present application provides a film belt cutting device, which comprises:

[0006] a machine frame;

[0007] a parallel grabbing mechanism installed on the machine frame for grabbing the mulch film and / or drip irrigation belt and fixing it in the air;

[0008] a telescopic shearing mechanism symmetrically installed on both sides of the machine frame corresponding to the parallel grabbing mechanism for shearing the mulch film and / or drip irrigation belt; the center line of the telescopic shearing mechanism and the symmetry center line of the parallel grabbing mechanism are located in the same plane;

[0009] a surrounding burying mechanism installed on the machine frame and located in front of the parallel grabbing mechanism for burying the sheared mulch film and / or drip irrigation belt and moderately compacting to ensure stable laying; and

[0010] a measurement and control system installed on the machine frame for real-time detection and control of the working parameters of each mechanism to realize efficient film belt cutting and automatic film belt burying.

[0011] The film and tape cutting device, wherein the parallel grabbing mechanism comprises double-row suction nozzle grabbing components and single-row suction nozzle grabbing components, the single-row suction nozzle grabbing components are symmetrically installed on both sides of the double-row suction nozzle grabbing components, and the center lines of the single-row suction nozzle grabbing components and the center lines of the double-row suction nozzle grabbing components respectively have an included angle; the double-row suction nozzle grabbing components comprise a grabbing support, a first electric cylinder and double-row air suction nozzles, the double-row air suction nozzles are symmetrically installed below the grabbing support and connected with an air pump, and are used for grabbing the mulching films and / or drip irrigation tapes in the middle; the fixed end of the first electric cylinder is installed on the frame, and the moving end of the first electric cylinder is connected with the middle part of the grabbing support; the first electric cylinder is used for adjusting the height of the double-row air suction nozzles, so as to facilitate the telescopic shearing mechanism to cut the mulching films and / or drip irrigation tapes.

[0012] The film and tape cutting device, wherein the single-row suction nozzle grabbing components comprise arc-shaped supports, second electric cylinders and single-row air suction nozzles, the arc-shaped supports are respectively hinged to both sides of the grabbing support near the inner sides; the single-row air suction nozzles are installed on the arc-shaped supports near the outer sides and connected with the air pump, and are used for grabbing the mulching films and / or drip irrigation tapes at the front ends and the rear ends respectively; the fixed end of the second electric cylinder is installed on the frame, and the moving end of the second electric cylinder is connected with the middle part of the arc-shaped support; the axis of the second electric cylinder and the axis of the first electric cylinder have the included angle, and the second electric cylinder is used for adjusting the angle of the single-row air suction nozzles, so as to facilitate the surrounding burying mechanism to bury the mulching films and / or drip irrigation tapes.

[0013] The film and tape cutting device, wherein the telescopic shearing mechanism comprises:

[0014] a telescopic shearing support installed on the frame;

[0015] a shearing component comprising a shearing electric cylinder, a moving slider and a scissors, the shearing electric cylinder is installed on the telescopic shearing support, the top end of the moving slider is connected with the moving end of the shearing electric cylinder; the scissors is hinged to the lower end of the moving slider; and

[0016] a horizontal telescopic mechanism comprising double telescopic electric cylinders and a telescopic slider, the telescopic slider is installed on the telescopic shearing support, and the double telescopic electric cylinders are connected with the telescopic slider, and are used for controlling the moving distance of the shearing component.

[0017] The film and tape cutting device, wherein the surrounding burying mechanism comprises:

[0018] a pressing electric cylinder, the fixed end of which is installed on the frame, and is used for adjusting the height of the surrounding shovel, so as to facilitate the mulching films and / or drip irrigation tapes after digging and pressing the earth, and ensure the fixed head thereof; and

[0019] The ring shovel comprises a fixed shovel, a movable shovel and a double hydraulic cylinder, the fixed shovel is connected with the movable end of the compacting electric cylinder, one end of the double hydraulic cylinder is connected with the fixed shovel, the movable shovel is hinged with the fixed shovel and connected with the other end of the double hydraulic cylinder, and the double hydraulic cylinder adjusts the angle of the movable shovel relative to the fixed shovel to ensure smooth shovel filling of the mulch film and / or drip irrigation belt.

[0020] The film and belt cutting device, wherein the measurement and control system comprises:

[0021] The pull wire displacement sensor is respectively installed on the first electric cylinder, the second electric cylinder, the shearing electric cylinder, the double telescopic electric cylinder, the compacting electric cylinder and the double hydraulic cylinder, and is used for detecting the moving displacement of each electric cylinder and hydraulic cylinder.

[0022] The inclination sensor is respectively installed on the single-row suction nozzle grabbing component, and is used for detecting the inclination angle of the single-row suction nozzle grabbing component relative to the double-row suction nozzle grabbing component.

[0023] The ultrasonic sensor is respectively installed on the parallel grabbing mechanism and the surrounding burying mechanism, and is used for detecting the ground clearance.

[0024] The soil compactness detection sensor is installed on the ring shovel, and is used for detecting the soil compactness before and after the surrounding burying mechanism is compacted.

[0025] The industrial camera is installed on the rack, and is used for identifying whether the mulch film and / or drip irrigation belt is cut.

[0026] The industrial computer is installed on the rack, and is used for receiving the detection values of each sensor and issuing control instructions.

[0027] The film and belt cutting device, wherein the input end of the industrial computer is connected with the output end of the soil compactness detection sensor, the industrial camera, the ultrasonic sensor, the pull wire displacement sensor and the inclination sensor, and the output end of the industrial computer is connected with the input end of the first electric cylinder, the second electric cylinder, the shearing electric cylinder, the double telescopic electric cylinder, the compacting electric cylinder, the double hydraulic cylinder and the air pump.

