A fully automatic intelligent inter-tillage and fertilization machine for tea gardens and its working method

Abstract

This invention discloses a fully automatic intelligent inter-tillage and fertilization machine for tea gardens and its working method. In this invention, the frame is driven to move by two symmetrically arranged movable chassis. The fertilization device is mounted on the frame, and rotary tillage devices are located directly behind the two movable chassis on the frame. Each auger of the fertilization device has multiple chains parallel to the central axis of the auger and evenly distributed circumferentially. Each chain is fixed to the axially covered position on the outer edge of the corresponding auger's spiral blade. The rotary tillage device has a connecting plate hinged to the frame and driven to rotate by an electric cylinder. A rotary tillage blade is located at the end of the connecting plate away from the frame. Both ends of the horizontally arranged blade shaft of the rotary tillage blade are fixed with blade holders. Each blade holder has a set of multiple soil-breaking blades evenly distributed circumferentially, and two sets of multiple soil-crushing blades evenly distributed circumferentially. This invention can realize inter-tillage of compacted soil and application of organic fertilizer.

Description

Technical Field

[0001] This invention belongs to the technical field of tea garden tillage machines, specifically relating to a fully automatic intelligent tea garden tillage and fertilization integrated machine and its working method. Background Technology

[0002] Tea garden cultivation is the foundation of tea production, usually accompanied by fertilization, and is key to improving planting conditions and maintaining the sustainable development of agricultural activities. Cultivation is divided into shallow cultivation, medium cultivation and deep cultivation. Among them, medium cultivation and fertilization is the most labor-intensive and least efficient link in tea garden management, and it is also the key to improving soil properties and fertility, and improving tea quality and yield. However, there are several problems in the current medium cultivation and fertilization link: (1) The existing rotary tillage device does not have strong land-specific characteristics. Ordinary rotary tillers are prone to not being able to till hard and compacted soil. (2) The existing tea garden fertilization machinery on the market mainly uses augers to transport chemical fertilizers. However, the existing augers are not suitable for organic fertilizer application because of the stickiness of organic fertilizer and the design of the auger spiral blade structure. There will be a gap cycle when the auger discharges fertilizer: after the auger shaft rotates once, the spiral blades located at the end of the auger shaft near the discharge port return to the initial position. At the beginning position, the spiral blades do not cover 360°, so organic fertilizer in a certain angle cannot come into contact with the spiral blades, resulting in uneven fertilizer discharge or even blockage during the fertilizer discharge cycle. When organic fertilizer is spread on the soil, due to uneven mixing, the organic fertilizer cannot be evenly covered or mixed into the soil, but forms a layer of organic fertilizer on the soil surface or at a certain level, which prevents the crop roots from effectively absorbing the nutrients in the organic fertilizer, resulting in an empty space. (3) The current level of intelligence of large-scale inter-cultivation fertilization machines is generally low, requiring a lot of manpower. Therefore, it is necessary to design an intelligent inter-cultivation fertilization device for tea gardens that is suitable for compacted soil and can realize organic fertilizer application. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of existing technologies and to propose a fully automatic intelligent inter-cultivation and fertilization machine for tea gardens and its working method.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] This invention discloses a fully automatic intelligent inter-tillage and fertilization machine for tea gardens, comprising a frame, a fertilization device, a rotary tillage device, and a mobile chassis. The two symmetrically arranged mobile chassis drive the frame to move. The fertilization device is mounted on the frame, and the rotary tillage device is located directly behind each of the two mobile chassis on the frame.

[0006] The fertilizer applicator includes a hopper, an auger, chains, and a conveying housing. The hopper is lifted by a lifting mechanism on the frame, and its two outlets at the bottom are fixed and connected to two symmetrically arranged conveying housings. Two horizontally arranged augers are respectively located inside the two conveying housings, and their shafts and the two conveying housings form a rotating pair, each driven by a motor. Each auger has multiple chains parallel to its central axis and evenly distributed circumferentially, and each chain is fixed to the position where it is covered along the axial direction on the outer edge of the corresponding auger's spiral blade. Each conveying housing has a discharge port at one end of the corresponding auger, and each discharge port is fixed and connected to the inlet of a conveying pipe. The middle of the two conveying pipes is fixed to the frame, and the outlets of the two conveying pipes are located directly behind the two movable chassis.

