Multi-crop root stub precise and efficient crushing device

Abstract

The present application belongs to agricultural machinery, and mainly relates to a multi-crop root stubble precise and efficient crushing device. The device comprises a shell, a cutter shaft tilting device, a stubble cutting device and a root crushing device. The cutter shaft tilting device can control the position of the stubble cutting component through a positioning system to realize precise row cutting and control the tilting angle of the overall cutter shaft to adapt to different terrains. During the stubble cutting process, when the camera recognizes the crop root stubble to be cut, the controller can control the cam mechanism to change the shape of the moving and fixed cutter, thereby improving the adaptability of the cutting tool and the quality of the stubble crushing. The root killing device controls the cam slider mechanism through the root killing knife motor to realize the extension and retraction of the root killing knife to avoid the soil between the root stubbles during the rotation of the entire root killing knife cutter disc, thereby avoiding large-area soil turning and effectively preserving the soil. The root killing knife adopts three rows of sawtooth blades with different shapes and lengths, which can realize the complete crushing of the roots in the shallow, medium and deep three regions below the crop soil layer according to the distribution characteristics of the underground roots, thereby improving the root crushing quality.

Description

TECHNICAL FIELD

[0001] The application belongs to agricultural machinery, and mainly relates to a multi-crop root stubble precise and efficient crushing device. BACKGROUND

[0002] The existing root stubble crushing device has a large amount of soil disturbance, serious soil loss and low stubble quality when working. Due to the change of terrain, it is difficult to ensure that the stubble removing part accurately cuts the stubble in the row during the working process, resulting in incomplete cutting or even missed cutting. SUMMARY

[0003] The purpose of the application is to develop a multi-crop root stubble precise and efficient crushing device. The posture and position of the crop are identified by a visual recognition system, and the information is transmitted to a positioning system to adjust the position of the stubble cutting part. The length of the stubble removing knife is adjusted according to the type of crop. The root removing knife with telescopic function can be telescopic while rotating to avoid the soil between the root stubble. The three-layer sawtooth knife design can complete high-quality crushing in the shallow, medium and deep layers of soil. The root stubble is crushed efficiently with low soil disturbance. The purpose of the application is achieved as follows: a multi-crop root stubble precise and efficient crushing device, characterized by: the device comprises a shell, a knife shaft tilting device, a stubble cutting device and a root crushing device. The shell is divided into an outer shell and an inner shell. A three-point suspension frame and an observation camera are fixed on the top of the outer shell. The knife shaft tilting device is fixed inside the outer shell. A laser positioner is fixed on the top of the inner shell. The stubble cutting device and the root crushing device are arranged inside the inner shell.

[0004] The knife shaft tilting device comprises a tilting motor, a tilting driving spur gear, a tilting driven spur gear, a first tilting shaft and a second tilting shaft. The tilting motor seat is fixed on the inner side plate of the outer shell. The tilting motor, the tilting motor battery and the tilting mechanism controller are fixed on the tilting motor seat. The tilting motor battery is connected to the tilting motor and the tilting mechanism controller through wires. The tilting mechanism controller is connected to the tilting motor through wires. The tilting driving spur gear is fixed on the output shaft of the tilting motor. The tilting driving spur gear is engaged with the tilting driven spur gear. The tilting driven spur gear is coaxially fixed to the first tilting shaft. One end of the first tilting shaft is rotatably installed on the outer shell, and the other end is fixed on the inner shell. One end of the second tilting shaft is rotatably installed on the outer shell, and the other end is fixed on the inner shell.