[0028] In order to better achieve the above purpose, the application also provides a film and belt cutting method, which comprises the following steps:

[0029] S100, detecting the ground clearance of the parallel grabbing mechanism by the ultrasonic sensor, driving the first electric cylinder to extend, detecting the moving displacement of the first electric cylinder by the pull wire displacement sensor, and adjusting the double-row air suction nozzle of the parallel grabbing mechanism to the best ground clearance.

[0030] S200, turn on the air pump, change the air blowing direction of the double air suction nozzle to air blowing, blow away the impurities on the surface of the mulch film and / or drip irrigation tape, then change the air blowing direction to air suction, suck up the mulch film and / or drip irrigation tape, then drive the first electric cylinder to retract, adjust the parallel grabbing mechanism above the telescopic shearing mechanism;

[0031] S300, according to the inclination angle information of the front single-row suction nozzle grabbing component detected by the inclination sensor, drive the corresponding second electric cylinder to adjust the rotation angle of the front single-row suction nozzle grabbing component, so that the corresponding single-row air suction nozzle can suck the mulch film and / or drip irrigation tape, and ensure smooth transportation to the end of another row after the film is cut;

[0032] S400, according to the inclination angle information of the rear single-row suction nozzle grabbing component detected by the inclination sensor, drive the corresponding second electric cylinder to adjust the rotation angle of the corresponding single-row suction nozzle grabbing component, so that the corresponding single-row air suction nozzle can suck the mulch film and / or drip irrigation tape, and then according to the information detected by the inclination sensor, drive the corresponding second electric cylinder again to rotate the corresponding single-row suction nozzle grabbing component, and further adjust the position of the mulch film and / or drip irrigation tape to the shears of the telescopic shearing mechanism;

[0033] S500, according to the movement displacement information of the double telescopic electric cylinder detected by the displacement sensor, drive the double telescopic electric cylinder to extend, drive the shears to move, and at the same time, according to the movement displacement information of the shearing electric cylinder detected by the displacement sensor, drive the shearing electric cylinder to extend and retract, and cut the mulch film and / or drip irrigation tape;

[0034] S600, the industrial camera identifies whether the mulch film and / or drip irrigation tape is cut, if yes, proceed to the next step, if not, execute step S500 until it is completely cut;

[0035] S700, according to the inclination angle information of the rear single-row suction nozzle grabbing component detected by the inclination sensor, drive the corresponding second electric cylinder to adjust the rotation angle of the rear single-row suction nozzle grabbing component, and then turn off the air force of the corresponding single-row air suction nozzle to ensure that the mulch film and / or drip irrigation tape can fall smoothly on the ground;

[0036] S800, according to the height from the ground of the surrounding burying mechanism detected by the ultrasonic sensor, drive the pressing electric cylinder to extend, adjust the height of the surrounding shovel according to the movement displacement of the pressing electric cylinder detected by the displacement sensor, and ensure that the soil can be dug; according to the movement displacement of the double hydraulic cylinder detected by the displacement sensor, drive the double hydraulic cylinder to extend, so that the moving shovel and the fixed shovel are closed to complete the digging; and

[0037] S900, when the surrounding burying mechanism moves to the position where the mulch film and / or drip irrigation tape is broken, according to the height of the surrounding burying mechanism from the ground detected by the ultrasonic sensor again, the pressing electric cylinder is driven to retract, the height of the surrounding shovel is adjusted according to the moving displacement of the pressing electric cylinder detected by the pull wire displacement sensor, and the soil can fill the broken mulch film and / or drip irrigation tape; according to the moving displacement of the double hydraulic cylinder detected by the pull wire displacement sensor, the double hydraulic cylinder is driven to retract, the moving shovel and the fixed shovel are opened, and the filling is completed; and according to the moving displacement of the double hydraulic cylinder detected by the pull wire displacement sensor again, the double hydraulic cylinder is driven to extend, the moving shovel and the fixed shovel are closed, and the soil compaction degree is detected by the soil compaction degree detection sensor, the surrounding shovel is driven to move downward by the pressing electric cylinder, and the soil pressing is completed.

[0038] The above-mentioned film and tape breaking method, wherein, when starting from another row of the head, steps S100, S700-S900 are repeated until the entire film laying tape work is completed.

[0039] In order to better achieve the above-mentioned purpose, the application further provides a film laying seeder, wherein the film laying seeder comprises the above-mentioned film and tape breaking device, and the film and tape breaking device is arranged at the rear end of the film laying seeder.

[0040] The technical effects of the application are as follows:

[0041] The application is suitable for different types of film laying seeders, has a wide application range, has a reasonable layout, can realize the ordered matching of the multi-link series movement of grabbing, cutting and burying, can efficiently break the film and tape, and can automatically fill the film and tape, thereby fundamentally solving the problems of low work efficiency, high labor cost and great safety hazards, greatly improving the work quality, and effectively promoting the mechanization progress of the film laying seeder.

[0042] The application will be described in detail below in combination with the drawings and specific embodiments, but is not limited to the application. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1Structure diagram of film breaking belt device of an embodiment of the present application;

[0044] Figure 2 Structure diagram of parallel grabbing mechanism of an embodiment of the present application;

[0045] Figure 3 Structure diagram of double-row suction nozzle grabbing component of an embodiment of the present application;

[0046] Figure 4 Structure diagram of single-row suction nozzle grabbing component of an embodiment of the present application;

[0047] Figure 5 Structure diagram of telescopic shearing mechanism of an embodiment of the present application;

[0048] Figure 6 Structure diagram of shearing component of an embodiment of the present application;

[0049] Figure 7 Structure diagram of horizontal telescopic mechanism of an embodiment of the present application;

[0050] Figure 8 Structure diagram of surrounding burying mechanism of an embodiment of the present application;

[0051] Figure 9 Structure diagram of surrounding shovel of an embodiment of the present application.

