Soil remediation agent spreader and control method

Abstract

The application relates to the technical field of agricultural machinery equipment, and provides a soil remediation agent sowing machine and a control method. The soil remediation agent sowing machine comprises a material box and a sowing and dedusting mechanism, the sowing and dedusting mechanism is connected with the material box; the sowing and dedusting mechanism comprises a first shell and multiple groups of feeding assemblies, the lower part of the first shell is open, the multiple groups of feeding assemblies are arranged in sequence along the extension direction of the length of the first shell, and the two ends of each group of feeding assemblies are respectively communicated with the material box and the first shell; each group of feeding assemblies comprises a feeding pipe, a motor and a shaftless spiral pipe, the two ends of the feeding pipe are respectively communicated with the material box and the first shell, the shaftless spiral pipe is sleeved in the feeding pipe, and the shaftless spiral pipe is connected with the motor. The soil remediation agent sowing machine can avoid the problem of dust drift caused by manual feeding; dust drift can be avoided by sowing in the first shell, the problem of dust raising in the sowing process is effectively solved, and the safety of the operator is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery equipment, in particular to a soil remediation agent spreading machine and a control method. BACKGROUND

[0002] Due to long-term use of pesticides, fertilizers, industrial waste discharge and other factors, soil acidification will occur, which will cause agricultural yield reduction and activate heavy metal ions, aggravating the harm of heavy metals to the human body and environmental pollution, and the acid soil mechanization treatment technology is a hot spot in the field of agricultural engineering at present.

[0003] Lime powder and other soil remediation agents are widely used in soil improvement due to their low price, simple operation and quick effect. The traditional manual lime spreading method will cause a large amount of lime powder drifting, and the drifting dust is easy to enter the mouth, nose and eyes of the spreading personnel, corrode the skin of the spreading personnel, and cause certain harm to the body of the spreading personnel. At the same time, the spreading amount of lime powder is difficult to control, the labor intensity is large, and the uniformity is poor. Mechanical spreading is generally in the form of disc spreading and spiral opening natural material falling, which has higher efficiency and better uniformity than manual spreading, but the dust problem caused by mechanical spreading is very serious. SUMMARY

[0004] The present application provides a soil remediation agent spreading machine and a control method to solve the problem of dust generation in the process of lime powder spreading in the prior art.

[0005] The present application provides a soil remediation agent spreading machine, comprising: a material box and a spreading and dust removal mechanism, the spreading and dust removal mechanism is connected with the material box; the spreading and dust removal mechanism comprises: a first shell and a plurality of feeding assemblies, the lower part of the first shell is open, and a plurality of feeding assemblies are arranged in sequence along the extension direction of the length of the first shell, and the two ends of each feeding assembly are in communication with the material box and the first shell respectively; each feeding assembly comprises: a feeding pipe, a motor and an shaftless spiral pipe, the two ends of the feeding pipe are in communication with the material box and the first shell respectively, the shaftless spiral pipe is sleeved in the feeding pipe, and the shaftless spiral pipe is connected with the motor.

[0006] According to the soil remediation agent spreading machine provided by the present application, a stirring mechanism is further arranged in the material box; the stirring mechanism comprises: a first rotating shaft and a plurality of stirring rods, the two ends of the first rotating shaft are connected with the material box, a plurality of stirring rods are arranged in sequence along the axial direction of the first rotating shaft, and adjacent two stirring rods are arranged at an angle, and the two ends of each stirring rod are connected with a protruding block respectively.

[0007] The soil remediation agent spreading machine further comprises a dispersing mechanism arranged in the first shell, wherein the dispersing mechanism comprises a second rotating shaft and a plurality of conical dispersing devices arranged along the axial direction of the second rotating shaft.

[0008] Each of the conical dispersing devices comprises a pipe body, a plurality of connecting rods and a plurality of conical dispersing teeth, wherein the pipe body is sleeved outside the second rotating shaft, each of the conical dispersing teeth is connected to the pipe body through one of the connecting rods, and the plurality of conical dispersing teeth are arranged around the pipe body.

