Automatic straw collection and underground burning equipment

Abstract

The present invention provides an automatic straw collection, underground burning and field returning equipment, which belongs to the technical field of agricultural machinery and equipment, and includes a moving mechanism, a collecting mechanism, a processing mechanism and a field returning mechanism. The moving mechanism includes a vehicle body and a moving assembly; the collecting mechanism includes a transmission and lifting assembly and a collecting shovel, the transmission and lifting assembly is arranged at the front end of the vehicle body and tilted upward from front to back, and the collecting shovel is arranged at the front end of the transmission and lifting assembly; the processing mechanism includes a cleaning and pressing assembly, a crushing assembly and a fuel mixing assembly arranged in sequence from front to back in the middle of the vehicle body; the field returning mechanism includes a trenching assembly and a backfilling assembly arranged in sequence from front to back at the bottom of the vehicle body, the trenching assembly is located at the front side of the fuel mixing assembly, and the backfilling assembly is located at the rear side of the fuel mixing assembly. The automatic straw collection, underground burning and field returning equipment provided by the present invention solves the problems of open-air burning being difficult to control, easily causing fires, and causing large pollution.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery and equipment, and more specifically, relates to an automatic straw collection, underground burning and field returning equipment. Background Art

[0002] The crop straw resources are huge. Since the straw deep processing technology is not mature yet and cannot be popularized to thousands of households, farmers cannot deal with the straw resources in time. From the perspective of time and economic cost, they choose to burn the straw in the open air to return it to the fields. Open-air burning has problems such as difficult control and high pollution. A large amount of flammable materials are scattered in the cultivated land. Once the fire is out of control, it is very easy to cause a fire, which will cause immeasurable losses. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic straw collection underground burning and field returning equipment to solve the problems of open-air burning being difficult to control, being very likely to cause fire and causing great pollution.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: to provide an automatic straw collection and underground burning and returning to the field equipment, including a moving mechanism, a collecting mechanism, a processing mechanism and a returning to the field mechanism;

[0005] The moving mechanism comprises a vehicle body and a moving assembly, wherein the moving assembly is arranged on both sides of the bottom of the vehicle body;

[0006] The collecting mechanism comprises a transmission and lifting assembly and a collecting shovel, wherein the transmission and lifting assembly is arranged at the front end of the vehicle body and tilts upward from front to rear, and the collecting shovel is arranged at the front end of the transmission and lifting assembly and cuts and collects the straw;

[0007] The processing mechanism comprises a cleaning and pressing assembly, a crushing assembly and a fuel mixing assembly which are arranged in sequence in the middle of the vehicle body from front to back, the cleaning and pressing assembly receives the straw transported by the transmission and lifting assembly to clean the soil and stones in the straw and press it, the crushing assembly is used to crush the pressed straw into straw debris, and the fuel mixing assembly is used to spray fuel particles onto the straw debris;

[0008] The field returning mechanism includes a trenching assembly and a backfilling assembly which are arranged in sequence from front to back at the bottom of the vehicle body. The trenching assembly is located at the front side of the fuel mixing assembly, and is used to dig a trench and hold straw debris mixed with fuel particles. The backfilling assembly is located at the rear side of the fuel mixing assembly, and is used to backfill the trench containing straw debris.

[0009] In a possible implementation, the transmission enhancement component includes:

[0010] A conveyor belt, the conveyor belt is inclined upward from front to back, the collecting shovel is arranged at the front end of the conveyor belt, and the rear end of the conveyor belt extends into the vehicle body and is hingedly matched with both sides of the vehicle body;

[0011] A first connecting frame, the first connecting frame is connected to the front end of the conveyor belt and is located above the conveyor belt;

[0012] A first motor, which is disposed at an upper end of the first connecting frame and is transmission-connected to the transmission belt;

[0013] A first rotating arm, wherein the rear end of the first rotating arm is hinged to the front end of the vehicle body, the front end of the first rotating arm is connected to the first connecting frame, the middle part of the first rotating arm is hinged with a first linear driving member, and the first linear driving member is hinged to the front end of the vehicle body.

[0014] In a possible implementation, the cleaning and pressing assembly includes:

[0015] A vibration plate, the vibration plate is arranged at the lower side of the middle part of the vehicle body, and the vibration plate is used to receive the straw transported from the transmission and lifting assembly;

[0016] Two swing rods, the two swing rods are symmetrically arranged on the upper front side of the vibration plate, and are used to disperse the straw on the vibration plate;

[0017] An identification camera, the identification camera is located between the two swing arms, and the identification camera is used to identify the mixed soil and stones in the straw;

[0018] A pressing plate is arranged on the upper rear side of the vibration plate, and the pressing plate can be lifted and moved to press the straw into shape.