[0052] Among them, the reference signs are:

[0053] 1 frame

[0054] 2 surrounding burying mechanism

[0055] 21 pressing electric cylinder

[0056] 22 surrounding shovel

[0057] 221 fixed shovel

[0058] 222 double hydraulic cylinder

[0059] 223 movable shovel

[0060] 3 measurement and control system

[0061] 4 telescopic shearing mechanism

[0062] 41 horizontal telescopic mechanism

[0063] 411 double telescopic electric cylinder

[0064] 412 telescopic sliding block

[0065] 42 telescopic shearing support

[0066] 43 shearing component

[0067] 431 shearing electric cylinder

[0068] 432 moving slider

[0069] 433 scissors

[0070] 5 parallel grabbing mechanism

[0071] 51 double-row suction nozzle grabbing component

[0072] 511 grabbing support

[0073] 512 first electric cylinder

[0074] 513 double-row air suction nozzle

[0075] 52 single-row suction nozzle grabbing component

[0076] 521 arc-shaped support

[0077] 522 second electric cylinder

[0078] 523 single-row air suction nozzle DETAILED DESCRIPTION

[0079] The structural principle and working principle of the present application will be described in detail below in combination with the drawings:

[0080] The film-laying seeder of the present application can comprise a film-breaking belt device arranged at the rear end of the film-laying seeder. The film-breaking belt device can be installed at the last end of the film-laying seeder by bolt-nut connection or other connection methods. When the film-laying seeder stops film-laying and seeding operation at the end of the field, the film-breaking belt device can start to work to perform belt and film breaking operation. The composition, structure, mutual positional relationship, connection relationship and functions of other parts of the film-laying seeder are all mature prior art, so they will not be described here. Only the film-breaking belt device of the present application will be described in detail below.

[0081] Referring to Figure 1 , Figure 1 The figure is a structural schematic diagram of the film-breaking belt device of an embodiment of the present application. The film-breaking belt device of the present application comprises: a frame 1; a parallel grabbing mechanism 5 installed on the frame 1 for grabbing and fixing the mulch film and / or drip irrigation belt in the air; a telescopic shearing mechanism 4 installed on both sides of the frame 1 in correspondence with the parallel grabbing mechanism 5 and symmetrically left and right for shearing the mulch film and / or drip irrigation belt; the center line of the telescopic shearing mechanism 4 and the symmetric center line of the parallel grabbing mechanism 5 are located in the same plane; a surrounding burying mechanism 2 installed on the frame 1 and located in front of the parallel grabbing mechanism 5 for burying the mulch film and / or drip irrigation belt before and after shearing and moderately compacting to ensure stable laying; and a measurement and control system 3 installed on the frame 1 for real-time detection and control of key working parameters of each mechanism to realize efficient film-breaking belt and automatic film-burying belt working.

[0082] Referring to Figures 2-4 , Figure 2 Figure 1 is a schematic diagram of a parallel grabbing mechanism 5 according to an embodiment of the present application, Figure 3 Figure 2 is a schematic diagram of a double-row suction nozzle grabbing component 51 according to an embodiment of the present application, Figure 4 Figure 3 is a schematic diagram of a single-row suction nozzle grabbing component 52 according to an embodiment of the present application. In this embodiment, the parallel grabbing mechanism 5 comprises the double-row suction nozzle grabbing component 51 and the single-row suction nozzle grabbing component 52, the single-row suction nozzle grabbing component 52 is symmetrically installed on both sides of the double-row suction nozzle grabbing component 51, and the center line of the single-row suction nozzle grabbing component 52 and the center line of the double-row suction nozzle grabbing component 51 are respectively provided with an included angle; the double-row suction nozzle grabbing component 51 comprises a grabbing support 511, a first electric cylinder 512, and a double-row suction nozzle 513, the double-row suction nozzle 513 is symmetrically installed below the grabbing support 511 and connected with a gas pump, and is used for grabbing the mulch film and / or drip irrigation tape in the middle; the fixed end of the first electric cylinder 512 is installed on the machine frame 1, and the moving end of the first electric cylinder 512 is connected with the middle part of the grabbing support 511; the first electric cylinder 512 is used for adjusting the height of the double-row suction nozzle 513, so as to facilitate the telescopic shearing mechanism 4 to cut the mulch film and / or drip irrigation tape.

[0083] In this embodiment, the single-row suction nozzle grabbing component 52 comprises an arc-shaped support 521, a second electric cylinder 522, and a single-row suction nozzle 523, one end of the arc-shaped support 521 close to the inner side is respectively hinged to both sides of the grabbing support 511; the single-row suction nozzle 523 is installed at one end of the arc-shaped support 521 close to the outer side and connected with the gas pump, and is used for grabbing the mulch film and / or drip irrigation tape at the front end and the rear end respectively; the fixed end of the second electric cylinder 522 is installed on the machine frame 1, and the moving end of the second electric cylinder 522 is connected with the middle part of the arc-shaped support 521; the axis of the second electric cylinder 522 and the axis of the first electric cylinder 512 are provided with the included angle, and the second electric cylinder 522 is used for adjusting the angle of the single-row suction nozzle 523, so as to facilitate the surrounding burying mechanism 2 to bury the mulch film and / or drip irrigation tape.

