Corn seed and fertilizer vertical layering planting device with intelligent control of soil covering amount and compacting force

Abstract

The present application relates to a kind of corn seed fertilizer vertical layered planting and applying device of intelligent regulation and control of covering quantity and compacting force, the corn seed fertilizer vertical layered planting and applying device includes core bit type furrow opener, seed fertilizer vertical layered soil covering regulation and control mechanism, controller, seed guide tube and compacting force real-time regulation and control mechanism;The core bit type furrow opener includes shovel tip, shovel body, anti-winding roller, shovel handle, fixed card, fertilizer guide tube and soil baffle;The seed fertilizer vertical layered soil covering regulation and control mechanism includes servo motor, controller, laser ranging sensor, motor mounting bracket, fastest descent line soil covering disc, disc shaft, rotating shaft, planetary reducer, fixed sleeve, fixed plate, bearing sleeve and deep groove ball bearing;The compacting force real-time regulation and control mechanism includes fixed connection frame, electric push rod, S type tension and pressure sensor, compacting wheel arm, wheel shaft, chicken claw type bionic soil compacting wheel, square seat bearing and sensor fixed plate.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural technology, in particular to a corn seed and fertilizer vertical layered planting and applying device with intelligent control of covering amount and pressing force. BACKGROUND

[0002] To avoid seed and seedling burning caused by too small seed and fertilizer spacing, the existing corn planting machinery mostly adopts side position layered fertilization, that is, a fertilization furrow opener is used for furrow fertilization and a planting furrow opener is used for furrow planting, but multiple furrow openers increase soil disturbance and operation resistance. Orthogonal vertical layered fertilization can make seeds and fertilizers in the same furrow but at different depths to improve the above problems. Currently, there are two ways to achieve this, that is, passive covering by relying on natural soil covering and active covering by adding a covering mechanism. The "a seed and fertilizer separating device" (application number CN201710988639.9) and "a seed and fertilizer planting and applying device based on double-disc covering" (application number CN201820169008.4) both use double discs for active covering to achieve the effect of layered seed and fertilizer, but they cannot adjust the covering amount of fertilizer in real time according to the actual operation situation, that is, they cannot guarantee the stability of the vertical spacing of seeds and fertilizers.

[0003] Soil covering and pressing directly affect the soil environment for seed growth, and thus affect seed germination and emergence. The existing corn planting soil covering and pressing split type device has complex structure and poor operation stability. The soil covering and pressing integrated device that has both soil covering and pressing functions can simplify the structure, reduce the number of soil contact components, and improve the operation quality. The existing soil covering and pressing integrated device has the following disadvantages: ①it cannot adjust the pressing force in time according to the actual soil condition, which is not conducive to the full absorption and utilization of water and nutrients in the soil by seeds; ②the surface of the soil covering and pressing device adheres soil, which affects the planting depth and increases the operation resistance. SUMMARY

[0004] In view of the above technical problems, the present application aims to provide a corn seed and fertilizer vertical layered planting and applying device with intelligent control of covering amount and pressing force. The device can perform the whole process of furrowing, fertilizing, planting, covering and pressing, and can improve the stability of the vertical spacing of seeds and fertilizers and the uniformity of soil covering and pressing by using intelligent measurement and control technology, thereby improving the quality of corn planting.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0006] A corn seed and fertilizer vertical layered planting and applying device with intelligent control of covering amount and pressing force, comprising a core bit type furrow opener 1, a seed and fertilizer vertical layered covering regulation mechanism, a controller 4, a seed guide tube 11 and a pressing force real-time regulation mechanism.

[0007] The core share 1 comprises a blade tip 101, a blade body 102, an anti-winding roller 103, a blade handle 104, a fixed clamp 105, a fertilizer guide pipe 106 and a soil blocking plate 107; the blade tip 101 is fixedly connected to the bottom end of the blade body 102; the blade handle 104 is fixedly connected to the top end of the rear part of the blade body 102; the anti-winding roller 103 is vertically and rotatably installed at the top end of the front part of the blade body 102; the fixed clamp 105 is fixedly connected to the upper part of the blade handle 104; the fertilizer guide pipe 106 is fixedly connected to the rear end surface of the blade handle 104 and connected with a fertilizer box; and two soil blocking plates 107 are fixedly connected to the rear end of the blade body 102 and located on the left and right sides of the fertilizer guide pipe 106.

[0008] The vertical layering soil covering regulation mechanism comprises a servo motor 2, a controller 4, a laser ranging sensor 12, a motor mounting bracket 13, a fastest descent line soil covering disc 14, a disc shaft 15, a rotating shaft 16, a planetary reducer 17, a fixed sleeve 18, a fixed plate 19, a bearing sleeve 21 and a deep groove ball bearing 22.