[0009] The soil remediation agent spreading machine further comprises a dust removal mechanism, wherein the dust removal mechanism comprises a plurality of air suction structures, a first air suction pipe, a second air suction pipe, a fan and a cyclone separator, the plurality of air suction structures are in communication with the first air suction pipe and are arranged in the first shell, the second air suction pipe is in communication with the fan and the first air suction pipe at two ends thereof, and the cyclone separator is in communication with the material box and is arranged in the second air suction pipe.

[0010] Each of the air suction structures comprises a second shell in communication with the first air suction pipe, the second shell is provided with an opening, a plurality of filter teeth are arranged in the second shell and adjacent to the opening.

[0011] The soil remediation agent spreading machine further comprises an adjusting mechanism, wherein the first shell is connected to the material box through the adjusting mechanism, the adjusting mechanism is used for adjusting the height of the first shell, the adjusting mechanism comprises a connecting shaft, a plurality of parallelogram structures and a push rod, the plurality of parallelogram structures are arranged along the extension direction of the length of the material box in sequence, two ends of each of the parallelogram structures are connected to the material box and the first shell respectively, the connecting shaft is arranged in the plurality of parallelogram structures, two ends of the push rod are connected to the frame body and the connecting shaft respectively, and the push rod can drive the plurality of parallelogram structures to rise and fall when the push rod is stretched and retracted.

[0012] The soil remediation agent spreading machine provided by the application further comprises a first distance measuring device, a second distance measuring device and a controller, the first distance measuring device is arranged on the first shell and is used to detect a first distance between the first shell and the ground, the second distance measuring device is connected with the push rod and is used to detect a second distance between the first shell and the ground, and the controller is used to calculate a target adjustment height of the first shell based on the first distance and the second distance and control the extension amount of the push rod based on the target adjustment height.

[0013] The soil remediation agent spreading machine provided by the application further comprises a first distance measuring device, a second distance measuring device and a controller, the first distance measuring device is arranged on the first shell and is used to detect a first distance between the first shell and the ground, the second distance measuring device is connected with the push rod and is used to detect a second distance between the first shell and the ground, and the controller is used to calculate a target adjustment height of the first shell based on the first distance and the second distance and control the extension amount of the push rod based on the target adjustment height.

[0014] The soil remediation agent spreading machine provided by the application further comprises a first distance measuring device, a second distance measuring device and a controller, the first distance measuring device is arranged on the first shell and is used to detect a first distance between the first shell and the ground, the second distance measuring device is connected with the push rod and is used to detect a second distance between the first shell and the ground, and the controller is used to calculate a target adjustment height of the first shell based on the first distance and the second distance and control the extension amount of the push rod based on the target adjustment height.

[0015] The soil remediation agent spreading machine provided by the application can avoid the problem of dust drift caused by manual feeding by using the feeding assembly, and can avoid dust drift by spreading in the first shell, effectively solve the problem of dust raising in the spreading process, and ensure the safety of the operator. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0017] Figure 1 It is a structural schematic diagram of the soil remediation agent spreading machine provided by the application.

[0018] Figure 2 It is a structural schematic diagram of the shaftless spiral pipe.

[0019] Figure 3 It isFigure 1 Structure diagram of the stirring mechanism shown in FIG. 1.

[0020] Figure 4 Figure 1 Structure diagram of the discrete mechanism shown in FIG. 2.

[0021] Figure 5 Figure 4 Structure diagram of the cone discrete device shown in FIG. 3.

[0022] Figure 6 Figure 1 Structure diagram of the dust removal mechanism shown in FIG. 4.

[0023] Figure 7 Figure 6 Structure diagram of the dust removal structure shown in FIG. 5.

[0024] Figure 8 It is the side view of the soil remediation agent spreading machine provided by the application.

[0025] Figure 9 Figure 8 Structure diagram of the second distance measuring device shown in FIG. 6.

[0026] Figure 10 It is the structure diagram of the roller.

[0027] Figure 11 It is the logic control diagram of the closed-loop feedback control strategy.