[0084] Referring to Figures 5-7 , Figure 5 Figure 4 is a schematic diagram of a telescopic shearing mechanism 4 according to an embodiment of the present application, Figure 6 Figure 5 is a schematic diagram of a shearing component 43 according to an embodiment of the present application, Figure 7Figure 1 is a schematic diagram of a horizontal telescopic mechanism 41 according to an embodiment of the present application. The telescopic mechanism 41 according to the embodiment comprises a telescopic shearing support 42 mounted on the frame 1, a shearing component 43 comprising a shearing electric cylinder 431 mounted on the telescopic shearing support 42, a moving slider 432 having a top end connected to a moving end of the shearing electric cylinder 431, and a shearing scissor 433 hinged to a lower end of the moving slider 432, and a horizontal telescopic mechanism 41 comprising a double telescopic electric cylinder 411 and a telescopic slider 412 mounted on the telescopic shearing support 42, the double telescopic electric cylinder 411 being connected to the telescopic slider 412 for controlling the moving distance of the shearing component 43.

[0085] Referring to Figure 8 and Figure 9 , Figure 8 Figure 2 is a schematic diagram of a surrounding burying mechanism 2 according to an embodiment of the present application. Figure 9 Figure 3 is a schematic diagram of a surrounding shovel 22 according to an embodiment of the present application. The surrounding burying mechanism 2 according to the embodiment comprises a tamping electric cylinder 21 having a fixed end mounted on the frame 1 for adjusting the height of the surrounding shovel to facilitate digging, tamping the mulch and / or drip irrigation tape after covering, and ensuring the fixed head; and a surrounding shovel 22 comprising a fixed shovel 221 connected to a moving end of the tamping electric cylinder 21, a moving shovel 223 hinged to the fixed shovel 221, and a double hydraulic cylinder 222 having one end connected to the fixed shovel 221 and the other end connected to the moving shovel 223, the double hydraulic cylinder 222 adjusting the angle of the moving shovel 223 relative to the fixed shovel 221 to ensure smooth shovel filling of the mulch and / or drip irrigation tape.

[0086] In the embodiment, the measurement and control system 3 comprises: a pull wire displacement sensor, respectively installed on the first electric cylinder 512, the second electric cylinder 522, the shearing electric cylinder 431, the double telescopic electric cylinder 411, the pressing electric cylinder 21 and the double hydraulic cylinder 222, for detecting the movement displacement of each electric cylinder and hydraulic cylinder; an inclination sensor, respectively installed on the single-row suction nozzle grabbing component 52, for detecting the inclination angle of the single-row suction nozzle grabbing component 52 relative to the double-row suction nozzle grabbing component 51; an ultrasonic sensor, respectively installed on the parallel grabbing mechanism 5 and the surrounding burying mechanism 2, for detecting the ground clearance; a soil compaction degree detection sensor, installed on the surrounding shovel 22, for detecting the soil compaction degree before and after the surrounding burying mechanism 2 is pressed; an industrial camera, installed on the rack 1, for identifying whether the mulching film and / or drip irrigation tape is cut; and an industrial computer, installed on the rack 1, comprising a display screen, a keyboard arranged on a panel, and a data processor arranged in the interior thereof, for receiving the detection values of each sensor and issuing control instructions. The input end of the industrial computer is connected with the output end of the soil compaction degree detection sensor, the industrial camera, the ultrasonic sensor, the pull wire displacement sensor and the inclination sensor, respectively, and the output end of the industrial computer is connected with the input end of the first electric cylinder 512, the second electric cylinder 522, the shearing electric cylinder 431, the double telescopic electric cylinder 411, the pressing electric cylinder 21, the double hydraulic cylinder 222 and the air pump, respectively. The industrial computer drives each actuating mechanism and the air pump to move through each electric cylinder and hydraulic cylinder, so as to realize the multi-link series movement-ordered matching film cutting and burying.