[0009] The front end of the fixed plate 19 arranged horizontally along the longitudinal axis direction of the machine tool is fixedly connected to the middle part of the rear end surface of the blade handle 104; two motor mounting brackets 13 are fixedly connected to the middle parts of the left and right sides of the fixed plate 19 in a height-adjustable manner, and a group of servo motors 2 and planetary reducers 17 are installed on each motor mounting bracket 13; the servo motor 2 is fixedly connected to the upper part of the motor mounting bracket 13, the planetary reducer 17 is fixedly connected to the lower part of the motor mounting bracket 13, the power output shaft of the servo motor 2 is connected with the power input shaft of the planetary reducer 17, the power output shaft of the planetary reducer 17 is connected with the top end of the vertically arranged rotating shaft 16, the bottom end of the rotating shaft 16 is fixedly connected with the outer surface of the horizontally arranged fixed sleeve 18, the outer end of the disc shaft 15 is fixedly connected inside the fixed sleeve 18, the bearing sleeve 21 is installed on the inner end of the disc shaft 15 through the deep groove ball bearing 22, and the fastest descent line soil covering disc 14 is fixedly connected to the bearing sleeve 21; the rotating shaft 16 is driven to rotate by the servo motor 2, the deflection angle of the fastest descent line soil covering disc 14 is changed, and then the soil covering amount is adjusted.

[0010] The laser ranging sensor 12 is fixedly connected to the rear lower end surface of the fixed plate 19 and used for detecting the soil covering thickness of the fertilizer.

[0011] The seed guide pipe 11 is fixedly connected to the rear end of the fixed plate 19 and connected with the seed discharge port of the seed metering device.

[0012] The fastest descent line soil covering disc 14 is a concave notched disc, and a plurality of notches are uniformly arranged on the disc edge.

[0013] The notch profile of the fastest descent line soil covering disc 14 is composed of a straight line segment AB, a fastest descent line segment BC and a circular arc segment CA, wherein the length of the straight line segment AB is 20 mm, the circular arc radius of the circular arc segment CA is 90 mm, and the parameter analytic equation of the fastest descent line segment BC is θ is the turning angle of the moving particle in the theory of brachistochrone, and the particle here is soil particle; (x, y) is the particle coordinate.

[0014] The real-time regulation mechanism of the compacting force comprises a fixed connecting frame 3, an electric push rod 5, an S-shaped tensile and compressive force sensor 6, compacting wheel arms 7, wheel shafts 8, chicken claw-shaped bionic soil covering compacting wheels 9, square seat bearings 10 and a sensor fixing plate 20.

[0015] The fixed connecting frame 3 is a rectangular frame comprising a front cross beam, a rear cross beam and left and right longitudinal beams; the fixed connecting frame 3 is arranged above the fixed plate 19, and the front cross beam is fixedly connected to the shovel handle 103; the upper ends of the compacting wheel arms 7 are hingedly connected to the rear ends of the left and right longitudinal beams of the fixed connecting frame 3; the left and right ends of the wheel shafts 8 are installed on the lower ends of the compacting wheel arms 7 through the square seat bearings 10; the chicken claw-shaped bionic soil covering compacting wheels 9 are fixedly connected to the middle part of the wheel shafts 8; the left and right ends of the sensor fixing plate 20 are fixedly connected to the middle parts of the two compacting wheel arms 7; the cavity end of the electric push rod 5 is hingedly connected to the rear cross beam of the fixed connecting frame 3, and the push rod end is connected to the S-shaped tensile and compressive force sensor 6, which is fixedly connected to the sensor fixing plate 20.

[0016] The chicken claw-shaped bionic soil covering compacting wheels 9 comprise a wheel disc 901 and a plurality of compacting fingers 902 fixedly connected to the left and right sides of the wheel disc 901; two compacting fingers 902 form a group and are symmetrically fixedly connected to the left and right sides of the wheel disc 901 and tangent to the edges of the wheel disc 901, forming a chicken claw shape.

[0017] The controller 4 is fixedly connected to the fixed connecting frame 3, and the controller 4 is connected to the laser ranging sensor 12, the S-shaped tensile and compressive force sensor 6, the servo motor 2 and the electric push rod 5 respectively; the laser ranging sensor 12 detects the soil covering thickness and sends it to the controller 4, the controller 4 sends corresponding instructions to the servo motor 2 according to the soil covering thickness, the servo motor 2 changes the deflection angle of the brachistochrone soil covering disc 14 to increase or decrease the soil covering thickness; the S-shaped tensile and compressive force sensor 6 detects the compacting force of the chicken claw-shaped bionic soil covering compacting wheels 11 on the seeding belt in real time and transmits the information to the controller 4, and the controller 4 sends corresponding instructions to the electric push rod 5 according to the compacting force, and the electric push rod 5 is elongated or shortened to change the compacting force.