[0007] The rotary tillage device includes rotary tillage blades, a soil retaining plate, and a connecting plate. One end of the connecting plate is hinged to the frame, and the other end is fixed to the soil retaining plate. The connecting plate is driven to rotate by an electric cylinder. The rotary tillage blades are located directly below the soil retaining plate and directly behind the second outlet of the feed pipe on the same side. They include a blade shaft, blade holders, soil-crushing blades, soil-breaking blades, a weeding disc, and a weed retaining plate. The blade shaft is horizontally arranged and perpendicular to the direction of movement of the frame. It forms a rotating pair with the connecting plate and is driven to rotate by a second motor. Blade holders are fixed at both ends of the blade shaft. Three fixed rod groups are integrally formed and equidistantly arranged along the axial direction on the blade holders. Each fixed rod group consists of multiple fixed rods equidistantly arranged along the circumference. The fixed rods are arranged radially. In the two fixed rod groups at both ends of the blade holder, every two fixed rods are aligned and fixed to the two ends of a weed retaining plate parallel to the blade shaft. In the fixed rod group in the middle of the blade holder, each fixed rod is staggered with the fixed rods of the adjacent fixed rod group. One of the fixed rod groups... Each fixed rod is fixed to one soil-breaking blade, and each fixed rod of the other two fixed rod groups is fixed to one soil-breaking blade; the soil-breaking blade is an arc-shaped blade, and the arc shape of the soil-breaking blade is parallel to the plane perpendicular to the blade axis; the end of the soil-breaking blade away from the blade holder is a pointed tip, and the pointed tip is sharpened on both sides; the soil-breaking blade consists of a straight rod section, an arc-shaped blade section one, and an arc-shaped blade section two; the straight rod section is fixed to the fixed rod, and the arc-shaped blade section one connects the straight rod section and the arc-shaped blade section two; the arc shape of the arc-shaped blade section one is parallel to the plane perpendicular to the blade axis. The straight blade shaft is set parallel to each other, and the arc-shaped profile of the second arc-shaped blade section bends outward along the blade shaft axis; the outer arc of the first arc-shaped blade section is sharpened, and the side of the second arc-shaped blade section that connects to the outer arc of the first arc-shaped blade section is sharpened; both ends of the blade shaft are provided with weeding discs on the inner sides of the two blade holders. The weeding disc includes a weeding plate and a fixing plate. The fixing plate is fixed coaxially with the blade shaft, and multiple weeding plates are fixed on the fixing plate at equal intervals along the circumference; multiple serrations are provided on the top of the weeding plate along the axial direction.

[0008] Preferably, a downward-facing V-shaped guide plate is fixed inside the hopper between the two outlets.

[0009] Preferably, the upper end of the electric cylinder is hinged to the frame, and the lower end is provided with a buffer mechanism. The buffer mechanism includes a first connector and a second connector. The first connector is fixed to the lower end of the electric cylinder and forms a sliding pair with the circular hole opened on the second connector. It is also connected to the second connector by a spring. The second connector is hinged to the middle of the connecting plate.

[0010] Preferably, the motor housing of the second motor is fixed to the gearbox housing of the gearbox, the gearbox housing is fixed to the connecting plate, the output shaft of the second motor is fixed to the input shaft of the gearbox, and the output shaft of the gearbox is connected to the cutter shaft through a bevel gear pair.

[0011] Preferably, each fixed rod in the fixing rod group in the middle of the cutter holder is fixed with a soil-breaking blade, and each fixed rod in the fixing rod group at both ends of the cutter holder is fixed with a soil-crushing blade.

[0012] Preferably, the mobile chassis includes a battery compartment and a tracked walking mechanism, the tracked walking mechanism being powered by the battery compartment; the tracked walking mechanisms of the two mobile chassis drive the frame to move.

[0013] Preferably, a seat is fixed on the frame.

[0014] Preferably, each tracked walking mechanism, each motor one, each electric cylinder and each motor two are controlled by controller one and controller two; the frame is equipped with environmental perception sensors, including lidar, infrared sensor and vision camera, and the signal output terminals of lidar, infrared sensor and vision camera are all connected to controller two on the frame.