[0019] In a possible implementation, the crushing component includes:

[0020] Two crushing rollers, the two crushing rollers are arranged side by side at the rear lower side of the cleaning and pressing assembly, the two crushing rollers are provided with a plurality of crushing teeth in the circumference, and the plurality of crushing teeth on the two crushing rollers are meshed with each other;

[0021] A third motor, the third motor is arranged at one end of any one of the pulverizing rollers, and the third motor is used to drive any one of the pulverizing rollers to rotate so as to drive the two pulverizing rollers to rotate in opposite directions;

[0022] The material guide hopper is arranged around the outer circumference of the two crushing rollers, and a material drop hole is opened at the bottom of the material guide hopper, and the material drop hole is located between the trenching component and the backfilling component.

[0023] In a possible implementation, the fuel mixing assembly includes:

[0024] A fuel tank, the fuel tank being arranged at the rear side of the pulverizing assembly, and the interior of the fuel tank containing fuel particles;

[0025] A nozzle is arranged at the bottom of the fuel tank, and a spraying direction of the nozzle is toward the drop hole.

[0026] In a possible implementation, the trenching assembly includes:

[0027] A fixing frame, the fixing frame is arranged at the bottom of the vehicle body and located at the front side of the guide hopper;

[0028] A furrowing plow is connected below the fixing frame, the furrowing plow is arranged corresponding to the blanking hole and the blade of the furrowing plow faces forward.

[0029] In a possible implementation, the backfill component includes:

[0030] a second connecting frame, the second connecting frame being located at the rear side of the vehicle body;

[0031] A backfilling component, the backfilling component is connected to the lower side of the second connecting frame and is arranged corresponding to the furrowing plow, the backfilling component comprises two backfilling wheels arranged symmetrically, and the distance between the two backfilling wheels decreases from front to back;

[0032] A second rotating arm, the front end of the second rotating arm is hinged to the rear end of the vehicle body, the rear end of the second rotating arm is connected to the second connecting frame, the middle part of the second rotating arm is hinged with a second linear drive component, and the second linear drive component is hinged to the rear end of the vehicle body.

[0033] In a possible implementation, the automatic straw collection and underground burning returning device further includes:

[0034] A guide wheel, the guide wheel is arranged at the rear side of the vehicle body, the guide wheel is located between the fuel mixing assembly and the backfill assembly, and the guide wheel is used to wind the ecological coating layer;

[0035] A discharge port is provided at the rear side of the vehicle body, and the ecological covering layer is drawn out from the discharge port and laid on the straw debris.

[0036] In a possible implementation, the automatic straw collection and underground burning returning device further includes:

[0037] A control system is arranged on the upper part of the vehicle body, and the control system is electrically connected to the moving mechanism, the collecting mechanism, the processing mechanism and the returning mechanism.

[0038] In a possible implementation, a partition plate is provided in the middle of the vehicle body, a battery panel is provided on the upper end surface of the partition plate, and a distribution board is provided on the upper end surface of the battery panel, and the distribution board is used to distribute the voltage of the battery panel;

[0039] The control system includes a main controller, a gyroscope, an antenna, a laser radar, a front camera and a rear camera. The main controller and the gyroscope are respectively arranged on the upper end plate of the battery panel, the antenna and the laser radar are respectively arranged on the top of the vehicle body, the front camera is installed on the front side of the vehicle body, and the rear camera is installed on the rear side of the vehicle body. The main controller collects information from the gyroscope, the laser radar, the front camera and the rear camera, and communicates with the terminal with the help of the antenna to upload and download data.

[0040] The beneficial effect of the automatic straw collection underground burning and returning to the field equipment provided by the present invention is that: compared with the prior art, the vehicle body moves under the drive of the moving component, and as the vehicle body moves, the collecting shovel located at the front end of the transmission and lifting component continuously cuts and collects the straw from the root, and the collected straw is transmitted backward and upward to the cleaning and pressing component along with the transmission and lifting component, and the cleaning and pressing component cleans the soil and stones in the straw and presses it, and the pressed straw passes through the crushing component to form straw debris, and the straw debris passes through the fuel mixing component and is sprayed with fuel particles. At the same time, as the vehicle body moves, the trenching component at the bottom of the vehicle body digs trenches on the field where the straw is collected, and the straw debris mixed with fuel particles falls into the trenches, and the backfilling component covers the surface of the straw debris with the soil dug out on both sides when trenching. The invention provides an automatic straw collection underground burning and field returning equipment, which can cut and crush the straw, then backfill the crushed straw into a ditch and cover it with soil, and burn it in the covered state, thereby avoiding open-air burning and solving the problems of open-air burning being difficult to control and easily causing fires and causing large pollution. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 A schematic diagram of the structure of an automatic straw collection and underground burning and returning to the field device provided by the present invention;

[0043] Figure 2 A stereoscopic diagram of an automatic straw collection and underground burning returning device provided by the present invention with the moving components removed;

[0044] Figure 3 for Figure 2 A partial enlarged view of the middle A;

[0045] Figure 4 A three-dimensional diagram of the vibration plate provided by the present invention.