[0028] Reference signs:

[0029] 1, material box; 2, spreading and dust removal mechanism; 3, stirring mechanism; 4, discrete mechanism; 5, dust removal mechanism; 6, adjusting mechanism; 7, feeding mechanism; 8, frame body; 9, second distance measuring device;

[0030] 21, first shell; 22, feeding pipe; 23, motor; 24, shaftless spiral pipe; 31, first rotating shaft; 32, stirring rod; 33, protruding block; 41, second rotating shaft; 42, cone discrete device; 43, third shell; 51, air suction structure; 52, first air suction pipe; 53, second air suction pipe; 54, fan; 55, cyclone separator; 56, third air suction pipe; 61, parallel four-bar structure; 62, push rod; 81, connecting plate; 82, third support; 83, universal wheel; 84, locking plate; 91, profiling wheel; 92, first support; 93, encoder; 94, second support; 95, universal joint; 96, fixing rod;

[0031] 421, pipe body; 422, connecting rod; 423, cone discrete tooth; 511, second shell; 512, filtering tooth. DETAILED DESCRIPTION ​​​​​

[0032] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below in conjunction with the accompanying drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0033] The soil remediation agent spreading machine and the control method of the present application will be described below in conjunction with the accompanying drawings. Figures 1-11 The soil remediation agent spreading machine and the control method of the present application will be described below in conjunction with the accompanying drawings.

[0034] As shown in the embodiments of the present application, the soil remediation agent spreading machine comprises a material box 1 and a spreading and dust removal mechanism 2 connected with the material box 1. The spreading and dust removal mechanism comprises a first shell 21 with an open lower part and a plurality of groups of feeding assemblies arranged in sequence along the extension direction of the length of the first shell 21. The two ends of each group of feeding assemblies are respectively communicated with the material box 1 and the first shell 21, so as to convey the material in the material box 1 into the first shell 21 through the feeding assemblies. Optionally, in the present embodiment, the material in the material box 1 is lime powder. Figure 1 As shown in the embodiments of the present application, the soil remediation agent spreading machine comprises a material box 1 and a spreading and dust removal mechanism 2 connected with the material box 1. The spreading and dust removal mechanism comprises a first shell 21 with an open lower part and a plurality of groups of feeding assemblies arranged in sequence along the extension direction of the length of the first shell 21. The two ends of each group of feeding assemblies are respectively communicated with the material box 1 and the first shell 21, so as to convey the material in the material box 1 into the first shell 21 through the feeding assemblies. Optionally, in the present embodiment, the material in the material box 1 is lime powder.

[0035] Figure 1 As shown in the embodiments of the present application, the soil remediation agent spreading machine comprises a material box 1 and a spreading and dust removal mechanism 2 connected with the material box 1. The spreading and dust removal mechanism comprises a first shell 21 with an open lower part and a plurality of groups of feeding assemblies arranged in sequence along the extension direction of the length of the first shell 21. The two ends of each group of feeding assemblies are respectively communicated with the material box 1 and the first shell 21, so as to convey the material in the material box 1 into the first shell 21 through the feeding assemblies. Optionally, in the present embodiment, the material in the material box 1 is lime powder. Figure 2 As shown in the embodiments of the present application, the soil remediation agent spreading machine comprises a material box 1 and a spreading and dust removal mechanism 2 connected with the material box 1. The spreading and dust removal mechanism comprises a first shell 21 with an open lower part and a plurality of groups of feeding assemblies arranged in sequence along the extension direction of the length of the first shell 21. The two ends of each group of feeding assemblies are respectively communicated with the material box 1 and the first shell 21, so as to convey the material in the material box 1 into the first shell 21 through the feeding assemblies. Optionally, in the present embodiment, the material in the material box 1 is lime powder.

[0036] Specifically, the motor 23 is arranged outside the first shell 21, the lime powder falls into each feeding pipe 22 under the action of gravity in the material box 1, the motor 23 drives the shaftless spiral pipe 24 to rotate, so as to convey the lime powder into the first shell 21, and then spread it into the soil. In actual use, the shaftless spiral pipe 24 is sleeved in the feeding pipe 22 when conveying the lime powder, so as to avoid the problem of dust drifting generated when conveying the lime powder. When spreading the lime powder, the lime powder is spread in the first shell 21, effectively avoiding the problem of dust raising in the spreading process.