[0018] The two soil retaining plates 107 are parallel to each other; the length of the soil retaining plate 107 is 12 cm to maintain the integrity of the ditch after ditching and reduce the influence of soil natural backflow on the control accuracy of the soil covering amount after fertilization.

[0019] The inner end of the disc shaft 15 is provided with an elastic retaining ring 23 for limiting the deep groove ball bearing 22.

[0020] The disc radius R1 of the brachistochrone covering disc 14 is 90 mm; the concave curvature radius is 170 mm, the disc thickness is 4 mm, and the number of notches is 10; and the mounting radius R2 of the bearing sleeve 21 is 50 mm.

[0021] The seed guiding curve of the seed guiding pipe 11 is composed of a straight line segment DE and a brachistochrone segment EF, wherein the parametric analytic equation of the brachistochrone segment EF is θ is the rotation angle of a moving point in the brachistochrone theory, and the point here is a corn seed; and (x, y) is the point coordinates;

[0022] The wheel disc 901 is provided with 10 groups of compacting fingers 902; the diameter of the wheel disc 901 is 200 mm, and the thickness is 10 mm; and the diameter of the compacting finger 902 is 10 mm.

[0023] The vertical height difference between the lowest point of the brachistochrone covering disc 14 and the bottom of the share opener 1 is 11-14 cm; the vertical height difference between the lowest point of the seed guiding pipe 11 and the bottom of the share opener 1 is 13 cm; and the maximum height difference between the claw type bionic covering and compacting wheel 9 and the bottom of the share opener 1 is less than 10 cm.

[0024] A corn seed and fertilizer vertical layering planting and applying method with intelligent control of covering amount and compacting force, comprising the following steps:

[0025] S1, the share opener 1 opens a deep fur with a depth of 10 cm;

[0026] S2, the fertilizer falls into the bottom of the fur through the fertilizer guiding pipe 106;

[0027] S3, the brachistochrone covering disc 14 of the seed and fertilizer vertical layering covering and regulating mechanism covers the fertilizer, and the covering thickness is set to 5 cm;

[0028] S4, the corn seed falls into the fur through the seed guiding pipe 11;

[0029] S5, the claw type bionic covering and compacting wheel 9 of the compacting force real-time regulating mechanism rotates counterclockwise under the mutual friction with the ground, and covers and compacts the corn seed;

[0030] In the step S3, the laser ranging sensor 12 detects the covering thickness in real time, when the covering thickness is less than the covering thickness set value, the servo motor 2 rotates forward, so that the deflection angle of the brachistochrone covering disc 14 becomes larger, and the covering amount increases; when the covering thickness is greater than the covering thickness set value, the servo motor 2 reverses, so that the deflection angle of the brachistochrone covering disc 14 becomes smaller, and the covering amount decreases;

[0031] In the step S5, the S-shaped tension and pressure sensor 6 detects the size of the compacting force of the claw-shaped bionic covering and compacting wheel 9 on the seeding belt in real time, when the compacting force is less than the minimum value of the compacting force range suitable for crop growth, the electric push rod 5 is elongated to increase the compacting force, when the compacting force is greater than the maximum value of the compacting force range suitable for crop growth, the electric push rod 5 is shortened to reduce the compacting force.

[0032] Compared with the prior art, the beneficial effects of the present application are that:

[0033] 1) The corn seed and fertilizer vertical layered fertilizing device based on the design of the core spear-shaped furrow opener can complete the operations of furrowing, fertilizing, seeding, covering and compacting in one operation, and the design idea of the same-groove different-depth and covering and compacting integration of the seed and fertilizer reduces the number of soil-contacting operation components such as furrow openers, thereby reducing the operation resistance and soil disturbance.

[0034] 2) The seed and fertilizer vertical layered covering and regulating mechanism including the brachistochrone covering disc, the laser ranging sensor, the servo motor and the controller can timely adjust the covering amount of the fertilizer according to the actual operation condition, accurately control the seed and fertilizer vertical spacing, so as to ensure the stability of the seed and fertilizer vertical spacing and prevent seedling burning.

[0035] 3) The brachistochrone covering disc taking the brachistochrone as the main profile curve of the notch can, under the premise of ensuring sufficient covering amount, reduce the relative motion time of the disc and the soil and increase the soil leakage amount, so as to reduce the covering operation resistance.

[0036] 4) The compacting force real-time regulating mechanism including the claw-shaped bionic covering and compacting wheel, the S-shaped tension and pressure sensor, the electric push rod and the controller can timely adjust the compacting force on the seeding belt according to the actual operation condition, so that the compacting force is always in the optimal range, to promote the absorption and utilization of water and nutrients by the seeds, and is beneficial to crop growth.

[0037] 5) The covering and compacting wheel taking the claw as the bionic design prototype can complete the covering and compacting in one operation, has the advantages of simple structure and not easy to adhere to the soil, and the force exertion mode simulating the claw can prepare a seedbed with appropriate tightness, and the structural characteristics of the claw can reduce the forward resistance caused by soil adhesion.