[0046] In the figure:

[0047] 100, vehicle body; 110, moving assembly; 120, partition plate; 200, transmission and lifting assembly; 210, transmission belt; 220, first connecting frame; 230, first motor; 240, first rotating arm; 250, first linear drive member; 300, collecting shovel; 310, blade; 400, cleaning and pressing assembly; 410, vibration plate; 420, swing arm; 430, identification camera; 440, pressure plate; 450, vibration arm; 460, second motor; 470, elastic member; 411, dust collection hole; 412, arc-shaped protrusion; 500, crushing assembly; 510, crushing roller; 520, a third motor; 530, a guide hopper; 600, a fuel mixing assembly; 610, a fuel tank; 620, a nozzle; 700, a trenching assembly; 710, a fixing frame; 720, a trenching plow; 800, a backfilling assembly; 810, a second connecting frame; 820, a backfilling wheel; 830, a second rotating arm; 840, a second linear drive member; 910, a guide wheel; 920, a discharge port; 1000, a battery panel; 1010, a distribution board; 1020, a main controller; 1030, a gyroscope; 1040, an antenna; 1050, a lidar; 1060, a front camera; 1070, a rear camera. DETAILED DESCRIPTION

[0048] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0049] Unless explicitly defined otherwise, the use of terms such as "first," "second," or "third," etc., are intended to distinguish different objects rather than to describe a specific order.

[0050] Unless otherwise expressly defined, directional words such as the terms "center", "lateral", "longitudinal", "horizontal", "vertical", "top", "bottom", "inside", "outside", "up", "down", "front", "back", "left", "right", "clockwise", "counterclockwise", "high", "low", etc., indicating directions or positional relationships are based on the directions and positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, so they cannot be understood as limiting the specific scope of protection of the present invention.

[0051] See also Figures 1 to 4 The automatic straw collection, underground burning and returning to the field equipment provided by the present invention is now described. The automatic straw collection, underground burning and returning to the field equipment comprises a moving mechanism, a collecting mechanism, a processing mechanism and a returning to the field mechanism.

[0052] The moving mechanism includes a vehicle body 100 and a moving assembly 110, and the moving assembly 110 is arranged on both sides of the bottom of the vehicle body 100; the collecting mechanism includes a transmission and lifting assembly 200 and a collecting shovel 300, and the transmission and lifting assembly 200 is arranged at the front end of the vehicle body 100 and tilted upward from front to back, and the collecting shovel 300 is arranged at the front end of the transmission and lifting assembly 200 and cuts and collects the straw; the processing mechanism includes a cleaning and pressing assembly 400, a crushing assembly 500 and a fuel mixing assembly 600 which are arranged in sequence from front to back in the middle of the vehicle body 100, and the cleaning and pressing assembly 400 receives the transmission and lifting assembly 200. 00 is used to clean the soil and stones in the straw and press it, the crushing assembly 500 is used to crush the pressed straw into straw fragments, and the fuel mixing assembly 600 is used to spray fuel particles on the straw fragments; the returning mechanism includes a trenching assembly 700 and a backfilling assembly 800 arranged from front to back at the bottom of the vehicle body 100, the trenching assembly 700 is located on the front side of the fuel mixing assembly 600, and is used to dig trenches and hold straw fragments mixed with fuel particles, and the backfilling assembly 800 is located on the rear side of the fuel mixing assembly 600, and is used to backfill the trenches containing straw fragments.

[0053] The automatic straw collection underground burning and returning to the field equipment provided by the present invention, compared with the prior art, the vehicle body 100 moves under the drive of the moving component 110, and as the vehicle body 100 moves, the collecting shovel 300 located at the front end of the transmission and lifting component 200 continuously cuts and collects the straw from the root, and the collected straw is transmitted backward and upward to the cleaning and pressing component 400 along with the transmission and lifting component 200, and the cleaning and pressing component 400 cleans the soil and stones in the straw and presses it, and the pressed straw passes through the crushing component 500 to form straw debris, and the straw debris passes through the fuel mixing component 600 and is sprayed with fuel particles. At the same time, as the vehicle body 100 moves, the trenching component 700 at the bottom of the vehicle body 100 digs a trench on the field where the straw is collected, and the straw debris mixed with the fuel particles falls into the trench, and the backfilling component 800 covers the soil dug out on both sides during trenching on the surface of the straw debris. The invention provides an automatic straw collection underground burning and field returning equipment, which can cut and crush the straw, then backfill the crushed straw into a ditch and cover it with soil, and burn it in the covered state, thereby avoiding open-air burning and solving the problems of open-air burning being difficult to control and easily causing fires and causing large pollution.