[0037] In the present embodiment, the shaftless spiral pipe 24 is a spiral pipe without a central shaft, which can realize large-angle material conveying and get rid of the limitations of shafted spiral pipe conveying.

[0038] ​Further, in the embodiment, each shaftless spiral pipe 24 is connected with a motor 23, the rotation speed of the motor 23 is controlled, and the discharging amount of each shaftless spiral pipe 24 can be regulated. In actual use, the rotation speed of each motor 23 can be regulated according to the properties of the soil in the sowing area, so as to regulate the discharging amount of each shaftless spiral pipe 24, make the discharging more accurate, and realize on-demand sowing.

[0039] The soil remediation agent sowing machine provided by the embodiment of the present application can avoid the problem of dust drift caused by manual feeding by using the feeding assembly to feed; and can avoid dust drift by sowing in the first shell, effectively solve the problem of dust raising in the sowing process, and ensure the safety of the operator.

[0040] As shown in the figure, Figure 3 In the embodiment of the present application, the soil remediation agent sowing machine further comprises a stirring mechanism 3 arranged in the material box 1, and the stirring mechanism 3 is used for stirring the material to prevent the lime powder from caking.

[0041] Further, the stirring mechanism 3 comprises a first rotating shaft 31 and a plurality of stirring rods 32, both ends of the first rotating shaft 31 are connected with the material box 1, and in the embodiment, the length direction of the first rotating shaft 31 is the same as the length direction of the material box 1. The plurality of stirring rods 32 are arranged along the axial direction of the first rotating shaft 31. In the embodiment, the first rotating shaft 31 is arranged in the middle part of each stirring rod 32, and the adjacent two stirring rods 32 are arranged at an angle to make the stirring mechanism 3 have a plurality of dimensional scattering effects. Alternatively, in the embodiment, the angle between the adjacent two stirring rods 32 can be 90° or other angles.

[0042] As shown in the figure, Figure 3 Since the soil remediation agent such as lime powder is prone to caking during storage. In the embodiment of the present application, both ends of each stirring rod 32 are connected with a protrusion 33, and during the rotation of the first rotating shaft 31, the protrusion 33 can increase the contact area with the lime powder, and then scatter the lime powder to avoid the internal arching phenomenon of the lime powder in the material box 1.

[0043] As shown in the figure, Figure 4 In the embodiment of the present application, the soil remediation agent sowing machine further comprises a discrete mechanism 4 arranged in the first shell 21. The discrete mechanism 4 is used for scattering the falling lime powder. In the embodiment, the discrete mechanism 4 comprises a second rotating shaft 41 and a plurality of conical body discrete devices 42, both ends of the second rotating shaft 41 are connected with the first shell 21, and in the embodiment, the length direction of the second rotating shaft 41 is the same as the length direction of the first shell 21. The plurality of conical body discrete devices 42 are arranged along the axial direction of the second rotating shaft.

[0044] Specifically, in the embodiment, the number of the cone dispersing devices 42 matches the number of the feeding pipes 22, and each cone dispersing device 42 is arranged below a feeding pipe 22. The lime powder is transported into the first shell 21 by the shaftless screw pipe 24, and the lime powder is scattered by the cone dispersing device 42 during falling, so as to improve the uniformity of the scattering.

[0045] Further, the dispersing mechanism 4 further comprises a plurality of third shells 43, each cone dispersing device 42 is arranged in a third shell 43, and each third shell 43 is communicated with a feeding pipe 22, so that the lime powder transported by the shaftless screw pipe 24 enters the third shell 43 and is scattered by the cone dispersing device 42 during falling. In the embodiment, by arranging the third shell 43, the lime powder transported by the shaftless screw pipe 24 can be limited in the third shell 43, so as to avoid the drift of the lime powder, and thus the lime powder can fall on the cone dispersing device 42 during falling, and then be scattered by the cone dispersing device 42, so as to ensure the uniformity of the scattering.

[0046] Further, in the embodiment, the rotation speed of the second rotating shaft 41 can be adjusted, so as to adjust the uniformity of the scattering of the cone dispersing device 42, and thus the uniformity of the scattering is improved.