[0005] The stubble cutting device comprises a lifting mechanism, a transverse moving mechanism, a cutter shaft seat, a gear transmission box, a stubble removing cutter shaft and a deforming cutter shaft. The lifting mechanism comprises a lifting motor, a lifting motor storage battery, a lifting motor controller, a lifting screw, a lifting platform, a lifting shaft, a lifting driving bevel gear and a lifting driven bevel gear. The lifting motor storage battery, the lifting motor controller and the lifting motor are fixed on an inner housing. The lifting motor storage battery is connected with the lifting motor controller and the lifting motor through wires. The lifting motor controller is connected with the lifting motor through a wire. The output shaft of the lifting motor is coaxially fixed with the lifting driving bevel gear. The lifting driving bevel gear and the lifting driven bevel gear are meshed with each other. The lifting driven bevel gear is fixed with the lifting screw. The lifting screw is rotatably installed at the top end of the inner housing. The thread on the lifting screw is meshed with the spiral groove in the center of the lifting platform. The lifting shaft is fixed with the lifting platform and the screw slide base at both ends.The horizontal moving mechanism comprises a horizontal moving motor, a horizontal moving motor battery, a horizontal moving motor controller, a screw slide base, a horizontal moving screw and a horizontal moving platform, the screw slide base is fixed with a laser positioner, a motor frame is fixed with the screw slide base, the horizontal moving motor is fixed on the horizontal moving motor frame, the horizontal moving motor battery and the horizontal moving motor controller are both fixed on the cutter shaft base, the horizontal moving motor battery is connected with the horizontal moving motor and the horizontal moving motor controller through wires, the horizontal moving motor controller is connected with the horizontal moving motor through wires, the horizontal moving motor output shaft is coaxially fixed with the horizontal moving screw, the horizontal moving screw is engaged with the inner screw groove of the horizontal moving platform, the horizontal moving platform is fixed with the cutter shaft base, the first motor is fixed with the cutter shaft base, the first motor battery is fixed on the cutter shaft base and connected with the first motor through wires, the gear box is fixed on the cutter shaft base, the stubble cleaning cutter shaft is fixed with the output end of the gear box, the first motor is fixed with the input end of the gear box, the third motor, the third motor battery and the third motor controller are all fixed at the bottom of the output end of the gear box, the third motor is connected with the third motor and the third motor controller through wires, the third motor controller is connected with the third motor through wires, the deforming cutter shaft is coaxially fixed with the output end of the third motor, the deforming cutter shaft is fixed with the stubble cleaning cutter cam, the stubble cleaning cutter disc is edge-contact connected with the stubble cleaning cutter cam, three cutter housings are equidistantly fixed on the moving cutter plate, the moving cutter base is coaxially fixed on the stubble cleaning cutter shaft, the moving cutter plate is fixed with the moving cutter, the cutter blade shaft is inserted into the moving cutter plate, one end of the cutter blade shaft is fixed with the stubble cleaning cutter disc, the other end is fixed with the cutter blade, the reset spring is inserted into the cutter blade shaft, the reset spring is edge-contact connected with the moving cutter plate and the stubble cleaning cutter disc, the inner housing body is fixed with the fixed cutter plate, the fixed cutter motor base is fixed with the bottom end of the fixed cutter plate, the second motor, the second motor battery and the second motor controller are all fixed on the fixed cutter motor base, the output shaft of the second motor is coaxially fixed with the fixed cutter cam shaft, the fixed cutter disc is edge-contact connected with the fixed cutter cam, three fixed cutter housings are equidistantly fixed on the fixed cutter plate, the fixed cutter blade shaft is inserted into the fixed cutter plate, one end of the fixed cutter blade shaft is fixed with the fixed cutter disc, the other end is fixed with the fixed cutter blade, the fixed cutter reset spring is inserted into the fixed cutter blade shaft, the fixed cutter reset spring is edge-contact connected with the fixed cutter plate and the fixed cutter disc.

[0006] The root-killing device comprises a root-killing knife motor, a root-killing knife disc, a root-killing knife cam, and a root-killing knife, the root-killing knife disc is fixedly arranged at the bottom of the stubble cleaning knife shaft, the root-killing knife motor, the root-killing knife motor battery and the root-killing knife controller are all fixedly arranged on the root-killing knife disc, the root-killing knife motor battery is connected with the root-killing knife motor and the root-killing knife controller through wires respectively, the root-killing knife motor is connected with the root-killing knife controller through a wire, the root-killing knife cam shaft is fixedly connected with the output shaft of the root-killing knife motor and rotatably arranged at the center of the root-killing knife disc, the root-killing knife cam shaft is fixedly arranged with the root-killing knife cam, the root-killing knife disc is fixedly arranged with two normal sliding bearings, the two ends of the root-killing knife sliding block are slidably inserted into the two normal sliding bearings respectively, the hollow frame is arranged at the center of the root-killing knife sliding block, the hollow frame of the root-killing knife sliding block is in contact with the edge of the root-killing knife cam, the root-killing knife adopts three rows of sawtooth blades with different shapes and sizes, two root-killing knives are hingedly connected with the two ends of the root-killing knife sliding block respectively, the first connecting rod and the second connecting rod are fixedly arranged with the root-killing knife cam eccentrically, the two root-killing knives are connected with the first connecting rod and the second connecting rod through ball joints, thus a multi-crop root stubble precise and efficient crushing device is formed.