[0015] The working method of the fully automatic intelligent inter-tillage and fertilization machine for tea gardens according to the present invention is as follows:

[0016] Organic fertilizer is poured into the hopper. Then, controller one or controller two controls motor two to drive each cutter shaft, which in turn drives each weeding disc and each cutter holder to rotate at a preset speed. Each cutter holder drives the corresponding soil-crushing and soil-breaking blades to rotate. Controller one or controller two controls the piston rods of the two electric cylinders to extend synchronously. The piston rods of the two electric cylinders drive the corresponding rotary tillers to rotate downwards through two connecting plates, adjusting the height of the rotary tillers so that they descend to the preset height. As the connecting plates rotate downwards, the rotating soil-crushing and soil-breaking blades in the rotary tillers make contact with the ground. The machine touches the soil and tills it; then, two mobile chassis drive the frame to move the fertilizer application device and two rotary tillers at a preset speed. At the same time, controller one or controller two controls two motors to drive two augers to rotate synchronously. Organic fertilizer enters the two conveying shells from the hopper, is conveyed to the two discharge ports by the two rotating augers, and is output through two conveying pipes to the ground. When each auger rotates, it drives the corresponding chain to swing, and each chain stirs the organic fertilizer and contacts the inner wall of the corresponding conveying shell, scraping off the organic fertilizer attached to the inner wall of the conveying shell.

[0017] As the machine frame moves, the soil-crushing blades and soil-breaking blades till the soil along the direction of movement. When the soil-breaking blades contact the ground, their blades cut vertically into clods. When the soil-crushing blades behind the soil-breaking blades contact the ground, the first and second curved blade sections of the soil-crushing blades cut the soil in a sliding motion, breaking up the clods and severing grass roots. At the same time, some soil is ejected, and corresponding baffles prevent the ejected soil from splashing, allowing it to cover the organic fertilizer in front. In addition, the soil-crushing blades and soil-breaking blades, which are staggered in the rotary tillers, mix the organic fertilizer with the soil while tilling. If weeds are entangled on the weeding discs, the serrations on each weeding disc cut the weeds, and the baffles prevent the weeds from entangled on the corresponding blade holders.

[0018] Preferably, during the frame movement, when the current of motor 2 exceeds the overload current, the overload protector of motor 2 is triggered, and controller 1 or controller 2 controls motor 2 to stop working. At the same time, the speed of the frame movement driven by the two moving chassis increases. When the overload protector of motor 2 is not triggered, controller 1 or controller 2 controls motor 2 to drive the corresponding cutter shaft to drive each weeding disc and each cutter holder to continue working at a preset speed, and the two moving chassis drive the frame to continue moving at a preset speed. When the current of motor 2 is greater than preset value 1 but does not exceed the overload current, controller 1 or controller 2 controls the speed of motor 2 to increase. When the current of motor 2 is less than preset value 2, controller 1 or controller 2 controls the speed of motor 2 to decrease, wherein preset value 2 is less than preset value 1. In addition, when the frame movement speed increases, controller 1 or controller 2 controls the speed of the two motors 1 to increase synchronously, increasing the conveying speed of organic fertilizer. When the frame movement speed decreases, controller 1 or controller 2 controls the speed of the two motors 1 to decrease synchronously, reducing the conveying speed of organic fertilizer.

[0019] The present invention has the following beneficial effects:

[0020] 1. This invention enables the cultivation of compacted soil and the application of organic fertilizer, with a high degree of automation, reducing manual labor. Specifically, the soil-breaking blades in the rotary tillage system of this invention can vertically cut the soil upon contact with the ground, exhibiting good soil penetration and helping to break up soil compaction and clods. The soil-crushing blades, upon entering the soil, can slide and cut through it, helping to cut grass roots and break up soil clods. Furthermore, the staggered arrangement of the soil-crushing and soil-breaking blades in the rotary tillage system produces a better soil-turning effect during cutting, more effectively cutting the soil, reducing resistance, and improving the efficiency and effectiveness of tillage. Simultaneously, the soil-crushing blades throw out some soil, which, under the protection of the retaining plate, covers the organic fertilizer. Then, the staggered arrangement of the soil-crushing and soil-breaking blades in the rotary tillage system simultaneously tills the soil and mixes the organic fertilizer with the soil. This invention ensures full contact between organic fertilizer and soil, reducing the occurrence of fertilizer bridging. Furthermore, by installing a chain on the spiral blades of the auger, the chain swings as the auger rotates, thoroughly agitating the organic fertilizer and contacting the inner wall of the corresponding conveyor housing. This scrapes off the organic fertilizer adhering to the inner wall, preventing clogging. Even further, the invention controls the cutter shaft speed and frame movement speed based on the current of motor one, thereby controlling the fertilization speed. This ensures that the cutter shaft speed, frame movement speed, and fertilization speed are coordinated. Environmental sensors and multimodal sensor fusion technology provide machine status and environmental information, dynamically optimizing path planning and steering strategies in real time, achieving fully automated inter-row cultivation and fertilization with a high degree of intelligence.