[0047] As shown in Figure 5 In the embodiment of the present application, the cone dispersing device 42 comprises a pipe body 421, a plurality of connecting rods 422 and a plurality of cone dispersing teeth 423. The pipe body 421 is sleeved on the outside of the second rotating shaft 41, and each cone dispersing tooth 423 is connected with a connecting rod 422. The pipe body 421 is provided with a plurality of connecting holes in the circumferential direction, and each connecting rod 422 is inserted into a connecting hole, so that the plurality of cone dispersing teeth 423 are arranged around the pipe body 421, and thus the contact area with the lime powder is increased, and the uniformity of the scattering of the lime powder is ensured.

[0048] In the embodiment of the present application, the cone dispersing tooth 423 has a conical structure, which can finely disperse the discharged fertilizer, and ensure the uniform distribution of the lime powder in the field.

[0049] Further, the second rotating shaft 41 is connected with a dispersing motor, the dispersing motor is used to drive the second rotating shaft 41 to rotate, the rotation speed of the dispersing motor is positively correlated with the dispersing degree of the lime powder, the faster the rotation speed of the dispersing motor, the better the dispersing degree of the lime powder, and vice versa.

[0050] The lime powder enters the third shell 43, is scattered by the cone dispersing device 42, and is scattered on the ground. Since the process of scattering the lime powder by the high-speed rotating cone dispersing device 42 and the process of falling and colliding with the ground of the lime powder will produce a certain amount of dust drift, the soil remediation agent scattering machine provided in the embodiment of the present application further comprises a dust removal mechanism 5.

[0051] As shown in Figure 6 dust removal mechanism 5 includes: a plurality of suction structure 51, first suction pipe 52, second suction pipe 53, fan 54 and cyclone separator 55. Each suction structure 51 through a third suction pipe 56 with the first suction pipe 52 communication, a plurality of suction structure 51 and a plurality of third suction pipe 56 are arranged in the first shell 21, each suction structure 51 is adjacent to the third shell 43 set to suction dust drift. Fan 54 and material box 1 is connected, and located outside the material box 1. Cyclone separator 55 with material box 1 communication. Second suction pipe 53 two ends are communicated with fan 54 and first suction pipe 52.

[0052] Fan 54 by high speed rotation suction airflow, in each suction structure 51 end of the formation of negative pressure, dust and air suction structure 51 to cyclone separator 55, cyclone separator 55 filter out the dust particles in the airflow, the filtered dust particles into the material box 1, realize the recycling of dust particles.

[0053] Further, in order to improve the dust removal efficiency, the number of second suction pipe 53 and cyclone separator 55 in the embodiment of the application is two, two cyclone separator 55 are arranged on both sides of the fan 54. Dust after the first suction pipe 52, respectively into two second suction pipe 53, and by two cyclone separator 55 separation filtering.

[0054] As shown in Figure 7 in the embodiment of the application, each suction structure 51 includes a second shell 511, the second shell 511 is located in the first shell 21, the second shell 511 through the third suction pipe 56 with the first suction pipe 52 communication. Second shell 511 is provided with an open, the second shell 511 is provided with a plurality of filter teeth 512, filter teeth 512 adjacent to the open set, filter teeth 512 for filtering out large impurities when suction dust, to avoid large impurities will be each suction pipe blocked.

[0055] The soil remediation agent spreading machine provided by the embodiment of the application can suck the dust in the first shell during the spreading process by setting the dust removal mechanism, separate the dust particles, and then make the separated dust particles enter the material box again, thereby realizing the recycling of the material.

[0056] As shown in Figure 1 in the embodiment of the application, the soil remediation agent spreading machine further includes a frame 8, the material box 1 is arranged on the frame 8, the frame 8 is provided with a plurality of universal wheels 83, so that the frame 8 can be moved.