[0054] Among them, the moving component 110 includes tracks installed on both sides of the bottom of the vehicle body 100, the tracks are wound around two track wheels on the same side, and an electric motor is arranged at the bottom of the vehicle body 100 to cooperate with a transmission box to realize the rotation of the track wheels, so that the vehicle body 100 can move with the help of the tracks.

[0055] See also Figure 1 to Figure 2The transmission and lifting assembly 200 includes a transmission belt 210, a first connecting frame 220, a first motor 230 and a first rotating arm 240. The transmission belt 210 is tilted upward from front to back, and the transmission surface of the transmission belt 210 is formed by a plurality of cross bars, and adjacent cross bars are connected with a plurality of connecting blocks at intervals, and adjacent cross bars and adjacent connecting blocks form holes. When the straw is transmitted on the transmission belt 210, part of the soil and stones in the straw will fall through the above holes, forming a preliminary cleaning of the straw. Baffles are respectively arranged on both sides of the transmission belt 210, and the upper end and lower end of the transmission belt 210 are respectively arranged with a transmission shaft. The first connecting frame 220 includes a cross beam and a first support arm connected to both sides of the cross beam. The lower ends of the two first support arms are respectively located at the lower ends of the two sides of the two baffles, and the transmission shaft at the lower end passes through the baffle and extends into the first support arm. The first motor 230 is installed transversely at the middle of the upper end of the crossbeam, and the driving end of the first motor 230 extends into the first fixed arm on one side, and a transmission group is arranged in the first fixed arm, so that the rotation of the first motor 230 is transmitted to the transmission shaft at the lower end through the transmission group, thereby realizing the operation of the conveyor belt 210. The rear end of the first rotating arm 240 is hinged to the front end of the vehicle body 100, and the front end of the first rotating arm 240 is connected to the first connecting frame 220. The middle part of the first rotating arm 240 is hinged with a first linear driving member 250, and the first linear driving member 250 adopts a hydraulic cylinder. The first linear driving member 250 is hinged to the front end of the vehicle body 100, and the hydraulic cylinder is controlled to extend or shorten, and the front end of the conveyor belt 210 is driven to rise or fall through the first connecting frame 220, so as to achieve the function of adjusting the height of the collecting shovel 300, so that the collecting shovel 300 can be aligned with the root of the straw. In addition, when the collecting shovel 300 is not in use, it can also be raised to prevent the collecting shovel 300 from being damaged due to collision.

[0056] Preferably, the collecting shovel 300 is installed at the front end of the conveyor belt 210 and connected to the inner side walls of the two baffles. The inclination angle of the collecting shovel 300 is greater than the inclination angle of the conveyor belt 210, so that the cut straw can be guided by the upper end surface of the collecting shovel 300 and then enter the upper end surface of the conveyor belt 210 for transmission to the rear side. In addition, the front end of the collecting shovel 300 is provided with a plurality of shovel teeth, which are arranged in sequence along the width direction of the front end of the collecting shovel 300. The plurality of shovel teeth form a staggered convex-concave tooth structure. For crops such as straw that have a certain deformation amount, the staggered convex-concave tooth structure combined with the blade 310 at the front end of the shovel teeth can better cut the straw.

[0057] See also Figures 2 to 3The cleaning and pressing assembly 400 includes a vibration plate 410, two swing arms 420, an identification camera 430 and a pressing plate 440. The vibration plate 410 is arranged on the lower side of the middle part of the vehicle body 100, and two longitudinal connecting rods are arranged on both sides of the vibration plate 410, the upper end of the longitudinal connecting rod is fixedly connected to the vibration plate 410, and the lower end of the longitudinal connecting rod is connected to both sides of the vehicle body 100 through an elastic member 470. In addition, vibration arms 450 are arranged on both sides below the vibration plate 410, and the vibration arms 450 are arranged obliquely, the upper end of the vibration arm 450 is hinged on one side of the vibration plate 410, and the other side of the vibration arm 450 is eccentrically connected to the second motor 460, and the second motor 460 is fixed to one side of the vehicle body 100 through the plate body. The second motor 460 drives the lower end of the vibration arm 450 to reciprocate, so as to achieve the effect of the upper end of the vibration arm 450 driving the vibration shaking, and the vibration plate 410 realizes vibration with the effect of the elastic members 470 on both sides. The vibration plate 410 receives the straw delivered by the transmission and lifting assembly 200, and the straw falls to the front side of the upper end face of the vibration plate 410. Under the effect of vibration, the soil and stones mixed in the straw will be separated from the straw.