[0021] 2. The present invention includes a weeding disc and a weed-blocking plate. The serrations on the weeding disc cut off the weeds wrapped around it, reducing the occurrence of weeds getting tangled in the blade shaft. The weed-blocking plate prevents weeds from getting tangled in the blade holder, reducing the occurrence of weeds getting tangled in the blade holder. This reduces the interference of weeds on the rotary tillage blades and improves tillage efficiency. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure after removing the feed pipe in this invention;

[0023] Figure 2 This is a cross-sectional view of the fertilizer application device after the feed pipe is removed in this invention;

[0024] Figure 3 This is a schematic diagram of the auger and chain in this invention;

[0025] Figure 4 This is a schematic diagram of the rotary tillage device in this invention;

[0026] Figure 5 This is a schematic diagram of the rotary tillage blade in this invention;

[0027] Figure 6 This is a schematic diagram of the structure of the weeding disc in this invention;

[0028] Figure 7 This is a schematic diagram of the buffer mechanism in this invention;

[0029] Figure 8 This is a schematic diagram showing the installation positions of the lifting mechanism and the mobile chassis in this invention. Detailed Implementation

[0030] The present invention will now be further described with reference to the accompanying drawings.

[0031] like Figure 1 As shown, the present invention provides a fully automatic intelligent inter-tillage and fertilization machine for tea gardens, comprising a frame 1, a fertilization device 2, a rotary tillage device 3, and a mobile chassis 4. Two symmetrically arranged mobile chassis 4 drive the frame 1 to move. The fertilization device 2 is mounted on the frame 1, and the rotary tillage device 3 is mounted on the frame 1 directly behind the two mobile chassis 4.

[0032] like Figure 2 , Figure 3 and Figure 8 As shown, the fertilizer applicator 2 includes a hopper 21, an auger 22, a chain 26, and a conveyor housing. The hopper 21 is driven to rise and fall by a lifting mechanism 43 (which can consist of two linear motors, driving the hopper 21 to rise and fall synchronously on both sides) mounted on the frame 1. The two outlets at the bottom of the hopper 21 are fixed and connected to two symmetrically arranged conveyor housings. A downward-facing V-shaped guide plate 25 is fixed inside the hopper 21 between the two outlets, guiding the organic fertilizer in the hopper 21 towards the two conveyor housings. Two horizontally arranged augers 22 are respectively located inside the two conveyor housings, and the auger shafts 221 of the two augers are connected to the two conveyor housings. Each conveying housing is configured as a rotating pair and driven by two motors 23. Each auger 22 is provided with multiple chains 26 that are parallel to the central axis of the auger 22 and evenly distributed circumferentially. Each chain 26 is fixed to the position where it is covered in the axial direction on the outer edge of the spiral blade 222 of the corresponding auger 22. Each conveying housing is provided with a discharge port 24 at one end of the corresponding auger 22. Each discharge port 24 is fixed and connected to the inlet of a conveying pipe (not shown in the figure). Both conveying pipes are fixed to the frame, and the outlets of the two conveying pipes are located directly behind the two movable chassis 4.