[0057] Specifically, in the embodiment, the frame body 8 is spliced by a plurality of pipe bodies. The material box 1 is arranged on the frame body 8. The bottom of the frame body 8 is provided with four traveling mechanisms, so that the frame body 8 can move. As shown in Figure 10 each traveling mechanism includes a connecting plate 81, a third support 82, a universal wheel 83 and a locking plate 84. In the embodiment, the third support 82 is a U-shaped structure, the rotating shaft of the universal wheel 83 is connected with the two side plates opposite to the U-shaped structure, one end of the locking plate 84 is rotationally connected with the top plate of the U-shaped structure, and the other end of the locking plate 84 is a free end. The locking plate 84 is connected with the frame body 8 through a plurality of connecting plates 81. When the locking plate 84 abuts against the universal wheel 83, the universal wheel 83 cannot rotate, and the frame body 8 is fixed at the current position; when the locking plate 84 is separated from the universal wheel 83, the universal wheel 83 rotates, and the frame body 8 can move.

[0058] As shown in Figure 8 the soil remediation agent spreader further includes an adjusting mechanism 6. The first shell 21 is connected with the material box 1 through the adjusting mechanism 6, and the adjusting mechanism 6 is used to adjust the height of the first shell 21.

[0059] Specifically, the adjusting mechanism 6 includes a plurality of parallelogram structures 61, a push rod 62 and a connecting shaft. The plurality of parallelogram structures 61 are arranged in sequence along the extension direction of the length of the material box 1, and two ends of each parallelogram structure 61 are connected with the material box 1 and the first shell 21 respectively. The connecting shaft is arranged in the plurality of parallelogram structures 61, and two ends of the push rod 62 are connected with the frame body 8 and the connecting shaft respectively.

[0060] In the embodiment, the parallelogram structure 61 is a parallelogram structure formed by sequentially hinging four rods, one side of the parallelogram structure 61 is connected with the material box 1, and the opposite side is connected with the first shell 21. When the push rod 62 is extended or retracted, the parallelogram structure 61 can be lifted or lowered, and then the first shell 21 is lifted or lowered, so as to adjust the height of the first shell 21.

[0061] As shown in Figure 8 the soil remediation agent spreader further includes a first distance measuring device, a second distance measuring device 9 and a controller. The first distance measuring device is arranged on the first shell 21 and is used to detect a first distance between the first shell 21 and the ground. The second distance measuring device 9 is connected with the push rod 62, and the second distance measuring device 9 is used to detect a second distance between the first shell 21 and the ground. The controller is used to calculate a target adjusting height of the first shell 21 based on the first distance and the second distance, and control the extension and retraction amount of the push rod 62 based on the target adjusting height.

[0062] Specifically, the first distance measuring device can be an intelligent sonar distance meter. As shown in Figure 9The second distance measuring device 9 includes a profiling wheel 91, a first support 92, an encoder 93, a second support 94, a universal joint 95, and a fixed rod 96. The first end of the first support 92 is connected to the rotating shaft of the profiling wheel 91, which can be in contact with the ground and rotate. The second end of the first support 92 is rotationally connected to the second support 94 through the encoder 93. The second support 94 is connected to the fixed rod 96 through the universal joint 95, and the fixed rod 96 is connected to the push rod 62.

[0063] In this embodiment, the bottom surface of the second support 94 is in the same plane as the surface of the open end of the first housing 21. The profiling wheel 91 is used to monitor the flatness of the ground. When the ground is not flat, the encoder 93 rotates by a certain angle, and the distance between the second support 94 and the ground can be calculated by calculating the included angle between the first support 92 and the fixed rod 96, and the distance between the first housing 21 and the ground can be obtained. In this embodiment, since the fixed rod 96 is connected to the push rod 62, when the fixed rod 96 moves up and down, the first housing 21 follows, so that the bottom surface of the second support 94 and the surface of the open end of the first housing 21 are always in the same plane.

[0064] Considering the differences of different terrains, the first distance measuring device can sense the first distance between the first housing 21 and the ground in real time, and the second distance measuring device can sense the second distance between the first housing 21 and the ground in real time. By combining the first distance and the second distance, the target adjustment height of the first housing 21 is obtained, which ensures that the first housing 21 is always at the best discharge height, and the lime powder can be accurately dropped into the designated area to improve the spreading accuracy.

[0065] Specifically, where H is the second distance, h is the profiling wheel radius, l is the distance from the profiling wheel axis to the encoder axis, and θ is the included angle between the first support and the fixed rod.