[0007] Compared with the prior art, the beneficial effects of the present application are: the present application mainly comprises a knife shaft tilting device, a stubble cutting device and a root-killing device, the knife shaft tilting device can control the position of the stubble cutting component through a positioning system to realize precise row-by-row stubble cutting and control the tilting angle of the whole knife shaft to adapt to different terrains, when the camera recognizes the crop root stubble to be cut during the stubble cutting process, the controller can control the cam mechanism to change the shape of the moving and fixed knives, thereby improving the adaptability of the stubble cutting tool and the stubble breaking quality, the root-killing device controls the cam sliding block mechanism through the root-killing knife motor during the rotation of the whole root-killing knife disc to realize the extension and retraction of the root-killing knife to avoid the soil between the root stubbles, thereby avoiding large-area soil turning and effectively preserving the soil, the root-killing knife adopts three rows of sawtooth blades with different shapes and lengths, which can realize the complete crushing of the roots in the shallow, medium and deep areas of the crop soil layer according to the distribution characteristics of the underground roots, thereby improving the root crushing quality. BRIEF DESCRIPTION OF DRAWINGS

[0008] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, illustrate the present application and are used to explain the present application, and do not constitute a limitation on the present application. In the drawings:

[0009] Figure 1 A perspective view of a multi-crop root stubble precise and efficient crushing device

[0010] Figure 2 A perspective view of a stubble cutting device

[0011] Figure 3 A perspective view of a root-killing device

[0012] Explanation of reference numerals in the drawings:

[0013] 1, three-point suspension frame 2, outer shell 3, tilt motor 4, tilt mechanism controller 5, tilt motor battery 6, tilt motor seat 7, first tilt shaft 8, tilt main drive spur gear 9, tilt driven spur gear 10, inner shell 11, observation camera 12, lifting motor battery 13, lifting motor controller 14, lifting motor 15, lifting main drive bevel gear 16, lifting driven bevel gear 17, lifting platform 18, lifting shaft 19, lifting screw 20, screw slide base 21, horizontal movement motor frame 22, horizontal movement screw 23, horizontal movement motor 24, horizontal movement motor battery 25, horizontal movement motor controller 26, second tilt shaft 27, horizontal movement platform 28, first motor battery 29, first motor 30, gear box 31, moving knife seat 32, root-killing knife motor 33, root-killing knife controller 34, root-killing knife motor battery 35, root-killing knife disc 36, root-killing knife 37, knife shaft seat 38, laser positioner 39, fixed knife plate 40, stubble-killing knife shaft 41, stubble-killing knife disc 42, second motor 43, second motor battery 44, second motor controller 45, fixed knife motor seat 46, third motor controller 47, third motor battery 48, third motor 49, moving knife plate 50, knife shell 51, return spring 52, knife edge shaft 53, knife edge 54, stubble-killing knife cam 55, deformed knife shaft 56, fixed knife edge 57, fixed knife shell 58, fixed knife return spring 59, fixed knife edge shaft 60, fixed knife disc 61, fixed knife cam shaft 62, fixed knife cam 63, root-killing knife cam shaft 64, root-killing knife cam 65, positive sliding bearing 66, root-killing knife sliding block 67, first connecting rod 68, spherical joint 69, second connecting rod DETAILED DESCRIPTION

[0014] The application is described in detail below with reference to the drawings. A multi-crop root stub precise and efficient crushing device includes a shell, a knife shaft tilting device, a stub cutting device, and a root crushing device. The shell is divided into an outer shell 2 and an inner shell 10. The top of the outer shell 2 is fixed with a three-point suspension frame 1. The top of the inner shell 10 is fixed with an observation camera 11. The knife shaft tilting device is arranged above the first tilt shaft 7. The stub cutting device and the root crushing device are arranged inside the inner shell 10.