[0033] like Figure 4 , Figure 5 , Figure 6 and Figure 7As shown, the rotary tillage device 3 includes rotary tillage blades 33, a retaining plate 34, a connecting plate 35, an electric cylinder 36, and a buffer mechanism 37. The buffer mechanism 37 includes a first connector 371 and a second connector 372. The circular holes on the first connector 371 and the second connector 372 form a sliding pair and are connected to the second connector 372 by a spring 373. The upper end of the electric cylinder 36 is hinged to the frame 1, and the lower end is fixed to the first connector 371. One end of the connecting plate 35 is hinged to the lower end of the frame 1, the middle part is hinged to the second connector 372, and the other end is fixed with a retaining plate 34. The rotary tillage blades 33 are located directly below the retaining plate 34 and are located directly behind the outlet of the feed pipe on the same side. The buffer mechanism 37 is used to reduce the impact of the vibration generated by the rotary tillage blades 33 on the electric cylinder 36 and improve the rotary tillage quality. The rotary tiller blades 33 include a weeding disc 331, a weed-blocking plate 332, a blade shaft 333, a blade holder 334, a soil-breaking blade 335, and a soil-crushing blade 336. The blade shaft 333 is horizontally arranged and perpendicular to the moving direction of the frame 1, and forms a rotating pair with the connecting plate 35, driven to rotate by the motor 31. Blade holders 334 are fixed at both ends of the blade shaft 333. Each blade holder 334 has three integrally formed and equidistantly arranged fixing rod groups along the axial direction. Each fixing rod group consists of multiple fixing rods equidistantly arranged circumferentially, with the fixing rods arranged radially. The blade holder 33... 4. In the two fixed rod groups at both ends, each pair of fixed rods is aligned and fixed to both ends of a weed-blocking plate 332 parallel to the cutter shaft 333. The weed-blocking plate 332 is used to prevent weeds from getting tangled on the cutter holder 334. In the fixed rod group in the middle of the cutter holder 334, each fixed rod is staggered with the fixed rods of the adjacent fixed rod group; each fixed rod of one fixed rod group is fixed to a soil-breaking blade 335, and each fixed rod of the other two fixed rod groups is fixed to a soil-crushing blade 336; the soil-breaking blade 335 is an arc-shaped blade, and the soil-breaking blade 335... The curved profile is parallel to the surface of the vertical cutter shaft 333; the end of the soil-breaking blade 335 away from the cutter holder 334 is a pointed tip, and the tip is sharpened on both sides; the soil-breaking blade 336 consists of a straight rod section, a curved blade section one, and a curved blade section two; the straight rod section is fixed to the fixed rod, and the curved blade section one connects the straight rod section and the curved blade section two; the curved profile of the curved blade section one is parallel to the surface of the vertical cutter shaft 333, and the curved profile of the curved blade section two bends outward along the axial direction of the cutter shaft 333; the outer arc of the curved blade section one is sharpened, and the outer arc of the curved blade section two is sharpened to match the outer arc of the curved blade section one. The connecting side is sharpened; both ends of the blade shaft 333 are provided with weeding discs 331 located inside the two blade holders 334. The weeding disc 331 includes a weeding plate 3311 and a fixing plate 3312. The fixing plate 3312 is fixed coaxially with the blade shaft 333. Multiple weeding plates 3311 are fixed on the fixing plate 3312 and are arranged equidistantly along the circumference. Multiple serrations 3313 are provided at the top of the weeding plate 3311 and are arranged axially. Each serration 3313 on the weeding plate 3311 can reduce the occurrence of weeds entangled in the blade shaft by cutting the weeds.

[0034] In a preferred embodiment, the motor housing of motor 2 31 is fixed to the gearbox housing of gearbox 32, the gearbox housing is fixed to the connecting plate 35, the output shaft of motor 2 31 is fixed to the input shaft of gearbox 32, and the output shaft of gearbox 32 is connected to cutter shaft 333 through bevel gear pair.

[0035] In a preferred embodiment, each fixing rod in the fixing rod group in the middle of the cutter holder 334 is fixed with a soil breaking blade 335, and each fixing rod in the fixing rod group at both ends of the cutter holder 334 is fixed with a soil shredding blade 336.

[0036] In a preferred embodiment, the mobile chassis 4 includes a battery compartment 41 and a tracked walking mechanism 42; the tracked walking mechanisms 42 of the two mobile chassis 4 synchronously drive the frame 1 to move, and are respectively powered by a corresponding battery compartment 41.

[0037] In a preferred embodiment, a seat 44 is fixed on the frame 1, and the seat 44 can be used by staff to sit.

[0038] In a preferred embodiment, the rack 1 is equipped with an environmental perception sensor, which includes a lidar, an infrared sensor, and a vision camera. The signal output terminals of the lidar, infrared sensor, and vision camera are all connected to the controller 46 on the rack 1, and the controller 46 communicates with the cloud. In autonomous driving mode, the controller 46 dynamically optimizes path planning and steering in real time based on the feedback signals from the lidar, infrared sensor, and vision camera, and transmits the signals to the cloud.

[0039] Both controller 1 (45) and controller 2 (46) can control each tracked walking mechanism 42, each motor 1 (23), each electric cylinder 36, and each motor 2 (31). In manual driving mode, the operator sits on seat 44 and operates the control buttons on controller 1 (45). The control buttons include buttons to control the speed and direction of each tracked walking mechanism 42, buttons to control the speed of each motor 1 (23) and each motor 2 (31), and buttons to control the extension and retraction of each electric cylinder 36.