[0087] During the working process, the height of the parallel grabbing mechanism 5 from the ground is detected by the ultrasonic sensor, the displacement of the first electric cylinder 512 is detected by the wire displacement sensor, the first electric cylinder 512 is driven to extend, the double-row air suction nozzle 513 of the parallel grabbing mechanism 5 is adjusted to the optimal height from the ground, the air pump is turned on, the air blowing direction of the double-row air suction nozzle 513 is changed to air blowing, the mulch film and / or drip irrigation tape and the soil and / or straw on the surface are blown away, the air blowing direction is changed to air suction, the mulch film and / or drip irrigation tape is sucked up, the first electric cylinder 512 is driven to retract, and the parallel grabbing mechanism 5 is adjusted to the top of the telescopic shearing mechanism 4; according to the inclination angle information of the front single-row suction nozzle grabbing component 52 detected by the inclination sensor, the front second electric cylinder 522 is driven to adjust the rotation angle of the front single-row suction nozzle grabbing component 52, so that the front single-row air suction nozzle 523 can suck the drip irrigation tape and the mulch film, and ensure that the broken film tape is smoothly transported to the head of another row; according to the inclination angle information of the rear single-row suction nozzle grabbing component 52 detected by the inclination sensor, the rear second electric cylinder 522 is driven to adjust the rotation angle of the rear single-row suction nozzle grabbing component 52, so that the rear single-row air suction nozzle 523 can suck the drip irrigation tape and the mulch film, and according to the information detected by the inclination sensor, the rear second electric cylinder 522 is driven again to rotate the rear single-row suction nozzle grabbing component 52, and then the position of the mulch film and / or drip irrigation tape is adjusted to the shearing opening of the shears 433 of the telescopic shearing mechanism 4, and thus the parallel grabbing process of the mulch film and / or drip irrigation tape is completed; according to the displacement information of the double telescopic electric cylinder 411 detected by the wire displacement sensor, the double telescopic electric cylinder 411 is driven to extend, the shears 433 is driven to move, and at the same time, according to the displacement information of the shearing electric cylinder 431 detected by the wire displacement sensor, the shearing electric cylinder 431 is driven to extend and retract, combined with the industrial camera to identify the broken condition of the mulch film and / or drip irrigation tape, until the shearing work of the mulch film and / or drip irrigation tape is completed, and thus the automatic shearing process of the mulch film and / or drip irrigation tape is completed; according to the inclination angle information of the rear single-row suction nozzle grabbing component 52 detected by the inclination sensor, the rear second electric cylinder 522 is driven to adjust the rotation angle of the rear single-row suction nozzle grabbing component 52, and the air force of the rear single-row air suction nozzle 523 is turned off to ensure that the drip irrigation tape and the mulch film can be smoothly landed on the ground; according to the height of the surrounding burying mechanism 2 from the ground detected by the ultrasonic sensor, the compacting electric cylinder 21 is driven to extend, combined with the displacement of the compacting electric cylinder 21 detected by the wire displacement sensor, the height of the surrounding shovel 22 is adjusted to ensure that it can dig soil; according to the displacement of the double hydraulic cylinder 222 detected by the wire displacement sensor, the double hydraulic cylinder 222 is driven to extend, so that the movable shovel 223 is closed with the fixed shovel 221, and the digging process is completed; when the surrounding burying mechanism 2 moves to the position where the mulch film and / or drip irrigation tape is broken, the compacting electric cylinder 21 is driven to retract again according to the height of the surrounding burying mechanism 2 from the ground detected by the ultrasonic sensor, combined with the displacement of the compacting electric cylinder 21 detected by the wire displacement sensor, the height of the surrounding shovel 22 is adjusted to ensure that the soil can be buried in the broken mulch film and / or drip irrigation tape.According to the displacement sensor detects the moving displacement of the double hydraulic cylinder 222, drives the double hydraulic cylinder 222 to retract, makes the moving shovel 223 and the fixed shovel 221 open, completes the landfill process; again according to the displacement sensor detects the moving displacement of the double hydraulic cylinder 222, drives the double hydraulic cylinder 222 to extend, makes the moving shovel 223 and the fixed shovel 221 close, combines the soil compaction degree detection sensor to detect the soil compaction degree, drives the rolling cylinder 21 to make the shovel move downward, completes the soil rolling process, thus completes the automatic landfill and rolling process of the mulching film and / or drip irrigation belt after cutting.

[0088] When starting from another row of the ground head, the parallel grabbing mechanism 5 moves to the appropriate position, the height of the parallel grabbing mechanism 5 from the ground is detected by the ultrasonic sensor, the first electric cylinder 512 is driven to extend, and the moving displacement of the first electric cylinder 512 is detected by the displacement sensor, so that the height of the double air suction nozzle 513 of the parallel grabbing mechanism 5 from the ground is adjusted to the optimal height; again, according to the inclination angle information of the front single-row suction nozzle grabbing component 52 detected by the inclination sensor, the front second electric cylinder 522 is driven to adjust the rotation angle of the front single-row suction nozzle grabbing component 52, and then the air power of the front single-row air suction nozzle 523 and the double-row air suction nozzle 513 is turned off, so that the drip irrigation belt and the mulching film can be smoothly dropped on the ground; the above steps are repeated, when the surrounding burying mechanism 2 moves to another row of the mulching film and / or drip irrigation belt falling position, according to the height of the surrounding burying mechanism 2 from the ground detected by the ultrasonic sensor, the rolling cylinder 21 is driven to retract, the moving displacement of the rolling cylinder 21 is detected by the displacement sensor, the height of the surrounding shovel 22 is adjusted to ensure that the soil can be filled into the cut-off mulching film and / or drip irrigation belt; according to the moving displacement of the double hydraulic cylinder 222 detected by the displacement sensor, the double hydraulic cylinder 222 is driven to retract, so that the moving shovel 223 and the fixed shovel 221 are opened, the filling process is completed; again, according to the moving displacement of the double hydraulic cylinder 222 detected by the displacement sensor, the double hydraulic cylinder 222 is driven to extend, so that the moving shovel 223 and the fixed shovel 221 are closed, the soil compaction degree detection sensor is combined to detect the soil compaction degree, the rolling cylinder 21 is driven to make the shovel move downward, the soil rolling process is completed, thus the automatic landfill and rolling process of the mulching film and / or drip irrigation belt after cutting is completed.

[0089] The film cutting method of the film cutting device described above can realize the ordered matching of the film cutting belt through the multi-link series movement of the grabbing, cutting and burying, and comprises the following steps.

[0090] In step S100, the height of the parallel grabbing mechanism 5 from the ground is detected by the ultrasonic sensor, the first electric cylinder 512 is driven to extend, and the moving displacement of the first electric cylinder 512 is detected by the displacement sensor, so that the height of the double air suction nozzle 513 of the parallel grabbing mechanism 5 from the ground is adjusted to the optimal height.