[0015] The knife shaft tilting device comprises a tilting motor 3, a tilting driving spur gear 8, a tilting driven spur gear 9, a first tilting shaft 7 and a second tilting shaft 26. The tilting motor base 6 is fixed on the inner side plate of the outer housing 2. The tilting motor 3, the tilting motor storage battery 5 and the tilting mechanism controller 4 are all fixed on the tilting motor base 6. The tilting motor storage battery 5 is connected with the tilting motor 3 and the tilting mechanism controller 4 through electric wires respectively. The tilting mechanism controller 4 is connected with the tilting motor 3 through an electric wire. The tilting driving spur gear 8 is fixed with the output shaft of the tilting motor 3. The tilting driving spur gear 8 is engaged with the tilting driven spur gear 9. The tilting driven spur gear 9 is coaxially fixed with the first tilting shaft 7. One end of the first tilting shaft 7 is rotatably installed with the outer housing 2, and the other end is fixed with the inner housing 10. One end of the second tilting shaft 26 is rotatably installed with the outer housing 2, and the other end is fixed with the inner housing 10.

[0016] The stubble device comprises a lifting mechanism, a horizontal moving mechanism, a cutter shaft seat 37, a gear box 30, a stubble cutter shaft 40 and a deforming cutter shaft 55. The lifting mechanism comprises a lifting motor 14, a lifting motor battery 12, a lifting motor controller 13, a lifting screw 19, a lifting platform 17, a lifting shaft 18, a lifting driving bevel gear 15 and a lifting driven bevel gear 16. The lifting motor battery 12, the lifting motor controller 13 and the lifting motor 14 are all fixed on the inner housing 10. The lifting motor battery 12 is connected with the lifting motor controller 13 and the lifting motor 14 through wires respectively. The lifting motor controller 13 is connected with the lifting motor 14 through a wire. The output shaft of the lifting motor 14 is coaxially fixed with the lifting driving bevel gear 15. The lifting driving bevel gear 15 is meshed with the lifting driven bevel gear 16. The lifting driven bevel gear 16 is fixed with the lifting screw 19. The lifting screw 19 is rotatably installed at the top end of the inner housing 10. The thread on the lifting screw 19 is meshed with the spiral groove in the center of the lifting platform 17. The lifting shaft 18 is fixed at both ends with the lifting platform 17 and the screw slide base 20 respectively.The above-mentioned transverse movement mechanism comprises a transverse movement motor 23, a transverse movement motor battery 24, a transverse movement motor controller 25, a screw slide base 20, a transverse movement screw 22 and a transverse movement platform 27, the screw slide base 20 is fixed with a laser positioner 38, a motor frame 21 is fixed with the screw slide base 20, the transverse movement motor 23 is fixed on the transverse movement motor frame 21, the transverse movement motor battery 24 and the transverse movement motor controller 25 are both fixed on a tool shaft base 37, the transverse movement motor battery 24 is connected with the transverse movement motor 23 and the transverse movement motor controller 25 through wires respectively, the transverse movement motor controller 25 is connected with the transverse movement motor 23 through a wire, the output shaft of the transverse movement motor 23 is coaxially fixed with the transverse movement screw 22, the transverse movement screw 22 is engaged with the inner screw groove of the transverse movement platform 27, the transverse movement platform 27 is fixed with the tool shaft base 37, a first motor 29 is fixed with the tool shaft base 37, a first motor battery 28 is fixed on the tool shaft base 37 and connected with the first motor 29 through a wire, a gear box 30 is fixed on the tool shaft base 37, a stubble cleaning tool shaft 40 is fixed with the output end of the gear box 30, the first motor 29 is fixed with the input end of the gear box 30, a third motor 48, a third motor battery 47 and a third motor controller 46 are all fixed at the bottom of the output end of the gear box 30, the third motor battery 47 is connected with the third motor 48 and the third motor controller 46 through wires respectively, the third motor controller 46 is connected with the third motor 48 through a wire, a deformation tool shaft 55 is coaxially fixed with the output end of the third motor 48, the deformation tool shaft 55 is fixed with a stubble cleaning tool cam 54, a stubble cleaning tool disc 41 is edge-contact connected with the stubble cleaning tool cam 54, three tool housings 50 are equidistantly fixed on a moving tool plate 49, a moving tool base 31 is coaxially fixed on the stubble cleaning tool shaft 40, the moving tool plate 49 is fixed with the moving tool base 31, a tool blade shaft 52 is inserted into the moving tool plate 49, one end of the tool blade shaft 52 is fixed with the stubble cleaning tool disc 41, the other end is fixed with a tool blade 53, a reset spring 51 is inserted on the tool blade shaft 52, the two ends of the reset spring are respectively in contact connection with the moving tool plate 49 and the stubble cleaning tool disc 41, a fixed tool plate 39 is fixed on the inner housing 10, a fixed tool motor base 45 is fixed with the bottom end of the fixed tool plate 39, a second motor 42, a second motor battery 43 and a second motor controller 44 are all fixed on the fixed tool motor base 45, the output shaft of the second motor 42 is coaxially fixed with a fixed tool cam shaft 61, a fixed tool disc 60 is edge-contact connected with a fixed tool cam 62, three fixed tool housings 57 are equidistantly fixed on the fixed tool plate 39, a fixed tool blade shaft 59 is inserted into the fixed tool plate 39, one end of the fixed tool blade shaft 59 is fixed with the fixed tool disc 60, the other end is fixed with a fixed tool blade 56, a fixed tool reset spring 58 is inserted on the fixed tool blade shaft 59, the two ends of the fixed tool reset spring are respectively in contact connection with the fixed tool plate 39 and the fixed tool disc 60.