[0058] At this time, the recognition camera 430 recognizes the mixed soil and stones in the straw, and the two swing arms 420 are symmetrically arranged on the upper front side of the vibration plate 410. The two swing arms 420 swing left and right to further disperse the straw, which can speed up the separation of soil and stones from the straw.

[0059] Preferably, see Figure 4 An extension plate extending upward is integrally formed on the left and right sides of the vibration plate 410, and a plurality of dust collecting holes 411 are provided in the middle of the lower end of the extension plate. The plurality of dust collecting holes 411 are arranged at intervals in the front-to-back direction. The middle part of the upper end surface of the vibration plate 410 is provided with an arc-shaped protrusion 412 structure. The soil and stones separated from the straw by vibration move to the front and rear sides and the left and right sides under the action of the protrusion structure, and finally fall through the front and rear sides of the vibration plate 410 or through the plurality of dust collecting holes 411, so as to quickly clean the soil and stones left on the vibration plate 410 and avoid affecting the subsequent pressing and molding of the straw.

[0060] In addition, the reciprocating vibration of the vibrating arm 450 will cause the vibrating plate 410 to vibrate continuously backward and upward. The separated straw is continuously transmitted backward under the vibration effect of the vibrating plate 410. The pressing plate 440 is arranged on the upper rear side of the vibrating plate 410. The pressing plate 440 is reciprocatedly lifted and lowered under the operation of the hydraulic device on its upper part, thereby completing the pressing and forming of the straw on the pressing plate 440, and then forming a structural sheet layer in the shape of a sheet.

[0061] See also Figure 3The crushing assembly 500 includes two crushing rollers 510, a third motor 520 and a guide hopper 530. The two crushing rollers 510 are arranged side by side at the rear side and below the cleaning and pressing assembly 400, and the two crushing rollers 510 are arranged at the same height in front and behind. A plurality of crushing teeth are arranged in the circumference of the two crushing rollers 510, and the plurality of crushing teeth on the two crushing rollers 510 are meshed with each other. The third motor 520 is arranged at one end of any crushing roller 510, and the third motor 520 is used to drive any crushing roller 510 to rotate so as to drive the two crushing rollers 510 to rotate in the opposite direction. One end of the pressed straw sheet first falls between the two crushing rollers 510, and the upper side between the two crushing rollers 510 forms an inward rolling guiding force, and the straw sheet is rolled into the two crushing rollers 510 from one end, and the plurality of mutually meshing crushing teeth continuously shred the straw sheet, and finally form straw debris. The guide hopper 530 is arranged around the outer circumference of the two crushing rollers 510, and a drop hole is opened at the bottom of the guide hopper 530. The straw debris falls through the drop hole under the guidance of the guide hopper 530. The drop hole is located between the trenching component 700 and the backfilling component 800. The position of the drop hole corresponds to the position of the trench dug by the trenching component 700. The straw debris falling through the drop hole continuously falls into the corresponding trench as the vehicle body 100 moves, and finally the soil is continuously covered on the straw debris through the backfilling component 800.

[0062] See also Figure 2 The fuel mixing assembly 600 includes a fuel tank 610 and a nozzle 620. The fuel tank 610 is arranged at the rear side of the crushing assembly 500, and the fuel tank 610 contains fuel particles; the nozzle 620 is arranged at the bottom of the fuel tank 610, and the spray direction of the nozzle 620 is toward the drop hole. As the straw debris continues to fall into the drop hole, the nozzle 620 continuously sprays the fuel particles to the falling straw debris, ensuring that the straw debris falling into the groove can be fully mixed with the fuel particles, providing the necessary conditions for continuous incineration in the subsequent buried state.

[0063] The fuel particles are made of compressed biomass particles, which are usually made from compacted sawdust or other waste produced by sawmilling and other wood products, and can assist in the combustion of straw debris. Specifically, the fuel particles are made by crushing palm kernel shells and coconut shells, which can also increase the nutrients of the soil after burning. In addition, biowaste particles, such as dry chicken manure particles and cow dung particles, are mixed in the fuel particles, which can also assist in the combustion of straw debris and help improve the fertility of the soil.

[0064] Preferably, a certain proportion of bio-combustion-aiding particles are also mixed in the fuel tank 610. The bio-combustion-aiding particles are formed into particles by pressing and drying corn stalk powder, etherified starch, potassium chlorate and potassium cyclopentaneate, and have a very good combustion-aiding and ignition effect on the fuel particles.