[0038] 6) According to the brachistochrone theory, the lower end of the seed guiding curve is designed as a brachistochrone, so that the seeds can obtain greater speed in a shorter time, to balance the forward speed of the device operation direction and reduce the bounce of the seeds when falling into the seedbed. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 The isometric view of the corn seed and fertilizer vertical layered planting and fertilizing device with intelligent control of covering amount and compacting force of the present application;

[0040] Figure 2Front view of the corn seed and fertilizer vertical layered planting and applying device for intelligent regulation of the covering amount and the compacting force according to the present application;

[0041] Figure 3 Right view of the corn seed and fertilizer vertical layered planting and applying device for intelligent regulation of the covering amount and the compacting force according to the present application;

[0042] Figure 4 Top view of the corn seed and fertilizer vertical layered planting and applying device for intelligent regulation of the covering amount and the compacting force according to the present application;

[0043] Figure 5 Axonometric view of the core bit type furrow opener 1 in the present application;

[0044] Figure 6 Front view of the brachistochrone covering disc 14 in the present application;

[0045] Figure 7 Installation sectional view of the brachistochrone covering disc 14 in the present application;

[0046] Figure 8 Front view of the seed guide tube 11 in the present application;

[0047] Figure 9 Axonometric view of the chicken claw type bionic covering and compacting wheel 9 in the present application;

[0048] Figure 10 Work flow chart of the seed and fertilizer vertical layered covering regulation mechanism in the present application;

[0049] Figure 11 Work flow chart of the compacting force real-time regulation mechanism in the present application.

[0050] The reference signs in the drawings are as follows:

[0051] 1 core bit type furrow opener 101 spade tip

[0052] 102 spade body 103 anti-winding roller

[0053] 104 spade handle 105 fixed clamp

[0054] 106 fertilizer guide tube 107 soil baffle

[0055] 2 servo motor 3 fixed connection frame

[0056] 4 controller 5 electric push rod

[0057] 6 S type tension and pressure sensor 7 compacting wheel arm

[0058] 8 wheel shaft 9 chicken claw type bionic covering and compacting wheel

[0059] 901 wheel disc 902 compacting finger

[0060] 10 square bearing 11 seed guide tube

[0061] 12 laser ranging sensor 13 motor mounting frame

[0062] 14 steepest descent line covering disc 15 disc shaft

[0063] 16 rotating shaft 17 planetary reducer

[0064] 18 fixed sleeve 19 fixed plate

[0065] 20 sensor fixing plate 21 bearing sleeve

[0066] 22 deep groove ball bearing 23 elastic retainer DETAILED DESCRIPTION

[0067] The application will be further described below in combination with the drawings and examples.

[0068] As shown in the drawings, Figures 1-4 A corn seed and fertilizer vertical layered planting and applying device for intelligent regulation of covering amount and compacting force, comprising a core bit type furrow opener 1, a seed and fertilizer vertical layered covering regulation mechanism, a controller 4, a seed guide tube 11 and a compacting force real-time regulation mechanism.

[0069] As shown in the drawings, Figure 5 The core bit type furrow opener 1 comprises a blade tip 101, a blade body 102, an anti-winding roller 103, a blade handle 104, a fixed clamp 105, a fertilizer guide tube 106 and a soil retaining plate 107. The blade tip 101 is fixedly connected to the bottom end of the blade body 102. The blade handle 104 is fixedly connected to the top end rear part of the blade body 102. The anti-winding roller 103 is vertically and rotatably installed at the top end front part of the blade body 102, which is used to prevent the clogging caused by the winding of weeds during the furrowing operation. The fixed clamp 105 is fixedly connected to the upper part of the blade handle 104, which is used to assemble the core bit type furrow opener 1 to the frame of the corn planting and fertilizing machine. The fertilizer guide tube 106 is fixedly connected to the rear end face of the blade handle 104 and connected with the fertilizer tank. Two soil retaining plates 107 are fixedly connected to the rear end of the blade body 102 and located on the left and right sides of the fertilizer guide tube 106, which are used to maintain the integrity of the furrow after furrowing and reduce the influence of the natural soil backflow on the control accuracy of the covering amount after fertilizing.

[0070] Preferably, the two soil retaining plates 107 are parallel to each other. The length of the soil retaining plate 107 is 12 cm, which is used to maintain the integrity of the furrow after furrowing and reduce the influence of the natural soil backflow on the control accuracy of the covering amount after fertilizing.

[0071] As shown in the drawings, Figure 1 , Figure 2 , Figure 4 and Figure 7As shown, the vertical layered soil covering regulation mechanism of the seed fertilizer includes a servo motor 2, a controller 4, a laser ranging sensor 12, a motor mounting bracket 13, a steepest descent line soil covering disc 14, a disc shaft 15, a rotating shaft 16, a planetary reducer 17, a fixed sleeve 18, a fixed plate 19, a bearing sleeve 21, a deep groove ball bearing 22 and an elastic retainer 23.