[0091] Step S200, open the air pump, change the air blowing direction of the double air suction nozzle 513 to air blowing, blow away the dirt such as soil clumps and straw on the surface of the mulch film and / or drip irrigation tape, then change the air blowing direction to air suction, suck up the mulch film and / or drip irrigation tape, and then drive the first electric cylinder 512 to retract, adjust the parallel grabbing mechanism 5 to the top of the telescopic shearing mechanism 4;

[0092] Step S300, according to the inclination angle information of the front single-row suction nozzle grabbing component 52 detected by the inclination sensor, drive the corresponding second electric cylinder 522 to adjust the rotation angle of the front single-row suction nozzle grabbing component 52, so that the corresponding single-row air suction nozzle 523 can suck the mulch film and / or drip irrigation tape, and ensure smooth transportation to the end of another row after the film is cut;

[0093] Step S400, according to the inclination angle information of the rear single-row suction nozzle grabbing component 52 detected by the inclination sensor, drive the corresponding second electric cylinder 522 to adjust the rotation angle of the corresponding single-row suction nozzle grabbing component 52, so that the corresponding single-row air suction nozzle 523 can suck the mulch film and / or drip irrigation tape, and then according to the information detected by the inclination sensor, drive the corresponding second electric cylinder 522 again to rotate the corresponding single-row suction nozzle grabbing component 52, and further adjust the position of the mulch film and / or drip irrigation tape to move to the shearing opening of the scissors 433 of the telescopic shearing mechanism 4;

[0094] Step S500, according to the movement displacement information of the double telescopic electric cylinder 411 detected by the displacement sensor, drive the double telescopic electric cylinder 411 to extend, drive the scissors 433 to move, and at the same time, according to the movement displacement information of the shearing electric cylinder 431 detected by the displacement sensor, drive the shearing electric cylinder 431 to extend and retract, and cut the mulch film and / or drip irrigation tape;

[0095] Step S600, the industrial camera identifies whether the mulch film and / or drip irrigation tape is cut, if yes, proceed to the next step; if not, execute step S500 until it is completely cut;

[0096] Step S700, according to the inclination angle information of the rear single-row suction nozzle grabbing component 52 detected by the inclination sensor, drive the corresponding second electric cylinder 522 to adjust the rotation angle of the rear single-row suction nozzle grabbing component 52, and then turn off the air force of the corresponding single-row air suction nozzle 523 to ensure that the mulch film and / or drip irrigation tape can be smoothly dropped on the ground;

[0097] Step S800, according to the ultrasonic sensor detection of the height of the surrounding buried mechanism 2, drive the suppression electric cylinder 21 to extend, combined with the displacement sensor detection of the suppression electric cylinder 21 moving displacement, adjust the height of the surrounding shovel 22, ensure that can dig to the soil; according to the displacement sensor detection of the double hydraulic cylinder 222 moving displacement, drive the double hydraulic cylinder 222 to extend, make the moving shovel 223 and fixed shovel 221 close to complete the earthwork; and

[0098] Step S900, when the surrounding buried mechanism 2 moves to the position of the mulch and / or drip irrigation tape broken, again according to the ultrasonic sensor detection of the height of the surrounding buried mechanism 2, drive the suppression electric cylinder 21 to retract, combined with the displacement sensor detection of the suppression electric cylinder 21 moving displacement, adjust the height of the surrounding shovel 22, ensure that the soil can be buried to the mulch and / or drip irrigation tape after broken; according to the displacement sensor detection of the double hydraulic cylinder 222 moving displacement, drive the double hydraulic cylinder 222 to retract, make the moving shovel 223 and fixed shovel 221 open, complete the filling; again according to the displacement sensor detection of the double hydraulic cylinder 222 moving displacement, drive the double hydraulic cylinder 222 to extend, make the moving shovel 223 and fixed shovel 221 close, combined with the soil compaction sensor detection of soil compaction, drive the suppression electric cylinder 21, make the surrounding shovel downward movement, complete the soil suppression.

[0099] When starting from the head of another row, repeat steps S100, S700-S900 until the entire mulch tape laying work is completed. That is, when starting from the head of another row, the parallel grabbing mechanism 5 is moved to the appropriate position, the height of the parallel grabbing mechanism 5 from the ground is detected by the ultrasonic sensor, the first electric cylinder 512 is driven to extend, the displacement of the first electric cylinder 512 is detected by the displacement sensor, and the optimal height of the double-row air suction nozzle 513 of the parallel grabbing mechanism 5 from the ground is adjusted; then, according to the inclination angle information of the front single-row suction nozzle grabbing component 52 detected by the inclination sensor, the front electric cylinder is driven to adjust the rotation angle of the front single-row suction nozzle grabbing component 52, and then the air power of the front single-row air suction nozzle 523 and the double-row air suction nozzle 513 is turned off to ensure that the drip irrigation tape and the mulch film can be smoothly laid on the ground; the above steps are repeated, and when the surrounding burying mechanism 2 is moved to the position where the mulch film and / or drip irrigation tape is laid, according to the height of the surrounding burying mechanism 2 from the ground detected by the ultrasonic sensor, the compacting electric cylinder 21 is driven to retract, the displacement of the compacting electric cylinder 21 is detected by the displacement sensor, and the height of the surrounding shovel 22 is adjusted to ensure that the soil can fill the broken mulch film and / or drip irrigation tape; according to the displacement of the double hydraulic cylinder 222 detected by the displacement sensor, the double hydraulic cylinder 222 is driven to retract, so that the moving shovel 223 and the fixed shovel 221 are opened, and the filling process is completed; then, according to the displacement of the double hydraulic cylinder 222 detected by the displacement sensor, the double hydraulic cylinder 222 is driven to extend, so that the moving shovel 223 and the fixed shovel 221 are closed, the soil compaction degree is detected by the soil compaction degree detection sensor, the compacting electric cylinder 21 is driven to move the surrounding shovel downward, and the soil compacting process is completed; the above steps are repeated to complete the grabbing, cutting, burying, and orderly matching of the multi-link series movement process.