[0065] See also Figure 2 The trenching assembly 700 includes a fixing frame 710 and a trenching plow 720. The fixing frame 710 is arranged at the bottom of the vehicle body 100 and is located in front of the guide hopper 530; the trenching plow 720 is connected to the bottom of the fixing frame 710, and the trenching plow 720 is arranged corresponding to the drop hole and the blade 310 of the trenching plow 720 faces forward. As the vehicle body 100 moves, the blade 310 of the trenching plow 720 will dig a corresponding trench on the field, which can provide conditions for backfilling of straw debris.

[0066] See also Figure 1 and Figure 2 The backfill assembly 800 includes a second connecting frame 810, a backfill component, and a second rotating arm 830. The second connecting frame 810 is located at the rear side of the vehicle body 100, the backfill component is connected to the bottom of the second connecting frame 810 and is arranged corresponding to the furrowing plow 720, and the backfill component includes two backfill wheels 820 arranged symmetrically, the spacing between the two backfill wheels 820 decreases from front to back, the spacing between the front sides of the two backfill wheels 820 is greater than the width of the groove, and the spacing between the rear sides of the two backfill wheels 820 is less than the width of the groove. In the process of moving with the vehicle body 100, the soil turned out on both sides of the groove is gradually gathered into the groove by the two backfill wheels 820, so as to backfill the groove and cover the straw debris sprayed with the soluble liquid under the soil. The front end of the second rotating arm 830 is hinged to the rear end of the vehicle body 100, the rear end of the second rotating arm 830 is connected to the second connecting frame 810, and the middle part of the second rotating arm 830 is hinged with a second linear driving member 840, which is a hydraulic cylinder, and is hinged to the rear end of the vehicle body 100. The hydraulic cylinder is controlled to extend or shorten, and the backfilling assembly 800 is driven to rise or fall through the second connecting frame 810, so as to adjust the height of the backfilling assembly 800. When the backfilling assembly 800 is not in use, it can be raised to prevent the backfilling wheel 820 of the backfilling assembly 800 from being damaged due to collision.

[0067] See also Figure 2The automatic straw collection underground burning and returning to the field equipment also includes a guide wheel 910 and a discharge port 920. The guide wheel 910 is arranged at the rear side of the vehicle body 100, and the guide wheel 910 is located between the fuel mixing assembly 600 and the backfill assembly 800. The guide wheel 910 is used to wind the ecological film layer. The discharge port 920 is opened on the rear side of the vehicle body 100, and the ecological film layer is drawn out from the discharge port 920 and laid on the straw debris. As the vehicle body 100 moves, the equipment will sequentially complete the operations of trench excavation and trench backfilling. After the trench excavation is completed, the straw debris will fall into the trench, and the ecological film layer will be continuously drawn out from the discharge port 920 and laid on the straw debris, and finally the soil will be backfilled on the ecological film layer. The ecological film layer adopts a film formed by high-strength pressing of straw particles, and a certain proportion of adhesive can be mixed in the pressing process. When the backfilling operation is completed, there will be an end of the ecological covering layer exposed to the soil. The end can be ignited to ignite the straw debris after backfilling. Combined with the fuel particles, the straw debris can be fully burned in the buried state.

[0068] Based on the above embodiment, the automatic straw collection, underground burning and returning to the field equipment also includes a control system, which is arranged on the upper part of the vehicle body 100. The control system is electrically connected to the moving mechanism, the collecting mechanism, the processing mechanism and the returning mechanism. The control system can realize the linkage of various mechanisms of the whole vehicle and improve the degree of automation.

[0069] See also Figure 1 and Figure 2 A partition plate 120 is provided in the middle of the vehicle body 100, and the partition layer divides the interior of the vehicle body 100 into an upper space and a lower space. The control system is mainly arranged in the upper space and the top of the vehicle body 100, and the main operating mechanism is located in the lower space to prevent the straw and debris mixed in the straw from affecting the equipment in the upper space.

[0070] Specifically, the upper end surface of the partition plate 120 is provided with a battery panel 1000, and the upper end surface of the battery panel 1000 is provided with a distribution board 1010, and the distribution board 1010 is used to disperse the voltage of the battery panel 1000; the control system includes a main controller 1020, a gyroscope 1030, an antenna 1040, a laser radar 1050, a front camera 1060 and a rear camera 1070, and the main controller 1020 and the gyroscope 1030 are respectively arranged on the battery panel 10 00, the antenna 1040 and the laser radar 1050 are respectively arranged on the top of the vehicle body 100, the front camera 1060 is installed on the front side of the vehicle body 100, and the rear camera 1070 is installed on the rear side of the vehicle body 100. The main controller 1020 collects information from the gyroscope 1030, the laser radar 1050, the front camera 1060 and the rear camera 1070, and communicates with the terminal with the help of the antenna 1040 to upload and download data. The device relies on the wireless communication system for remote control, and can perform wireless communication, remote control, upload and download related data, positioning and navigation, automatic continuous operation, automatic obstacle avoidance, etc.