[0072] The front end of the fixed plate 19 arranged horizontally along the longitudinal direction of the machine tool is fixedly connected with the middle part of the shovel handle 104; two motor mounting brackets 13 are fixedly connected with the middle part of the left and right sides of the fixed plate 19 through bolts, and a group of servo motors 2 and planetary reducers 17 are mounted on each motor mounting bracket 13; the servo motor 2 is fixedly connected with the upper part of the motor mounting bracket 13, the planetary reducer 17 is fixedly connected with the lower part of the motor mounting bracket 13, the power output shaft of the servo motor 2 is connected with the power input shaft of the planetary reducer 17, and the power output shaft of the planetary reducer 17 is connected with the top end of the vertically arranged rotating shaft 16; the bottom end of the rotating shaft 16 is fixedly connected with the outer surface of the horizontally arranged fixed sleeve 18; the outer end of the disc shaft 15 is fixedly connected inside the fixed sleeve 18; the bearing sleeve 21 is mounted on the inner end of the disc shaft 15 through the deep groove ball bearing 22; and the steepest descent line soil covering disc 14 is fixedly connected on the bearing sleeve 21 through a bolt and a nut. The rotating shaft 16 is driven to rotate by the servo motor 2, the deflection angle of the steepest descent line soil covering disc 14 is changed, and then the soil covering amount is adjusted.

[0073] The inner end of the disc shaft 15 is provided with the elastic retainer 23 for limiting the deep groove ball bearing 22.

[0074] The laser ranging sensor 12 is fixedly connected with the rear lower end surface of the fixed plate 19 through a screw, and is used for detecting the soil covering thickness of the fertilizer.

[0075] The seed guiding pipe 11 is fixedly connected with the rear end of the fixed plate 19 through a screw, and is connected with the seed discharge port of the seed metering device.

[0076] As shown in the figure, Figures 6-7 The steepest descent line soil covering disc 14 is a concave notched disc, the disc surface edge is uniformly provided with a plurality of notches; the disc surface radius R1 is 90 mm; the concave curvature radius is 170 mm, the disc thickness is 4 mm, and the number of notches is 10. The mounting radius R2 of the bearing sleeve 21 is 50 mm.

[0077] The notch profile of the steepest descent line soil covering disc 14 is composed of a straight line segment AB, a steepest descent line segment BC and a circular arc segment CA, wherein the length of the straight line segment AB is 20 mm, the circular arc radius of the circular arc segment CA is 90 mm, and the parameter analytical equation of the steepest descent line segment BC is θ is the rotation angle of the moving particle in the steepest descent line theory, and the particle here is soil particles; (x, y) is the particle coordinate.

[0078] As Figure 8 shown, the seed guiding curve of the seed guiding pipe 11 is composed of a straight line segment DE and a brachistochrone segment EF, wherein the parametric equation of the brachistochrone segment EF is θ is the rotation angle of the moving particle in the brachistochrone theory, and the particle here is the corn seed; (x, y) is the particle coordinate.

[0079] According to the brachistochrone theory, the EF segment is designed as a brachistochrone, which can make the seed obtain a greater speed in a shorter time, balance the forward speed of the device in the working direction, and reduce the bounce of the seed when falling into the seedbed.

[0080] As Figure 1 , Figure 2 , Figure 3 , Figure 4 shown, the real-time regulation mechanism of the compacting force includes a fixed connecting frame 3, an electric push rod 5, an S-shaped tensile and compressive force sensor 6, a compacting wheel arm 7, a wheel shaft 8, a chicken claw type bionic soil covering and compacting wheel 9, a square seat bearing 10 and a sensor fixing plate 20.

[0081] The fixed connecting frame 3 is a rectangular frame including front and rear cross beams and left and right longitudinal beams; the fixed connecting frame 3 is arranged above the fixed plate 19, and the front cross beam is fixedly connected to the shovel handle 103; the upper ends of a pair of compacting wheel arms 7 are hingedly connected to the rear ends of the left and right longitudinal beams of the fixed connecting frame 3 through pin shafts. The left and right ends of the wheel shaft 8 are installed at the lower ends of the compacting wheel arms 7 through square seat bearings 10; the chicken claw type bionic soil covering and compacting wheel 9 is fixedly connected to the middle part of the wheel shaft 8; the left and right ends of the sensor fixing plate 20 are fixedly connected to the middle parts of the two compacting wheel arms 7; the cavity end of the electric push rod 5 is hingedly connected to the rear cross beam of the fixed connecting frame 3, and the push rod end is connected to the S-shaped tensile and compressive force sensor 6 through threads, and the S-shaped tensile and compressive force sensor 6 is fixedly connected to the sensor fixing plate 20.