[0040] The working method of the fully automatic intelligent inter-tillage and fertilization machine for tea gardens according to the present invention is as follows:

[0041] Organic fertilizer is poured into hopper 21. Then, controller 1 45 or controller 2 46 controls motor 2 31 to drive cutter shafts 333, which in turn drive weeding discs 331 and cutter holders 334 to rotate at a preset speed. Each cutter holder 334 drives the corresponding soil-crushing blades 336 and soil-breaking blades 335 to rotate. Controller 1 45 or controller 2 46 controls the piston rods of the two electric cylinders 36 to extend synchronously. The piston rods of the two electric cylinders 36 drive the corresponding rotary tillers 33 to rotate downwards through two connecting plates 35, adjusting the height of the rotary tillers 33 so that they descend to the preset height, achieving the required tillage depth. As the connecting plates 35 rotate downwards, the rotating soil-crushing blades 336 and soil-breaking blades 336 within the rotary tillers 33... Each soil-breaking blade 335 contacts the ground and tills the soil; then, the two movable chassis 4 drive the frame 1 to move the fertilizer application device 2 and the two rotary tillage devices 3 at a preset moving speed. At the same time, the controller 1 45 or the controller 2 46 controls the two motors 1 23 to drive the two augers 22 to rotate synchronously. Organic fertilizer enters the two conveying shells from the hopper 21, is conveyed to the two discharge ports 24 by the two rotating augers 22, and is output through the two conveying pipes to fall to the ground. When each auger 22 rotates, it drives the corresponding chain 26 to swing. Each chain 26 fully mixes the organic fertilizer and contacts the inner wall of the corresponding conveying shell, scraping off the organic fertilizer adhering to the inner wall of the conveying shell to avoid organic fertilizer blockage.

[0042] As the frame 1 moves, each soil-crushing blade 336 and each soil-breaking blade 335 tills the soil along the direction of movement of the frame 1. When the soil-breaking blade 335 contacts the ground, its blade cuts the soil vertically, breaking it into small clods. When the soil-crushing blade 336 behind the soil-breaking blade 335 contacts the ground, the first and second curved blade sections of the soil-crushing blade 336 cut the soil in a sliding manner, breaking up the small clods and cutting off grass roots in the soil. At the same time, some soil is thrown out, and the corresponding soil-blocking plate 34 prevents the thrown soil from splashing, so that the thrown soil covers the organic fertilizer in front. Furthermore, the staggered soil-breaking blades 336 and 335 in each rotary tillage blade 33 can fully mix organic fertilizer with soil while tilling, reducing the occurrence of soil erosion. If weeds are entangled on each weeding disc 331, the serrations 3313 on each weeding disc 331 will cut the weeds entangled on the corresponding weeding disc 331, reducing the occurrence of weeds getting tangled in the blade shaft. Each weed-blocking plate 332 prevents weeds from getting tangled in the corresponding blade holder 334, reducing the occurrence of weeds getting tangled in the blade holder 334, thereby reducing the interference of tangled weeds on the rotary tillage blades 33 and improving tillage efficiency.

[0043] During the movement of the frame 1, when the soil-breaking blade 336 or the soil-breaking blade 335 touches a hard object (such as a rock), the force on the soil-breaking blade 336 or the soil-breaking blade 335 increases sharply, and the current of the corresponding motor 31 increases sharply, exceeding the overload current. The overload protector (which may be an overcurrent protector) of the motor 31 is triggered, and the controller 45 or the controller 46 controls the motor 31 to stop working to prevent damage to the soil-breaking blade 336, the soil-breaking blade 335, or the motor 31. At the same time, the two moving chassis 4 drive the frame 1 to move at an increased speed. After the frame 1 moves away from the hard object (the overload protector of the motor 31 is not triggered), the controller 45 or the controller 46 controls the motor 31 to stop working. 31 drives the corresponding cutter shaft 333 to drive each weeding disc 331 and each cutter holder 334 to continue working at a preset speed. The two movable chassis 4 drive the frame 1 to continue moving at a preset moving speed. When the soil-crushing blade 336 or soil-breaking blade 335 tills to compacted soil, the current of the corresponding motor 2 31 increases. If the current is greater than the preset value 1 and does not exceed the overload current, the controller 1 45 or the controller 2 46 controls the speed of the motor 2 31 to increase. When the soil-crushing blade 336 or soil-breaking blade 335 tills to loose soil, the current of the corresponding motor 2 31 decreases. If the current is less than the preset value 2, the controller 1 45 or the controller 2 46 controls the speed of the motor 2 31 to decrease. The preset value 2 is less than the preset value 1. In addition, when the frame 1 moves faster, controller 1 45 or controller 2 46 controls the rotation speed of the two motors 23 to increase synchronously, thereby increasing the conveying speed of organic fertilizer. When the frame 1 moves slower, controller 1 45 or controller 2 46 controls the rotation speed of the two motors 23 to decrease synchronously, thereby reducing the conveying speed of organic fertilizer and improving the fertilization quality.