[0100] The present application is suitable for different types of mulch seeding machines, has a wide application range, a reasonable layout, can realize the grabbing, cutting, burying, and orderly matching of the multi-link series movement process, efficiently breaks the film tape, automatically fills the film tape, fills the current mulch seeding machine film tape breaking blank, fundamentally solves the problems of low work efficiency, high labor cost, and great safety hidden danger, and greatly improves the work quality. Among them, the multi-row array air nozzle is adopted to realize the parallel grabbing of the mulch film and / or drip irrigation tape process, effectively avoiding mechanical damage to the mulch film and / or drip irrigation tape; the symmetric scissors 433 is moved to automatically cut the mulch film and / or drip irrigation tape, effectively solving the wear problem caused by the contact between the cutting knife and the mulch film; the surrounding shovel 22 structure is adopted to complete the filling and compacting of the mulch film and / or drip irrigation tape before and after cutting, solving the problem that the mulch film and / or drip irrigation tape is difficult to fill and compact at the head; the measurement and control system 3 is adopted to orderly match the grabbing, cutting, burying, and multi-link series movement, greatly improving the work efficiency and work quality, speeding up the intelligent process development, greatly reducing the labor intensity and work cost, effectively promoting the transformation of the mulch seeding machine from extensive operation to precise operation, and providing reliable protection.

[0101] Of course, the present application can have other various embodiments, and those skilled in the art can make various corresponding changes and modifications according to the present application without departing from the spirit and essence of the present application, and these corresponding changes and modifications shall all belong to the protection scope of the claims of the present application.

Claims

1. A membrane-breaking device, characterized in that, include: frame; A parallel gripping mechanism, mounted on the frame, is used to grip mulch film and / or drip irrigation tape and fix them in the air; A telescopic shearing mechanism is symmetrically installed on both sides of the frame, corresponding to the parallel gripping mechanism, for cutting the mulch film and / or drip irrigation tape; the centerline of the telescopic shearing mechanism and the centerline of symmetry of the parallel gripping mechanism are located in the same plane; The surrounding burying mechanism is installed on the frame and located in front of the parallel gripping mechanism. It is used to bury the plastic film and / or drip irrigation tape before and after cutting, and to compact it appropriately to ensure stable laying. as well as The measurement and control system, installed on the frame, is used to detect and control the working parameters of each mechanism in real time, so as to achieve efficient membrane breaking and automatic filling membrane operation; The parallel gripping mechanism includes a double-row suction nozzle gripping component and a single-row suction nozzle gripping component. The single-row suction nozzle gripping component is symmetrically installed on both sides of the double-row suction nozzle gripping component, and the center line of the single-row suction nozzle gripping component and the center line of the double-row suction nozzle gripping component each form an angle. The double-row suction nozzle gripping component includes a gripping bracket, a first electric cylinder, and a double-exhaust suction nozzle. The double-exhaust suction nozzle is symmetrically installed below the gripping bracket and connected to an air pump for gripping the middle part of the mulch film and / or drip irrigation tape. The fixed end of the first electric cylinder is installed on the frame, and the moving end of the first electric cylinder is connected to the middle part of the gripping bracket. The first electric cylinder is used to adjust the height of the double-exhaust suction nozzle so that the telescopic shearing mechanism can cut the mulch film and / or drip irrigation tape.

2. The membrane-breaking device as described in claim 1, characterized in that, The single-row suction nozzle gripping component includes an arc-shaped bracket, a second electric cylinder, and a single-exhaust suction nozzle. The inner end of the arc-shaped bracket is hinged to both sides of the gripping bracket. The single-exhaust suction nozzle is mounted on the outer end of the arc-shaped bracket and connected to the air pump, used to grip the front and rear ends of the mulch film and / or drip irrigation tape, respectively. The fixed end of the second electric cylinder is mounted on the frame, and the moving end of the second electric cylinder is connected to the middle of the arc-shaped bracket. The axis of the second electric cylinder forms an angle with the axis of the first electric cylinder, and the second electric cylinder is used to adjust the angle of the single-exhaust suction nozzle to facilitate the surrounding burying mechanism infilling the mulch film and / or drip irrigation tape.

3. The membrane-breaking device as described in claim 1 or 2, characterized in that, The telescopic shearing mechanism includes: A telescopic shearing bracket is installed on the frame; A shearing component includes a shearing electric cylinder, a moving slider, and shears. The shearing electric cylinder is mounted on the telescopic shearing bracket. The top end of the moving slider is connected to the moving end of the shearing electric cylinder. The shears are hinged to the lower end of the moving slider. The horizontal telescopic mechanism includes a double telescopic electric cylinder and a telescopic slider. The telescopic slider is mounted on a telescopic shearing bracket, and the double telescopic electric cylinder is connected to the telescopic slider to control the movement distance of the shearing component.

4. The membrane-breaking device as described in claim 1 or 2, characterized in that, The surrounding burial mechanism includes: The electric compaction cylinder, with its fixed end mounted on the frame, is used to adjust the height of the shovel, facilitating excavation and compaction of the covered mulch film and / or drip irrigation tape, ensuring their fixation at the field edge; and The circumferential shovel includes a fixed shovel, a movable shovel, and a double hydraulic cylinder. The fixed shovel is connected to the movable end of the electric pressing cylinder. One end of the double hydraulic cylinder is connected to the fixed shovel. The movable shovel is hinged to the fixed shovel and connected to the other end of the double hydraulic cylinder. The double hydraulic cylinder adjusts the angle of the movable shovel relative to the fixed shovel to ensure smooth shoveling of soil to cover mulch film and / or drip irrigation tape.