[0017] The root-killing device comprises a root-killing knife motor 32, a root-killing knife disc 35, a root-killing knife cam 64, and root-killing knives 36. The bottom of the stubble cleaning knife shaft 40 is fixed to the root-killing knife disc 35. The root-killing knife motor 32, the root-killing knife motor battery 34, and the root-killing knife controller 33 are all fixed to the root-killing knife disc 35. The root-killing knife motor battery 34 is connected to the root-killing knife motor 32 and the root-killing knife controller 33 through wires, respectively. The root-killing knife motor 32 is connected to the root-killing knife controller 33 through a wire. The root-killing knife cam shaft 63 is fixed to the output shaft of the root-killing knife motor 32 and is rotatably installed at the center of the root-killing knife disc 35. The root-killing knife cam shaft 63 is fixed to the root-killing knife cam 64. The root-killing knife disc 35 is fixed with two positive sliding bearings 59. The two ends of the root-killing knife sliding block 66 are slidably inserted into the two positive sliding bearings 65, respectively. The root-killing knife sliding block 66 has a hollow frame at the center. The hollow frame of the root-killing knife sliding block 66 is in contact with the edge of the root-killing knife cam 58. The root-killing knife 36 has three rows of sawtooth blades with different shapes and sizes. Two root-killing knives 36 are hingedly connected to the two ends of the root-killing knife sliding block 66, respectively. The first connecting rod 67 and the second connecting rod 69 are eccentrically fixed to the root-killing knife cam 64. The two root-killing knives 36 are ball-jointed to the first connecting rod 67 and the second connecting rod 69 through the ball joint 68. Thus, a multi-crop root stubble precise and efficient crushing device is formed.