[0071] The wireless communication system includes a client terminal, an Internet of Things, a main control, a cloud server and a wireless signal transmission system; the client terminal can be installed in a computer or other mobile communication device to remotely control the device, and upload the working environment terrain and image data and the device location, device operation information, etc. through the Internet of Things, the main controller 1020, the cloud server, the antenna 1040, the lidar 1050, the gyroscope 1030, the front camera 1060 and the rear camera 1070 for control and processing. The Internet of Things provides network resources and environment; the cloud server provides cloud storage, cloud computing, and big data services; the wireless signal transmission system provides wireless signals and data transmission.

[0072] The main controller 1020 can control the entire device and has the ability to automatically complete the entire operation process. It can automatically drive, automatically control, automatically operate continuously, automatically detect, automatically store, automatically upload and download data, automatically avoid obstacles and remote restart, etc., and communicate with the cloud server through the antenna 1040. The front camera 1060 and the rear camera 1070 can collect 180° image information from the front and rear, and can observe, collect, store and upload the observed environmental conditions; the laser radar 1050 can collect, store and upload three-dimensional terrain information, assist the main control to automatically avoid obstacles, and plan a reasonable operation route in real time.

[0073] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic straw collection and underground burning equipment, characterized in that: It includes moving mechanism, collecting mechanism, processing mechanism and returning mechanism to the field; The moving mechanism comprises a vehicle body (100) and a moving assembly (110), wherein the moving assembly (110) is arranged on both sides of the bottom of the vehicle body (100); The collecting mechanism comprises a transmission and lifting component (200) and a collecting shovel (300); the transmission and lifting component (200) is arranged at the front end of the vehicle body (100) and is inclined upward from front to rear; the collecting shovel (300) is arranged at the front end of the transmission and lifting component (200) and cuts and collects the straw; The processing mechanism comprises a cleaning and pressing assembly (400), a crushing assembly (500) and a fuel mixing assembly (600) which are arranged in sequence from front to back in the middle of the vehicle body (100); the cleaning and pressing assembly (400) receives the straw delivered by the transmission and lifting assembly (200) to clean the soil and stones in the straw and to press it; the crushing assembly (500) is used to crush the pressed straw into straw debris; and the fuel mixing assembly (600) is used to spray fuel particles onto the straw debris; The field returning mechanism comprises a trenching assembly (700) and a backfilling assembly (800) arranged in sequence from front to back at the bottom of the vehicle body (100); the trenching assembly (700) is located at the front side of the fuel mixing assembly (600) and is used to dig a trench and receive straw debris mixed with fuel particles; the backfilling assembly (800) is located at the rear side of the fuel mixing assembly (600) and is used to backfill the trench receiving the straw debris; The cleaning and pressing assembly (400) comprises: a vibration plate (410), the vibration plate (410) being arranged on the lower side of the middle portion of the vehicle body (100), the vibration plate (410) being used to receive the straw transported by the transmission and lifting assembly (200); Two swing rods (420), the two swing rods (420) are symmetrically arranged on the upper front side of the vibration plate (410) and are used to disperse the straw on the vibration plate (410); an identification camera (430), the identification camera (430) being located between the two swing arms (420), and the identification camera (430) being used to identify soil and stones mixed in the straw; A pressing plate (440), the pressing plate (440) being arranged on the upper rear side of the vibration plate (410), the pressing plate (440) being movable up and down for pressing the straw into shape; The pulverizing assembly (500) comprises: Two crushing rollers (510), the two crushing rollers (510) are arranged side by side at the rear lower side of the cleaning and pressing assembly (400), the two crushing rollers (510) are each provided with a plurality of crushing teeth in the circumferential direction, and the plurality of crushing teeth on the two crushing rollers (510) are meshed with each other; a third motor (520), the third motor (520) being arranged at one end of any one of the pulverizing rollers (510), the third motor (520) being used to drive any one of the pulverizing rollers (510) to rotate so as to drive the two pulverizing rollers (510) to rotate in opposite directions; A material guide hopper (530), the material guide hopper (530) is arranged around the outer circumference of the two crushing rollers (510), and a material drop hole is opened at the bottom of the material guide hopper (530), and the material drop hole is located between the trenching assembly (700) and the backfilling assembly (800); The fuel mixing assembly (600) comprises: A fuel tank (610), the fuel tank (610) being arranged at the rear side of the pulverizing assembly (500), the fuel tank (610) containing fuel particles; A nozzle (620), wherein the nozzle (620) is arranged at the bottom of the fuel tank (610), and the spraying direction of the nozzle (620) is toward the drop hole.