[0066] ,

[0067] wherein, is the fusion height, is the height measurement value of the encoder, is the first distance, , is the weight value of the sensor.

[0068] Each sensor calculates the error between the fused ground surface height and the target adjustment height .

[0069] ,

[0070] The encoder 93 adopts PID control, and the PID controller outputs a control signal The driving motor drives the push rod 62 to extend and retract, and the extension and retraction amount of the push rod is adjusted in real time according to the height error The control formula is as follows:

[0071] .

[0072] As Figure 1 shown in the embodiments of the present application, the soil remediation agent spreading machine further comprises a feeding mechanism 7 connected with the material box 1, and the feeding mechanism 7 is used for conveying the material into the material box 1.

[0073] As Figure 11 shown, the embodiments of the present application further provide a control method based on the soil remediation agent spreading machine, which realizes the collaborative control of "material discharge-dispersion-dust removal" and automatic height adjustment, and specifically comprises the following steps:

[0074] Step 01: obtaining a first distance between the first shell 21 and the ground and a second distance between the first shell 21 and the ground, calculating a target adjustment height of the first shell 21 based on the first distance and the second distance, and controlling the extension and retraction amount of the push rod 62 based on the target adjustment height; Step 02: obtaining the material discharge rate and flow of the soil remediation agent in real time, and controlling the rotating speed of the dispersion mechanism and the dust removal mechanism based on the material discharge rate, flow and closed-loop feedback control strategy.

[0075] Specifically, considering the differences of different terrains, the first distance between the first shell 21 and the ground can be sensed in real time by the first distance measuring device, and the second distance between the first shell 21 and the ground can be sensed in real time by the second distance measuring device, the target adjustment height of the first shell 21 is obtained by the fusion regulation and control of the first distance and the second distance, so that the first shell 21 is always at the best material discharge height, and the lime powder can be accurately dropped into the designated area to improve the spreading accuracy.

[0076] During spreading, the material discharge rate and flow of the lime powder are obtained in real time, and the rotating speed of the dispersion mechanism 4 and the dust removal mechanism 5 is automatically adjusted in combination with the closed-loop feedback control strategy, so as to realize on-demand fertilization according to the soil condition, reduce waste and improve efficiency.

[0077] Specifically, the motor 23 adjusts the rotating speed according to the material discharge rate and flow required by the designated area operation, the dispersion motor of the dispersion mechanism 4 adjusts the dispersion rotating speed according to the required dispersion rotating speed calculated by the rotating speed of the motor 23, and the fan 54 is adjusted according to the dispersion rotating speed of the dispersion motor to control the dust removal intensity. Specifically, the faster the rotating speed of the motor 23, the greater the material discharge rate and flow, and the faster the rotating speed of the dispersion motor; the faster the dispersion motor, the greater the dust, and accordingly, the faster the rotating speed of the fan 54.

[0078] The control method provided by the embodiment of the application can adaptively adjust the first shell height according to different soil forms, avoid dust leakage, and realize on-demand spreading and precise spreading through collaborative control of discharging, dispersion and dust removal, thereby significantly improving the intelligent level of the spreading machine, providing strong technical support for realizing precision agriculture, reducing excessive use of lime powder, improving agricultural production efficiency and environmental protection, and marking an important step of modern agricultural equipment towards more intelligent, refined and environmentally friendly directions. Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the application, but not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the application.

