A range-extending electric spiral ditching and fertilizing machine and a control method thereof

Abstract

The application relates to the field of agricultural machinery, in particular to a range-extending electric spiral ditching fertilizer applicator and a control method thereof. The range-extending electric spiral ditching fertilizer applicator comprises an electric crawler chassis, a ditching fertilizer mechanism and a lifting conveying mechanism. A range extender for continuously charging a battery is arranged in the electric crawler chassis. A control system controls the walking, steering and working of the whole machine. The application has the following advantages: 1. New energy is used to replace the traditional diesel engine, noise is reduced, and environmental pollution is avoided; 2. The endurance of the battery of the electric crawler chassis is improved, the control is more flexible, and the working efficiency is improved; 3. The device can realize spiral ditching, fertilization and soil covering at one time; 4. The fertilizer box is fixed on the frame of the whole machine, the mechanical structure of the whole machine is simplified, and the neatness of the whole machine is improved.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery technology, specifically to a range-extended electric spiral ditching fertilizer applicator and its control method. Background Technology

[0002] my country has the largest orchard planting area in the world, and its fruit production ranks first globally. However, the level of mechanization in orchard production is low, making it difficult to improve the industry's overall level. Currently, some orchard robot products are available in China, which can be used for spraying, weeding, and transportation, improving the intelligence level of orchard machinery. Tracked vehicles are characterized by strong adaptability to various road surfaces and high load-bearing capacity. However, diesel-powered tracked chassis are mostly used in outdoor agricultural production activities, which are noisy and pollute the environment.

[0003] Currently, electric tracked chassis on the market have the following drawbacks: First, they all use separate battery packs to power the drive motors, resulting in short battery life; second, the batteries are located at the bottom of the chassis, making them unsuitable for agricultural applications. In complex environments, debris such as stones in the field can easily cause irreversible damage to the batteries, or even cause them to explode; third, most electric tracked chassis currently place the drive wheels and drive motor at the rear of the chassis. However, when performing some agricultural operations, placing the drive wheels at the rear of the tracked chassis can lead to a large chassis space and an unstable center of gravity. Furthermore, traditional chassis cannot accommodate multiple implements.

[0004] Meanwhile, the current trenching and fertilizing machine mechanism has the following defects. For example, in the tracked spiral trenching and fertilizing machine of our company's patent document number CN221283762U, the fertilizer box and the spiral trenching and fertilizing box are fixed together. If the spiral trenching and fertilizing box needs to move up and down, the fertilizer box needs to move up and down together with the spiral trenching and fertilizing box. However, the fertilizer box is heavy, the lifting force required for the up and down movement is large and it is easy to shake. The requirements for the actuator of the lifting device are high, and only the hydraulic cylinder with high pressure can be selected as the actuator. This has a great impact on the intelligence and neatness of the whole machine.

[0005] To address these issues, an extended-range electric spiral trenching fertilizer applicator and its control method have been proposed. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a range-extended electric spiral trenching fertilizer applicator and its control method.

[0007] The technical solution of the present invention includes a track assembly support 4. The front and rear ends of the track assembly support 4 are respectively provided with a tensioning wheel assembly 5 and a drive wheel 20. The drive wheel 20 is connected to a motor reducer unit 18, vertically and fixed on the track assembly support 4. Load-bearing wheels 2 are evenly distributed on the track assembly support 4. The track assemblies 4 are fixedly connected to each other via a frame base 19. The frame base 19 is provided with a frame assembly 15, a column 14 with linear guides, and an electric push rod 17. The rear end of the frame assembly 15 is provided with a handrail 8 and a control panel 9. A fertilizer box 28 and a conveyor motor 27 are fixed above it. A lifting support 16 and a spiral trenching box 36 are connected to the column 14 with linear guides. The electric push rod 17 is connected to the lifting support 16, causing the spiral trenching box 36 to move up and down. The spiral trenching box 36 is characterized in that: the spiral trenching box 36... A lifting fertilizer conveying mechanism B is provided between the trench box 36 and the fertilizer box 28, including a conveying trough 35 located at the top of the spiral trenching box 36 and a four-stage transmission drive chain. The conveying trough 35 is the same width as the bottom of the fertilizer box 28 and is located directly below the front end of the fertilizer box 28. The two are connected by a telescopic hose 30. Conveying hinges 43 are provided on both sides of the conveying trough 35. The working motor 22 transmits power to the feeding hinge 42, the conveying hinge 43 and the spiral trenching fertilizer bucket 37 in sequence through the four-stage transmission drive chain. The front end of the frame assembly 15 is connected and fixed to the column 14 with linear rails. The middle part of the frame assembly 15 is provided with a battery 6, a range extender 13 and a controller 11. The battery 6 is located directly above the tension wheel assembly 5. The controller 11 and the range extender 13 are respectively located above and at the front end of the battery 6.