[0082] As Figure 9 shown, the chicken claw type bionic soil covering and compacting wheel 9 includes a wheel disc 901 and a plurality of compacting fingers 902 fixedly connected to the left and right sides of the wheel disc 901; wherein two compacting fingers 902 form a group and are symmetrically fixedly connected to the left and right sides of the wheel disc 901 and tangent to the edges of the wheel disc 901, forming a chicken claw shape; the wheel disc 901 is provided with 10 groups of compacting fingers 902. The diameter of the wheel disc 901 is 200 mm, and the thickness is 10 mm; the diameter of the compacting finger 902 is 10 mm.

[0083] The chicken claw type bionic soil covering and compacting wheel 9 takes the chicken claw as the prototype for bionic design and has the functions of soil covering and compacting. It has the following advantages: ①imitating the force application mode of the chicken claw is beneficial to expelling air in the soil pores, making the seed and the soil in close contact; ②the soil touching area is small and not easy to adhere to the soil; ③suitable for various soil environments.

[0084] The controller 4 is fixedly connected to the fixed connecting frame 3. The controller 4 is connected to the laser rangefinder 12, the S-shaped tension / compression sensor 6, the servo motor 2, and the electric push rod 5. The laser rangefinder 12 detects the soil covering thickness and sends it to the controller 4. The controller 4 sends corresponding instructions to the servo motor 2 according to the soil covering thickness. The servo motor 2 changes the deflection angle of the fastest descent line soil covering disk 14, thereby increasing or decreasing the soil covering thickness. The closed-loop control improves the precise control of the soil covering amount and ensures the stability of the vertical spacing between seeds and fertilizers. The S-shaped tension / compression sensor 6 detects the pressing pressure of the chicken claw-shaped bionic soil covering roller 11 on the sowing belt in real time and transmits the information to the controller 4. The controller 4 sends corresponding instructions to the electric push rod 5 according to the magnitude of the pressing pressure. The electric push rod 5 extends or shortens to change the magnitude of the pressing pressure.

[0085] The vertical height difference between the lowest point of the fastest descent soil-covering disc 14 and the bottom of the plowshare-type furrow opener 1 is 11-14 cm, which can be adjusted by adjusting the installation height of the motor mounting bracket 13 and the fixing plate 19. The vertical height difference between the lowest point of the seed guide tube 11 and the bottom of the plowshare-type furrow opener 1 is 13 cm. To ensure good compaction of the seeding strip by the compaction wheel, the maximum height difference between the chicken claw-shaped bionic soil-covering compaction wheel 9 and the bottom of the plowshare-type furrow opener 1 should be less than 10 cm. The specific height range should be determined by adjusting the length of the compaction wheel arm 7 based on the actual compaction pressure feedback value.

[0086] The working process of this invention is as follows:

[0087] S1, the core moldboard trencher 1 opens a trench with a depth of 10cm;

[0088] S2. Fertilizer falls into the bottom of the ditch through fertilizer delivery pipe 106;

[0089] S3, the fastest descending line of the seed and fertilizer vertical layered soil covering control mechanism, soil covering disc 14 covers the fertilizer with soil covering thickness set to 5cm.

[0090] S4. Corn seeds fall into the furrow through seed delivery tube 11;

[0091] S5. Under the action of mutual friction with the ground surface, the chicken claw-shaped bionic soil covering and compaction wheel 9 of the real-time control mechanism rotates counterclockwise to cover and compact the corn seeds.

[0092] like Figure 10 As shown, in step S3, the laser rangefinder 12 detects the soil cover thickness in real time. When the soil cover thickness is less than the set value, the servo motor 2 rotates forward, making the deflection angle of the steepest descent line soil cover disk 14 larger and the amount of soil cover increased. When the soil cover thickness is greater than the set value, the servo motor 2 rotates in reverse, making the deflection angle of the steepest descent line soil cover disk 14 smaller and the amount of soil cover decreased.

[0093] As Figure 11 shown in the step S5, the S-shaped tension and compression force sensor 6 detects the size of the pressure of the chicken claw type bionic covering and pressing wheel 9 on the seeding belt in real time. When the pressure is less than the minimum value of the suitable crop growth pressure range, the electric push rod 5 is elongated to increase the pressure. When the pressure is greater than the maximum value of the suitable crop growth pressure range, the electric push rod 5 is shortened to reduce the pressure.