Claims

1. A soil remediation agent spreader characterized by, The utility model relates to a kind of lime powder dispersing device, including: Frame, material box, sowing dust removal mechanism, discrete mechanism and dust removal mechanism, the material box is set to the frame, the sowing dust removal mechanism is connected with the material box; The sowing dust removal mechanism includes: first shell and multiple groups of feeding components, the lower part of the first shell is open, multiple groups of the feeding components are sequentially arranged along the extension direction of the length of the first shell, and the two ends of each group of the feeding components are communicated with the material box and the first shell respectively; Each group of the feeding components includes: feeding pipe, motor and shaftless spiral pipe, the two ends of the feeding pipe are communicated with the material box and the first shell respectively, the shaftless spiral pipe is sleeved in the feeding pipe, and the shaftless spiral pipe is connected with the motor; The discrete mechanism is arranged in the first shell;The discrete mechanism includes: second shaft, multiple conical body discrete devices and multiple third shells, the two ends of the second shaft are connected with the first shell, and multiple conical body discrete devices are sequentially arranged along the axial direction of the second shaft; Each conical body discrete device is arranged in a third shell, each third shell is communicated with a feeding pipe, so that the lime powder transported by the shaftless spiral pipe enters the third shell, and is scattered by the conical body discrete device during falling; Each conical body discrete device includes: pipe body, multiple connecting rods and multiple conical body discrete teeth, the pipe body is sleeved outside the second shaft, each conical body discrete tooth is connected with the pipe body through a connecting rod, and multiple conical body discrete teeth are arranged around the pipe body; The dust removal mechanism includes: multiple air suction structures, first air suction pipe, second air suction pipe, third air suction pipe, fan and cyclone separator;Each air suction structure is communicated with the first air suction pipe through a third air suction pipe, multiple air suction structures and multiple third air suction pipes are arranged in the first shell, and each air suction structure is arranged adjacent to the third shell to suck the drifting dust;The two ends of the second air suction pipe are communicated with the fan and the first air suction pipe respectively;The cyclone separator is communicated with the material box, and the cyclone separator is arranged in the second air suction pipe; Each air suction structure includes a second shell, the second shell is located in the first shell, the second shell is communicated with the first air suction pipe through the third air suction pipe, the second shell is provided with an opening, and multiple filter teeth are arranged in the second shell, and the filter teeth are arranged adjacent to the opening.

2. The soil remediation agent spreader of claim 1, wherein, It also includes a stirring mechanism, and the stirring mechanism is arranged in the material box; The stirring mechanism includes: first shaft and multiple stirring rods, the two ends of the first shaft are connected with the material box, multiple stirring rods are sequentially arranged along the axial direction of the first shaft, and adjacent two stirring rods are arranged at an angle, and the two ends of each stirring rod are connected with protrusions respectively.

3. The soil remediation agent spreader of claim 1, wherein, It also includes an adjusting mechanism, the first shell is connected with the material box through the adjusting mechanism, and the adjusting mechanism is used for adjusting the height of the first shell. The adjusting mechanism comprises a connecting shaft, a plurality of parallelogram structures and a push rod; the plurality of parallelogram structures are arranged in sequence along the extension direction of the length of the material box, and two ends of each parallelogram structure are connected with the material box and the first shell respectively; The connecting shaft is arranged in the plurality of parallelogram structures, and two ends of the push rod are connected with the frame body and the connecting shaft respectively; when the push rod is extended or retracted, the plurality of parallelogram structures can be driven to rise or fall.

4. The soil remediation agent spreader of claim 3, wherein, Further comprising: a first distance measuring device, a second distance measuring device and a controller; The first distance measuring device is arranged on the first shell, and is used for detecting a first distance between the first shell and the ground; The second distance measuring device is connected with the push rod, and is used for detecting a second distance between the first shell and the ground; The controller is used for calculating a target adjusting height of the first shell based on the first distance and the second distance, and controlling the extension or retraction amount of the push rod based on the target adjusting height.

5. The soil remediation agent spreader of claim 4, wherein, The second distance measuring device comprises a profiling wheel, a first support, a second support, an encoder, a universal joint and a fixing rod; A first end of the first support is connected with a rotating shaft of the profiling wheel, and a second end of the first support is rotatably connected with the second support through the encoder; The second support is connected with the fixing rod through the universal joint, and the fixing rod is connected with the push rod.

6. A control method of a soil restorer spreader based on any one of claims 1 to 5, characterized by, The method comprises: acquiring a first distance between the first shell and the ground and a second distance between the first shell and the ground, calculating a target adjusting height of the first shell based on the first distance and the second distance, and controlling the extension or retraction amount of the push rod based on the target adjusting height; acquiring a discharging rate and a flow rate of the soil remediation agent in real time, and controlling the rotating speed of the discrete mechanism and the dedusting mechanism based on the discharging rate, the flow rate and a closed-loop feedback control strategy.

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