[0008] The four-stage transmission drive chain includes a right-angle gearbox 31 fixed above the conveying trough 35, a shaft 34 located at the front end of the conveying trough 35, and a drive sprocket 39 located on the input shaft 38. A transition shaft 26 runs through the right-angle gearbox 31. A passive sprocket 29 connected to the drive sprocket 39 via a chain is provided on the transition shaft 26. The transition shaft 26 transmits power to the feeding auger 42 and the shaft 22 respectively after being converted by two pairs of bevel gears in the right-angle gearbox 31. A drive sprocket 21 is provided on the shaft 22, which transmits power to the passive sprocket 40 on the shaft 34 via a chain. Then, the passive sprockets 33 on both sides of the shaft 34 transmit power to the passive sprocket 25 on the shaft 24 via a chain, ultimately driving the conveying auger 43 to rotate.

[0009] The fertilizer box 28 is wider at the top and narrower at the bottom, with a middle surface 45 in the middle of the bottom. Feeding hinges 44 are provided on both sides of the bottom of the fertilizer box 28, and the axis of the feeding hinges 44 is higher than the middle surface 45 of the fertilizer box 28, with the included angle β of the middle surface being 60°-70°.

[0010] The fertilizer tank 28 is also equipped with a cam stirring mechanism, including a disc 46, two rocker arms 48 and a long rod 50 located between the rocker arms 48. The rocker arms 48 are provided with long grooves 49 and their tops are connected to shafts 47. The edge of the disc 46 is provided with pins 51 that cooperate with the long grooves 49. The disc 46 is connected to a stirring motor 52 outside the fertilizer tank 28. The rotation of the stirring motor 52 drives the rocker arms 48 to reciprocate left and right around the shaft 47, so that the long rod 50 stirs the fertilizer in the fertilizer tank 28.

[0011] The frame assembly 15 includes a first frame 3, a second frame 7, and a third frame 12 welded sequentially from bottom to top. The handrail 8, control panel 9, and battery 6 are all mounted on the second frame 7. A controller mounting bracket 10 is also provided above the battery 6. The controller 11 that controls the whole machine and the range extender 13 that continuously supplies power to the battery 6 are both fixed on the controller mounting bracket 10. The fertilizer tank 28 is fixed on the third frame 12. The width of the second frame 7 and the third frame 12 does not exceed the distance between the two track assembly supports 4.

[0012] The first frame 3 is the same width as and fixed to the column 14 with linear guide rails, and the frame base 19 is provided with a mounting plate 21 for fixing the working motor 22.

[0013] The control method described above is implemented through a power supply system and a control system; The power supply system includes a battery 6 that supplies power to the control system and a range extender 13 that continuously replenishes the battery 6. The battery 6 is connected in parallel with all electrical actuators in the control system. The control system includes a controller 11 and an electric push rod 17, a motor reducer 18, a working motor 22, and a conveyor motor 27 connected to it. The controller 11 controls the rotation speed of the motor reducer 18 on the left and right sides respectively, realizing the forward, stop, reverse, and turn-on movement of the electric tracked chassis A. The controller 11 also controls the working motor 22 and the conveyor motor 27 to rotate together, realizing the ditching and fertilizing mechanism B of the descending spiral ditching and fertilizing mechanism B to perform ditching, fertilizer mixing, conveying, and fertilizing. The controller 11 also controls the extension and retraction of the electric push rod 17, realizing the raising and lowering of the descending spiral ditching and fertilizing mechanism B. The controller 11 is equipped with corresponding control buttons on the control panel 9.

[0014] Compared with existing technologies, this invention has the following advantages: First, it uses new energy to replace traditional diesel engines, greatly reducing noise and avoiding environmental pollution; second, it increases the battery life of the tracked electric chassis and makes operation more flexible, improving work efficiency; third, the equipment protects the battery and electrical components, while ensuring the stability of the machine's center of gravity. The chassis can also be equipped with various implements, allowing the machine to perform three operations simultaneously: spiral trenching, fertilization, and soil covering, with adjustable trenching and fertilization depths; fourth, the fertilizer tank is fixed to the machine's frame, ensuring good stability and reducing the pressure requirements on lifting actuators. Using electric push rods instead of hydraulic cylinders enhances the machine's intelligence, eliminates complex hydraulic circuits, simplifies the machine's mechanical structure, and improves its overall neatness. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the invention. Figure 2 for Figure 1 Structural diagram of the electric tracked chassis A; Figure 3 for Figure 2 K-direction view; Figure 4 for Figure 1 A schematic diagram of the structure with the electric tracked chassis A removed from the diagram; Figure 5 for Figure 1 Schematic diagram of the B-type lifting fertilizer conveying mechanism; Figure 6 This is a front sectional view of the fertilizer box (28) in Example 1; Figure 7 This is a front sectional view of the fertilizer box (28) in Example 2; Figure 8 for Figure 7 Sectional view of AA; Figure 9 This is a schematic diagram of the control system of the present invention.