[0018] When working, the tractor drives the machine forward through the three-point suspension frame 1. When encountering different terrains, the observation camera 11 identifies and feeds back information to the tilt mechanism controller 4. The tilt motor battery 5 supplies power to the tilt motor 3 and the tilt mechanism controller 4. The tilt mechanism controller 4 controls the rotation of the tilt motor 3. The tilt motor 3 drives the rotation of the tilt driving spur gear 8. The tilt driving spur gear 8 drives the rotation of the tilt driven gear 9. The rotation of the tilt driven gear 9 drives the rotation of the first tilt shaft 7. The rotation of the first tilt shaft 7 drives the rotation of the inner housing 10 and the second tilt shaft 26. The rotation of the inner housing 10 realizes the overall tilt of the cutter shaft to adapt to different working terrains. The observation camera 11 feeds back the observed root information to the laser positioner 38. The laser positioner 38 accurately locates the position of the root and feeds back the information to the lifting motor controller 13 and the horizontal movement motor controller 25. The lifting motor battery 12 supplies power to the lifting motor controller 13 and the lifting motor 14 through the wire. The lifting motor controller 13 controls the rotation of the lifting motor 14. The lifting motor 14 drives the rotation of the lifting driving bevel gear 15. The lifting driving bevel gear 15 drives the rotation of the lifting driven bevel gear 16. The rotation of the lifting driven bevel gear 16 drives the rotation of the lifting lead screw 19. The rotation of the lifting lead screw 19 drives the up-and-down movement of the lifting platform 17. The lifting platform 17 drives the up-and-down movement of the inner housing 10 through the lifting shaft 18, realizing the up-and-down movement of the cutter shaft. The horizontal movement motor battery 24 supplies power to the horizontal movement motor 23 and the horizontal movement motor controller 25. The horizontal movement motor controller 25 controls the rotation of the horizontal movement motor 23. The horizontal movement motor 23 drives the rotation of the horizontal movement lead screw 22. The rotation of the horizontal movement lead screw 22 drives the left-and-right movement of the horizontal movement platform 27. The horizontal movement platform 27 drives the left-and-right movement of the cutter shaft seat 37, ensuring that the cutter shaft can accurately align with the root.The first motor battery 28 supplies power to the first motor 29, and the power of the first motor 29 is transmitted to the stubble cleaning cutter shaft 40 through the gear box 30, so as to drive the stubble cleaning cutter shaft 40 to rotate, and the rotation of the stubble cleaning cutter shaft 40 drives the four groups of stubble cleaning cutters 53 to rotate. When the observation camera 11 observes different crops, the information is fed back to the third motor controller 46, the third motor battery 47 supplies power to the third motor 48 and the third motor controller 46, the third motor controller 46 controls the third motor 48 to rotate, the third motor 48 drives the deformation cutter shaft 55 to rotate, the deformation cutter shaft 55 drives the stubble cleaning cutter cam 54 to rotate, the stubble cleaning cutter disc 41 is in contact with the stubble cleaning cutter cam 54, so that the stubble cleaning cutter disc 41 can be driven to move outward, the stubble cleaning cutter disc 41 can be reset through the reset spring 51, so as to realize the adjustment of the length of the stubble cleaning cutter. When the observation camera 11 observes different crops, the information is synchronously fed back to the second motor controller 44, the second motor battery 43 supplies power to the second motor controller 44 and the second motor 42, the second motor controller 44 controls the second motor 42, the stubble cleaning cutter and the stubble cleaning cutter adopt the same type of stubble cleaning cutter, the second motor 42 drives the stubble cleaning cutter cam shaft 56 to rotate, and the automatic adjustment of the shape of the stubble cleaning cutter is realized in the same way. The dynamic cutter and the fixed cutter cooperate to complete the stubble high-quality crushing; the power is transmitted to the root cleaning cutter disc 35 through the stubble cleaning cutter shaft 40, so that the whole root cleaning device rotates synchronously with the stubble cleaning cutter shaft 40. After the observation camera 11 identifies the position of the root, the information is fed back to the root cleaning cutter motor controller 33, the root cleaning cutter motor battery 34 supplies power to the root cleaning cutter motor 32 and the root cleaning cutter controller 33, the root cleaning cutter motor controller 33 controls the root cleaning cutter motor 32 to rotate, the root cleaning cutter motor 32 drives the root cleaning cutter cam shaft 63 to rotate, the root cleaning cutter cam shaft 63 drives the root cleaning cutter cam 64 to rotate, and the root cleaning cutter slider 66 is driven to reciprocate transversely when the root cleaning cutter cam 64 rotates. When the root cleaning cutter 36 is about to cut the root, one end of the root cleaning cutter slider 66 is stretched to the farthest point, the first connecting rod 67 fixedly connected with the root cleaning cutter cam 64 controls the root cleaning cutter 36 to stretch out through the ball joint 68, and the root cleaning cutter 36 is rotated and the three-layer sawtooth structure with different shapes and lengths are utilized to crush the roots in the shallow, medium and deep soil layers. After the root cleaning is completed, the root cleaning cutter cam 64 rotates, the root cleaning cutter slider 66 is retracted to the nearest point, the first connecting rod 67 fixedly connected with the root cleaning cutter cam 64 retracts the root cleaning cutter through the ball joint 68, so as to avoid the soil between the plants, and realize the root crushing under the condition of low soil disturbance.