Claims

1. A corn seed and fertilizer vertical layered planting and applying device with intelligent control of covering amount and compacting force, characterized in that, The vertical layered seed and fertilizer planting device comprises a core bit opener (1), a seed and fertilizer vertical layered soil covering regulation mechanism, a controller (4), a seed guide tube (11) and a real-time regulation mechanism of compacting force. The core bit opener (1) comprises a blade tip (101), a blade body (102), an anti-winding roller (103), a blade handle (104), a fixed clamp (105), a fertilizer guide tube (106) and two earth retaining plates (107); the blade tip (101) is fixedly connected to the bottom end of the blade body (102); the blade handle (104) is fixedly connected to the top end of the rear part of the blade body (102); the anti-winding roller (103) is vertically and rotatably installed at the top end of the front part of the blade body (102); the fixed clamp (105) is fixedly connected to the upper part of the blade handle (104); the fertilizer guide tube (106) is fixedly connected to the rear end surface of the blade handle (104) and connected with a fertilizer box; the two earth retaining plates (107) are fixedly connected to the rear end of the blade body (102) and located on the left and right sides of the fertilizer guide tube (106). The seed and fertilizer vertical layered soil covering regulation mechanism comprises a servo motor (2), a controller (4), a laser ranging sensor (12), a motor mounting bracket (13), a fastest descent line soil covering disc (14), a disc shaft (15), a rotating shaft (16), a planetary reducer (17), a fixed sleeve (18), a fixed plate (19), a bearing sleeve (21) and a deep groove ball bearing (22). The front end of the fixed plate (19) arranged horizontally along the longitudinal direction of the machine tool is fixedly connected to the middle part of the rear end surface of the blade handle (104); two motor mounting brackets (13) are fixedly connected to the middle parts of the left and right sides of the fixed plate (19) in a height-adjustable manner; each motor mounting bracket (13) is provided with a set of servo motors (2) and planetary reducers (17); the servo motor (2) is fixedly connected to the upper part of the motor mounting bracket (13); the planetary reducer (17) is fixedly connected to the lower part of the motor mounting bracket (13); the power output shaft of the servo motor (2) is connected with the power input shaft of the planetary reducer (17); the power output shaft of the planetary reducer (17) is connected with the top end of the vertically arranged rotating shaft (16); the bottom end of the rotating shaft (16) is fixedly connected with the outer surface of the horizontally arranged fixed sleeve (18); the outer end of the disc shaft (15) is fixedly connected inside the fixed sleeve (18); the bearing sleeve (21) is installed at the inner end of the disc shaft (15) through the deep groove ball bearing (22); the fastest descent line soil covering disc (14) is fixedly connected to the bearing sleeve (21); the rotating shaft (16) is driven to rotate by the servo motor (2) to change the deflection angle of the fastest descent line soil covering disc (14) and then adjust the soil covering amount; The laser ranging sensor (12) is fixedly connected to the rear lower end surface of the fixed plate (19) and used for detecting the soil covering thickness of the fertilizer; The seed guide tube (11) is fixedly connected to the rear end of the fixed plate (19) and connected with the seed discharge port of a seed metering device; The fastest descent line soil covering disc (14) is a concave notched disc and uniformly provided with a plurality of notches at the disc edge; The notch profile of the fastest descent line soil covering disc (14) is composed of a straight line segment AB, a fastest descent line segment BC and a circular arc segment CA. The real-time regulating mechanism of the compacting force comprises a fixed connecting frame (3), an electric push rod (5), an S-shaped tension and pressure sensor (6), compacting wheel arms (7), wheel shafts (8), chicken claw type bionic covering and compacting wheels (9), square seat bearings (10) and a sensor fixing plate (20). The fixed connecting frame (3) is a rectangular frame comprising front and rear cross beams and left and right longitudinal beams; the fixed connecting frame (3) is arranged above the fixing plate (19), and the front cross beam is fixedly connected to the shovel handle (104); the upper ends of the pair of compacting wheel arms (7) are hingedly connected to the rear ends of the left and right longitudinal beams of the fixed connecting frame (3); the left and right ends of the wheel shaft (8) are installed on the lower ends of the compacting wheel arms (7) through the square seat bearings (10); the chicken claw type bionic covering and compacting wheel (9) is fixedly connected to the middle part of the wheel shaft (8); the left and right ends of the sensor fixing plate (20) are fixedly connected to the middle parts of the two compacting wheel arms (7); the cavity end of the electric push rod (5) is hingedly connected to the rear cross beam of the fixed connecting frame (3), and the push rod end is connected to the S-shaped tension and pressure sensor (6), which is fixedly connected to the sensor fixing plate (20). The chicken claw type bionic covering and compacting wheel (9) comprises a wheel disc (901) and a plurality of compacting fingers (902) fixedly connected to the left and right sides of the wheel disc (901); two compacting fingers (902) form a group and are symmetrically fixedly connected to the left and right sides of the wheel disc (901) and tangent to the edges of the wheel disc (901), forming a chicken claw shape. The controller (4) is fixedly connected to the fixed connecting frame (3), and the controller (4) is connected to the laser ranging sensor (12), the S-shaped tension and pressure sensor (6), the servo motor (2) and the electric push rod (5) respectively; the laser ranging sensor (12) detects the covering thickness and sends it to the controller (4), the controller (4) sends corresponding instructions to the servo motor (2) according to the covering thickness, the servo motor (2) changes the deflection angle of the fastest drop line covering disc (14) to increase or decrease the covering thickness; the S-shaped tension and pressure sensor (6) detects the compacting force of the chicken claw type bionic covering and compacting wheel (9) on the seeding belt in real time and transmits the information to the controller (4), the controller (4) sends corresponding instructions to the electric push rod (5) according to the compacting force, and the electric push rod (5) is elongated or shortened to change the compacting force.