5. The membrane-breaking device as described in claim 4, characterized in that, The measurement and control system includes: A wire displacement sensor is installed on the first electric cylinder, the second electric cylinder, the shearing electric cylinder, the double telescopic electric cylinder, the pressing electric cylinder, and the double hydraulic cylinder, respectively, to detect the moving displacement of each electric cylinder and hydraulic cylinder. Tilt sensors are installed on the single-row suction nozzle gripping component to detect the tilt angle of the single-row suction nozzle gripping component relative to the double-row suction nozzle gripping component. Ultrasonic sensors are respectively installed on the parallel gripping mechanism and the surrounding burying mechanism to detect the height above the ground; A soil compaction sensor is installed on the circumferential shovel to detect the soil compaction degree before and after compaction by the circumferential compaction mechanism. An industrial camera, mounted on the frame, is used to identify whether the mulch film and / or drip irrigation tape has been cut; and An industrial control computer, mounted on the rack, is used to receive the detection values ​​from each sensor and issue control commands.

6. The membrane-breaking device as described in claim 5, characterized in that, The input terminals of the industrial control computer are connected to the output terminals of the soil compaction detection sensor, industrial camera, ultrasonic sensor, wire displacement sensor and tilt sensor, respectively. The output terminals of the industrial control computer are connected to the input terminals of the first electric cylinder, second electric cylinder, shearing electric cylinder, double telescopic electric cylinder, pressing electric cylinder, double hydraulic cylinder and air pump, respectively.

7. A method for severing membrane bands, characterized in that, The film-cutting tape operation using the film-cutting tape device according to any one of claims 1-6 includes the following steps: S100: The height of the parallel gripping mechanism off the ground is detected by an ultrasonic sensor, and the first electric cylinder is driven to extend. Combined with the detection of the movement displacement of the first electric cylinder by a pull wire displacement sensor, the dual exhaust nozzles of the parallel gripping mechanism are adjusted to the optimal height off the ground. S200. Turn on the air pump, change the air force direction of the dual exhaust nozzle to air blowing, blow away the impurities on the surface of the mulch film and / or drip irrigation tape, then change the air force direction to air suction, suck up the mulch film and / or drip irrigation tape, and then drive the first electric cylinder to retract, and adjust the parallel gripping mechanism to above the telescopic shearing mechanism. S300. Based on the tilt angle information of the front single-row suction nozzle gripping component detected by the tilt angle sensor, drive the corresponding second electric cylinder to adjust the rotation angle of the front single-row suction nozzle gripping component so that the corresponding single-row suction nozzle can suck up the mulch film and / or drip irrigation tape, ensuring that the film tape is smoothly transported to another row of fields after being cut. S400. Based on the tilt angle information of the rear single-row suction nozzle gripping component detected by the tilt angle sensor, drive the corresponding second electric cylinder to adjust the rotation angle of the corresponding single-row suction nozzle gripping component so that the corresponding single-row suction nozzle can suck up the mulch film and / or drip irrigation tape. Then, based on the information detected by the tilt angle sensor, drive the corresponding second electric cylinder again to drive the corresponding single-row suction nozzle gripping component to rotate, thereby adjusting the position of the mulch film and / or drip irrigation tape to move to the scissor cutting edge of the telescopic shearing mechanism. S500: Based on the displacement information of the double telescopic electric cylinder detected by the wire displacement sensor, drive the double telescopic electric cylinder to extend, thereby moving the scissors. At the same time, combined with the displacement information of the shearing electric cylinder detected by the wire displacement sensor, drive the shearing electric cylinder to extend and retract, cutting the mulch film and / or drip irrigation tape. S600: The industrial camera identifies whether the mulch film and / or drip irrigation tape have been cut. If so, proceed to the next step; otherwise, execute step S500 until it is completely cut. S700. Based on the tilt angle information of the rear single-row suction nozzle gripping component detected by the tilt angle sensor, drive the corresponding second electric cylinder to adjust the rotation angle of the rear single-row suction nozzle gripping component, and then turn off the pneumatic power of the corresponding single-row suction nozzle to ensure that the mulch film and / or drip irrigation tape can fall smoothly on the ground. S800: Based on the ground clearance height of the surrounding burial mechanism detected by the ultrasonic sensor, the electric cylinder for pressing is driven to extend. Combined with the displacement of the electric cylinder detected by the wire displacement sensor, the height of the circumferential shovel is adjusted to ensure that the soil is reached. Based on the displacement of the dual hydraulic cylinders detected by the wire displacement sensor, the dual hydraulic cylinders are driven to extend, causing the movable shovel to close with the fixed shovel to complete the excavation. S900. When the surrounding burying mechanism moves to the position where the mulch film and / or drip irrigation tape breaks, the compaction electric cylinder is driven to retract based on the ground clearance height of the surrounding burying mechanism detected by the ultrasonic sensor. Combined with the displacement detection of the compaction electric cylinder by the wire displacement sensor, the height of the circling shovel is adjusted to ensure that the soil can be filled up to the broken mulch film and / or drip irrigation tape. Based on the displacement detection of the dual hydraulic cylinder by the wire displacement sensor, the dual hydraulic cylinder is driven to retract, causing the moving shovel and fixed shovel to open, completing the burying. Then, based on the displacement detection of the dual hydraulic cylinder by the wire displacement sensor, the dual hydraulic cylinder is driven to extend, causing the moving shovel and fixed shovel to close. Combined with the soil compaction detection sensor detecting the soil compaction degree, the compaction electric cylinder is driven to move the surrounding shovel downwards, completing soil compaction.

8. The membrane severing method as described in claim 7, characterized in that, When starting from another row, repeat steps S100, S700-S900 until all film-laying work is completed.

9. A film-laying seeder, characterized in that, The film-cutting belt device according to any one of claims 1-6 is disposed at the rear end of the film-laying seeder.

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