[0019] It should be noted that in this text, terms such as "including", "containing" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or equipment.

[0020] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications and adaptions can be effected without departing from the spirit and scope of the present application, which is not limited to the exact construction and arrangement described. It is intended, therefore, to cover all modifications and adaptions that fall within the scope of the claims and their equivalents.

Claims

1. A precision and efficient crushing device for multi-crop stubble, characterized in that: The utility model discloses a device, including casing, knife shaft tilting device, stubble device, root killer, above-mentioned casing again divide into outer casing (2) and inner casing (10), the top of outer casing (2) is equipped with three point suspension frame (1) and observation camera (11), is provided with knife shaft tilting device above first tilting shaft (7), and one end of first tiltilting shaft (7) is rotatablely installed with outer casing (2), the other end is equipped with inner casing (10), be provided with stubble device, root killer in inner casing (10) inside, root killer includes root killer knife motor (32), root killer knife cutterhead (35), root killer knife cam (64), root killer knife (36), root killer knife shaft (40) bottom is equipped with root killer knife cutterhead (35), root killer knife motor (32), root killer knife motor battery (34) and root killer knife controller (33) all are equipped with root killer knife cutterhead (35), and root killer knife motor battery (34) is connected with root killer knife motor (32) and root killer knife controller (33) respectively through wire, and root killer knife motor (32) is connected with root killer knife controller (33) through wire, and root killer knife cam shaft (63) is fixed with the output shaft of root killer knife motor (32) and rotatablely installed at the center of root killer knife cutterhead (35), and root killer knife cam shaft (63) is equipped with root killer knife cam (64), and root killer knife cutterhead (35) is equipped with two positive sliding bearing (65), and the both ends of root killer knife slider (66) are slidably inserted in two positive sliding bearing (65) respectively, and the hollow frame of root killer knife slider (66) is contacted and connected with the edge of root killer knife cam (64), and root killer knife (36) adopts three rows different shape and size sawtooth blade, and two root killer knives (36) are hingedly connected with the both ends of root killer knife slider (66) respectively, and first connecting rod (67) and second connecting rod (69) are all eccentrically equipped with root killer knife cam (64), and two root killer knives (36) are ball-jointed with first connecting rod (67) and second connecting rod (69) through ball joint (68), thus constitute a kind of multi-crop root stubble precision efficient crushing device.

2. The multi-crop root and stubble precision and efficient crushing device according to claim 1, characterized in that: Knife shaft tilting device includes tilting motor (3), tilting driving spur gear (8), tilting driven spur gear (9) and second tilting shaft (26), tilting motor base (6) is equipped with inner casing (10), tilting motor (3) is equipped in tilting motor base (6), and tilting motor battery (5) and tilting mechanism controller (4) are all equipped in tilting motor base (6), and tilting motor battery (5) is connected with tilting motor (3) and tilting mechanism controller (4) through wire, and tilting mechanism controller (4) is connected with tilting motor (3) through wire, and tilting driving spur gear (8) is equipped with the output shaft of tilting motor (3), and tilting driving spur gear (8) is engaged with tilting driven spur gear (9), and tilting driven spur gear (9) is concentrically fixed with first tilting shaft (7), and one end of second tilting shaft (26) is rotatablely installed with outer casing (2), and the other end is equipped with inner casing (10).