2. The automatic straw collection and underground burning and returning to the field equipment according to claim 1, characterized in that: The transmission lifting assembly (200) comprises: A conveyor belt (210), the conveyor belt (210) is inclined upward from front to rear, the collecting shovel (300) is arranged at the front end of the conveyor belt (210), and the rear end of the conveyor belt (210) extends into the vehicle body (100) and is hingedly matched with two sides of the vehicle body (100); A first connecting frame (220), the first connecting frame (220) being connected to a front end of the conveyor belt (210) and being located above the conveyor belt (210); A first motor (230), the first motor (230) being disposed at an upper end of the first connecting frame (220), the first motor (230) being transmission-connected to the transmission belt (210); A first rotating arm (240), wherein the rear end of the first rotating arm (240) is hinged to the front end of the vehicle body (100), the front end of the first rotating arm (240) is connected to the first connecting frame (220), and the middle part of the first rotating arm (240) is hinged with a first linear driving member (250), and the first linear driving member (250) is hinged to the front end of the vehicle body (100).

3. The automatic straw collection and underground burning and returning to the field equipment according to claim 1, characterized in that: The trenching assembly (700) comprises: A fixing frame (710), the fixing frame (710) being arranged at the bottom of the vehicle body (100) and located at the front side of the guide hopper (530); A furrowing plow (720), wherein the furrowing plow (720) is connected below the fixing frame (710), the furrowing plow (720) is arranged corresponding to the material dropping hole, and the blade (310) of the furrowing plow (720) faces forward.

4. The automatic straw collection and underground burning and returning to the field equipment as claimed in claim 3, characterized in that: The backfill assembly (800) comprises: A second connecting frame (810), the second connecting frame (810) being located at the rear side of the vehicle body (100); A backfilling component, the backfilling component is connected below the second connecting frame (810) and is arranged corresponding to the furrowing plow (720), the backfilling component comprises two backfilling wheels (820) arranged symmetrically on the left and right, and the distance between the two backfilling wheels (820) decreases from front to back; A second rotating arm (830), the front end of the second rotating arm (830) is hinged to the rear end of the vehicle body (100), the rear end of the second rotating arm (830) is connected to the second connecting frame (810), the middle part of the second rotating arm (830) is hinged with a second linear driving member (840), and the second linear driving member (840) is hinged to the rear end of the vehicle body (100).

5. The automatic straw collection and underground burning and returning to the field equipment according to claim 1, characterized in that: The automatic straw collection underground burning and returning to the field equipment also includes: A guide wheel (910), the guide wheel (910) being arranged at the rear side of the vehicle body (100), the guide wheel (910) being located between the fuel mixing assembly (600) and the backfill assembly (800), and the guide wheel (910) being used to wind an ecological coating layer; A discharge port (920) is opened on the rear side of the vehicle body (100), and the ecological film layer is drawn out from the discharge port (920) and laid on the straw debris.

6. The automatic straw collection and underground burning and returning to the field equipment according to any one of claims 1 to 5, characterized in that: The automatic straw collection underground burning and returning to the field equipment also includes: A control system is provided on the upper part of the vehicle body (100), and the control system is electrically connected to the moving mechanism, the collecting mechanism, the processing mechanism and the returning mechanism.

7. The automatic straw collection and underground burning and returning to the field equipment as claimed in claim 6, characterized in that: A partition plate (120) is provided in the middle of the vehicle body (100), a battery panel (1000) is provided on the upper end surface of the partition plate (120), and a distribution plate (1010) is provided on the upper end surface of the battery panel (1000), and the distribution plate (1010) is used to distribute the voltage of the battery panel (1000); The control system comprises a main controller (1020), a gyroscope (1030), an antenna (1040), a laser radar (1050), a front camera (1060) and a rear camera (1070); the main controller (1020) and the gyroscope (1030) are respectively arranged on the upper end plate of the battery panel (1000); the antenna (1040) and the laser radar (1050) are respectively arranged on the top of the vehicle body (100); the front camera (1060) is installed on the front side of the vehicle body (100); the rear camera (1070) is installed on the rear side of the vehicle body (100); the main controller (1020 collects information from the gyroscope (1030), the laser radar (1050), the front camera (1060) and the rear camera (1070), and communicates with the terminal with the help of the antenna (1040) to upload and download data.

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