Claims

1. A fully automatic intelligent inter-tillage and fertilization machine for tea gardens, comprising a frame, a fertilization device, a rotary tillage device, and a mobile chassis, wherein two symmetrically arranged mobile chassis drive the frame to move, the fertilization device is mounted on the frame, and a rotary tillage device is provided on the frame directly behind each of the two mobile chassis, characterized in that: The fertilizer applicator includes a hopper, an auger, chains, and a conveying housing. The hopper is lifted by a lifting mechanism on the frame, and its two outlets at the bottom are fixed and connected to two symmetrically arranged conveying housings. Two horizontally arranged augers are respectively located inside the two conveying housings, and their shafts and the two conveying housings form a rotating pair, each driven by a motor. Each auger has multiple chains parallel to its central axis and evenly distributed circumferentially, and each chain is fixed to the position where it is covered along the axial direction on the outer edge of the corresponding auger's spiral blade. Each conveying housing has a discharge port at one end of the corresponding auger, and each discharge port is fixed and connected to the inlet of a conveying pipe. The middle of the two conveying pipes is fixed to the frame, and the outlets of the two conveying pipes are located directly behind the two movable chassis. The rotary tillage device includes rotary tillage blades, a soil retaining plate, and a connecting plate. One end of the connecting plate is hinged to the frame, and the other end is fixed to the soil retaining plate. The connecting plate is driven to rotate by an electric cylinder. The rotary tillage blades are located directly below the soil retaining plate and directly behind the second outlet of the feed pipe on the same side. They include a blade shaft, blade holders, soil-crushing blades, soil-breaking blades, a weeding disc, and a weed retaining plate. The blade shaft is horizontally arranged and perpendicular to the direction of movement of the frame. It forms a rotating pair with the connecting plate and is driven to rotate by a second motor. Blade holders are fixed at both ends of the blade shaft. Three fixed rod groups are integrally formed and equidistantly arranged along the axial direction on the blade holders. Each fixed rod group consists of multiple fixed rods equidistantly arranged along the circumference. The fixed rods are arranged radially. In the two fixed rod groups at both ends of the blade holder, every two fixed rods are aligned and fixed to the two ends of a weed retaining plate parallel to the blade shaft. In the fixed rod group in the middle of the blade holder, each fixed rod is staggered with the fixed rods of the adjacent fixed rod group. One of the fixed rod groups... Each fixed rod is fixed to one soil-breaking blade, and each fixed rod of the other two fixed rod groups is fixed to one soil-breaking blade; the soil-breaking blade is an arc-shaped blade, and the arc shape of the soil-breaking blade is parallel to the plane perpendicular to the blade axis; the end of the soil-breaking blade away from the blade holder is a pointed tip, and the pointed tip is sharpened on both sides; the soil-breaking blade consists of a straight rod section, an arc-shaped blade section one, and an arc-shaped blade section two; the straight rod section is fixed to the fixed rod, and the arc-shaped blade section one connects the straight rod section and the arc-shaped blade section two; the arc shape of the arc-shaped blade section one is parallel to the plane perpendicular to the blade axis. The straight blade shaft is set parallel to each other, and the arc-shaped profile of the second arc-shaped blade section bends outward along the blade shaft axis; the outer arc of the first arc-shaped blade section is sharpened, and the side of the second arc-shaped blade section that connects to the outer arc of the first arc-shaped blade section is sharpened; both ends of the blade shaft are provided with weeding discs on the inner sides of the two blade holders. The weeding disc includes a weeding plate and a fixing plate. The fixing plate is fixed coaxially with the blade shaft, and multiple weeding plates are fixed on the fixing plate at equal intervals along the circumference; multiple serrations are provided on the top of the weeding plate along the axial direction.

2. The fully automatic intelligent inter-tillage and fertilization machine for tea gardens according to claim 1, characterized in that: A downward-facing V-shaped guide plate is fixed inside the hopper between the two outlets.

3. The fully automatic intelligent inter-tillage and fertilization machine for tea gardens according to claim 1, characterized in that: The upper end of the electric cylinder is hinged to the frame, and the lower end is provided with a buffer mechanism. The buffer mechanism includes a first connector and a second connector. The first connector is fixed to the lower end of the electric cylinder and forms a sliding pair with the circular hole on the second connector. It is also connected to the second connector by a spring. The second connector is hinged to the middle of the connecting plate.

4. The fully automatic intelligent inter-tillage and fertilization machine for tea gardens according to claim 1, characterized in that: The motor housing of the second motor is fixed to the gearbox housing of the gearbox, the gearbox housing is fixed to the connecting plate, the output shaft of the second motor is fixed to the input shaft of the gearbox, and the output shaft of the gearbox is connected to the cutter shaft through a bevel gear pair.