3. The multi-crop root and stubble precision and efficient crushing device according to claim 1, characterized in that: The stubble cutting device comprises a lifting mechanism, a horizontal moving mechanism, a cutter shaft base (37), a gear transmission box (30), a stubble removing cutter shaft (40), and a deforming cutter cutter shaft (55). The lifting mechanism comprises a lifting motor (14), a lifting motor battery (12), a lifting motor controller (13), a lifting screw (19), a lifting platform (17), a lifting shaft (18), a lifting driving bevel gear (15), and a lifting driven bevel gear (16). The lifting motor battery (12), the lifting motor controller (13), and the lifting motor (14) are all fixed on an inner housing (10). The lifting motor battery (12) is connected with the lifting motor controller (13) and the lifting motor (14) through wires respectively. The lifting motor controller (13) is connected with the lifting motor (14) through a wire. The output end of the lifting motor (14) is coaxially fixed with the lifting driving bevel gear (15). The lifting driving bevel gear (15) is meshed with the lifting driven bevel gear (16). The lifting driven bevel gear (16) is fixed with the lifting screw (19). The lifting screw (19) is rotatably installed at the top end of the inner housing (10). The screw thread on the lifting screw (19) is meshed with the spiral groove at the center of the lifting platform (17). The lifting shaft (18) is fixed at both ends with the lifting platform (17) and the screw slide base (20) respectively. The horizontal moving mechanism comprises a horizontal moving motor (23), a horizontal moving motor battery (24), a horizontal moving motor controller (25), a screw slide base (20), a horizontal moving screw (22), and a horizontal moving platform (27). The screw slide base (20) is fixed with a laser positioner (38). The horizontal moving motor frame (21) is fixed with the screw slide base (20). The horizontal moving motor (23) is fixed on the horizontal moving motor frame (21). The horizontal moving motor battery (24) and the horizontal moving motor controller (25) are both fixed on the cutter shaft base (37). The horizontal moving motor battery (24) is connected with the horizontal moving motor (23) and the horizontal moving motor controller (25) through wires respectively. The horizontal moving motor controller (25) is connected with the horizontal moving motor (23) through a wire. The output shaft of the horizontal moving motor (23) is coaxially fixed with the horizontal moving screw (22). The horizontal moving screw (22) is meshed with the inner spiral groove of the horizontal moving platform (27). The horizontal moving platform (27) is fixed with the cutter shaft base (37). The first motor (29) is fixed with the cutter shaft base (37). The first motor battery (28) is fixed on the cutter shaft base (37) and connected with the first motor (29) through a wire. The gear transmission box (30) is fixed on the cutter shaft base (37). The stubble removing cutter shaft (40) is fixed with the output shaft of the gear transmission box (30). The first motor (29) is fixed with the input shaft of the gear transmission box (30). The third motor (48), the third motor battery (47), and the third motor controller (46) are all fixed at the bottom of the output shaft of the gear transmission box (30). The third motor battery (47) is connected with the third motor (48) and the third motor controller (46) through wires respectively. The third motor controller (46) is connected with the third motor (48) through a wire.The deformation knife shaft (55) is coaxially fixed with the output shaft of the third motor (48), the deformation knife shaft (55) is fixed with the stubble cleaning knife cam (54), the stubble cleaning knife disc (41) is in edge contact with the stubble cleaning knife cam (54), three knife shells (50) are equidistantly fixed on the moving knife plate (49), the moving knife seat (31) is coaxially fixed on the stubble cleaning knife shaft (40), the moving knife plate (49) is fixed with the moving knife seat (31), the knife edge shaft (52) is inserted into the moving knife plate (49), one end of the knife edge shaft (52) is fixed with the stubble cleaning knife disc (41), the other end is fixed with the knife edge (53), the reset spring (51) is inserted on the knife edge shaft (52), and the two ends are respectively in contact with the moving knife plate (49) and the stubble cleaning knife disc (41). The inner shell (10) is fixed with the fixed knife plate (39), the fixed knife motor seat (45) is fixedly connected with the bottom end of the fixed knife plate (39), the second motor (42), the second motor battery (43) and the second motor controller (44) are fixedly connected on the fixed knife motor seat (45), the output shaft of the second motor (42) is coaxially fixed with the fixed knife cam shaft (61), the fixed knife disc (60) is in edge contact with the fixed knife cam (62), three fixed knife shells (57) are equidistantly fixed on the fixed knife plate (39), the fixed knife edge shaft (59) is inserted into the fixed knife plate (39), one end of the fixed knife edge shaft (59) is fixed with the fixed knife disc (60), the other end is fixed with the fixed knife edge (56), and the fixed knife reset spring (58) is inserted on the fixed knife edge shaft (59). The two ends are respectively in contact with the fixed knife plate (39) and the fixed knife disc (60).

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