2. The corn seed and fertilizer vertical layered and spaced application device with intelligent control of the covering amount and the compacting force according to claim 1, characterized in that, The two soil retaining plates (107) are parallel to each other; the length of the soil retaining plate (107) is 12 cm to maintain the integrity of the ditch after ditching and reduce the influence of soil natural backflow on the covering amount control accuracy after fertilization.

3. The vertical layered fertilizer placement and application device for maize according to claim 1, characterized in that, The inner end of the disc shaft (15) is provided with an elastic retainer (23) for limiting the deep groove ball bearing (22).

4. The corn seed and fertilizer vertical layered and spaced application device with intelligent control of the covering amount and the compacting force according to claim 1, characterized in that, The disc surface radius R1 of the fastest drop line covering disc (14) is 90 mm; the concave curvature radius is 170 mm, the disc thickness is 4 mm, and the number of notches is 10; the installation radius R2 of the bearing sleeve (21) is 50 mm.

5. The vertical layered fertilizer placement and application device for maize according to claim 1, characterized in that, The length of the straight line segment AB of the brachistochrone covering disc (14) is 20 mm, the circular arc radius of the circular arc segment CA is 90 mm, and the parametric analytic equation of the brachistochrone segment BC is θ is the rotation angle of a moving particle in the brachistochrone theory, and the particle here is a soil particle; and (x, y) is the particle coordinate.

6. The intelligent control device for the earth covering amount and the pressure of the corn seed and fertilizer vertical layered planting and applying device according to claim 1, characterized in that, The seed guiding curve of the seed guiding pipe (11) is composed of a straight line segment DE and a brachistochrone segment EF, wherein the parametric analytic equation of the brachistochrone segment EF is θ is the rotation angle of a moving particle in the brachistochrone theory, and the particle here is a corn seed; (x, y) is the coordinate of the mass point.

7. The vertical layered fertilizer placement and application device for maize according to claim 1, characterized in that, The wheel disc (901) is provided with 10 groups of pressing fingers (902); the diameter of the wheel disc (901) is 200 mm, and the thickness is 10 mm; the diameter of the pressing finger (902) is 10 mm.

8. The intelligent control device for the earth covering amount and the pressure of the corn seed and fertilizer vertical layered planting and applying device according to claim 1, characterized in that, The vertical height difference between the lowest point of the brachistochrone covering disc (14) and the bottom of the share (1) is 11-14 cm; the vertical height difference between the lowest point of the seed guide tube (11) and the bottom of the share (1) is 13 cm; the maximum height difference between the chicken claw type bionic covering and pressing wheel (9) and the bottom of the share (1) is less than 10 cm.

9. A corn seed and fertilizer vertical layered planting and applying method using the corn seed and fertilizer vertical layered planting and applying device intelligently regulating the covering amount and the compacting force according to any one of claims 1-8, characterized in that, The corn seed and fertilizer vertical layered planting method comprises the following steps: S1, the share (1) opens a deep fur with a depth of 10 cm; S2, the fertilizer falls into the bottom of the fur through the fertilizer guide tube (106); S3, the brachistochrone covering disc (14) of the seed and fertilizer vertical layered covering and regulating mechanism covers the fertilizer, and the covering thickness is set to 5 cm; S4, the corn seeds fall into the fur through the seed guide tube (11); S5, the chicken claw type bionic covering and pressing wheel (9) of the real-time regulating mechanism rotates counterclockwise under the mutual friction with the ground, and covers and presses the corn seeds; In the step S3, the laser ranging sensor (12) detects the covering thickness in real time, when the covering thickness is less than the set covering thickness, the servo motor (2) rotates forward, so that the deflection angle of the brachistochrone covering disc (14) becomes larger, and the covering amount increases; when the covering thickness is greater than the set covering thickness, the servo motor (2) reverses, so that the deflection angle of the brachistochrone covering disc (14) becomes smaller, and the covering amount decreases; In the step S5, the S type tension and pressure sensor (6) detects the pressing force of the chicken claw type bionic covering and pressing wheel (9) on the planting strip in real time, when the pressing force is less than the minimum value of the suitable crop growth pressing force range, the electric push rod (5) is elongated to increase the pressing force; when the pressing force is greater than the maximum value of the suitable crop growth pressing force range, the electric push rod (5) is shortened to reduce the pressing force.

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