5. The fully automatic intelligent inter-tillage and fertilization machine for tea gardens according to claim 1, characterized in that: Each fixed rod in the fixing rod group in the middle of the cutter holder is fixed with a soil-breaking blade, and each fixed rod in the fixing rod group at both ends of the cutter holder is fixed with a soil-crushing blade.

6. The fully automatic intelligent inter-tillage and fertilization machine for tea gardens according to claim 1, characterized in that: The mobile chassis includes a battery compartment and a tracked walking mechanism, which is powered by the battery compartment; the tracked walking mechanisms of the two mobile chassis drive the frame to move.

7. The fully automatic intelligent inter-tillage and fertilization machine for tea gardens according to claim 1, characterized in that: A seat is fixed on the frame.

8. The fully automatic intelligent inter-tillage and fertilization integrated machine for tea gardens according to claim 6, characterized in that: Each tracked walking mechanism, each motor one, each electric cylinder and each motor two are controlled by controller one and controller two; the frame is equipped with environmental perception sensors, including lidar, infrared sensor and vision camera, and the signal output terminals of lidar, infrared sensor and vision camera are all connected to controller two on the frame.

9. The working method of a fully automatic intelligent inter-tillage and fertilization integrated machine for tea gardens according to claim 8, characterized in that: Specifically as follows: Organic fertilizer is poured into the hopper. Then, controller one or controller two controls motor two to drive each cutter shaft, which in turn drives each weeding disc and each cutter holder to rotate at a preset speed. Each cutter holder drives the corresponding soil-crushing and soil-breaking blades to rotate. Controller one or controller two controls the piston rods of the two electric cylinders to extend synchronously. The piston rods of the two electric cylinders drive the corresponding rotary tillers to rotate downwards through two connecting plates, adjusting the height of the rotary tillers so that they descend to the preset height. As the connecting plates rotate downwards, the rotating soil-crushing and soil-breaking blades in the rotary tillers make contact with the ground. The machine touches the soil and tills it; then the two mobile chassis drive the frame to move the fertilizer application device and the two rotary tillers at a preset speed. At the same time, controller one or controller two controls the two motors to drive the two augers to rotate synchronously. Organic fertilizer enters the two conveying shells from the hopper, is conveyed to the two discharge ports through the two rotating augers, and is output through the two conveying pipes to the ground. When each auger rotates, it drives the corresponding chain to swing. Each chain stirs the organic fertilizer and contacts the inner wall of the corresponding conveying shell, scraping off the organic fertilizer attached to the inner wall of the conveying shell. As the machine frame moves, the soil-crushing blades and soil-breaking blades till the soil along the direction of movement. When the soil-breaking blades contact the ground, their blades cut vertically into clods. When the soil-crushing blades behind the soil-breaking blades contact the ground, the first and second curved blade sections of the soil-crushing blades cut the soil in a sliding motion, breaking up the clods and severing grass roots. At the same time, some soil is ejected, and corresponding baffles prevent the ejected soil from splashing, allowing it to cover the organic fertilizer in front. In addition, the soil-crushing blades and soil-breaking blades, which are staggered in the rotary tillers, mix the organic fertilizer with the soil while tilling. If weeds are entangled on the weeding discs, the serrations on each weeding disc cut the weeds, and the baffles prevent the weeds from entangled on the corresponding blade holders.

10. The working method of a fully automatic intelligent inter-tillage and fertilization integrated machine for tea gardens according to claim 9, characterized in that: During frame movement, when the current of motor 2 exceeds the overload current, the overload protector of motor 2 is triggered, and controller 1 or controller 2 controls motor 2 to stop working. At the same time, the speed of frame movement driven by the two moving chassis increases. When the overload protector of motor 2 is not triggered, controller 1 or controller 2 controls motor 2 to drive the corresponding cutter shaft to drive each weeding disc and each cutter holder to continue working at a preset speed, and the two moving chassis drive frame movement to continue at a preset speed. When the current of motor 2 is greater than preset value 1 but does not exceed the overload current, controller 1 or controller 2 controls motor 2 to increase its speed. When the current of motor 2 is less than preset value 2, controller 1 or controller 2 controls motor 2 to decrease its speed, where preset value 2 is less than preset value 1. In addition, when the frame movement speed increases, controller 1 or controller 2 controls the speed of two motors 1 to increase synchronously, increasing the conveying speed of organic fertilizer. When the frame movement speed decreases, controller 1 or controller 2 controls the speed of two motors 1 to decrease synchronously, reducing the conveying speed of organic fertilizer.

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