[0016] In the diagram: 1. Bearing housing; 2. Load-bearing roller; 3. First frame; 4. Track assembly bracket; 5. Tensioner assembly; 6. Battery; 7. Second frame; 8. Handrail; 9. Control panel; 10. Controller mounting bracket; 11. Controller; 12. Third frame; 13. Range extender; 14. Column with linear guide; 15. Frame assembly; 16. Lifting bracket; 17. Electric push rod; 18. Motor reducer unit; 19. Frame base; 20. Drive wheel; 21. Working motor mounting plate; 22. Working motor; 23. Telescopic universal coupling; 24. Shaft 1; 25. Driven sprocket 1; 26. Transition shaft; 27. Conveyor motor; 2 8. Fertilizer bin; 29. ​​Passive sprocket two; 30. Telescopic hose; 31. Right-angle gearbox; 32. Shaft two; 33. Passive sprocket three; 34. Shaft three; 35. Conveying trough; 36. Spiral trenching box body; 37. Spiral trenching fertilizer bucket; 38. Input shaft; 39. Drive sprocket one; 40. Passive sprocket four; 41. Drive sprocket two; 42. Feeding hinge; 43. Conveying hinge; 44. Feeding hinge; 45. Intermediate surface; 46. Disc; 47. Shaft; 48. Rocker arm; 49. Long trough; 50. Long rod; 51. Pin; 52. Mixing motor; A. Electric tracked chassis; B. Lifting fertilizer conveying mechanism; β. Intermediate surface angle. Detailed Implementation

[0017] An extended-range electric spiral ditching and fertilizing machine and its control method are disclosed, comprising an electric extended-range spiral ditching and fertilizing machine and a control system.

[0018] The electric range-extended spiral trenching fertilizer applicator includes two track assembly brackets 4, tension wheel assembly 5, and drive wheel 20. The track assembly brackets 4 are equipped with evenly distributed load-bearing wheels 2. The drive wheel 20 is fixed to the front end of the track assembly brackets 4 through bearing seats 1. The motor reducer unit 18 is connected to the drive wheel 20 and is vertically fixed on the track assembly brackets 4. The tension wheel assembly 5 is fixed to the rear end of the track assembly brackets 4. The track assembly brackets 4 are fixedly connected to each other through a frame base 19. The frame base 19 is equipped with a frame assembly 15, a column 14 with linear guide rails, and an electric push rod 17. The frame base 19 is also equipped with a mounting plate 21 for fixing the working motor 22.

[0019] The frame assembly 15 includes a first frame 3, a second frame 7, and a third frame 12 welded from bottom to top. The rear end of the second frame 7 is equipped with a handrail 8 and a control panel 9, and the remaining part stores the battery 6. Above the battery 6, there is also a controller mounting bracket 10. The controller 11 that controls the whole machine and the range extender 13 that continuously supplies power to the battery 6 are both fixed on the controller mounting bracket 10. The drive wheel 20 and the motor reducer 18 are located at the front of the chassis. The main purpose is to increase the weight at the front of the whole machine, increase the grip, and prevent the equipment from tilting and overturning due to insufficient gravity when the spiral trench is opened. The battery 6 and the range extender 13 are located at the rear and upper to prevent the battery 6 and the range extender 13 from bumping into each other during agricultural operations, preventing damage and explosion, and at the same time increasing the chassis's performance in crossing trenches and ridges.

[0020] Meanwhile, the first frame 3 is the same width as the column 14 with linear rails and is fixed together, and the third frame 12 is the same height as the column 14 with linear rails and is fixed together. The column 14 with linear rails is equipped with a lifting bracket 16, and the spiral trenching box 36 is fixed on the lifting bracket 16. The spiral trenching fertilizer tank 37 is located below the spiral trenching box 36, and the lifting fertilizer conveying mechanism B is located above it. The electric push rod 17 pushes the spiral trenching box 36 and the spiral trenching fertilizer tank 37 to move up and down together. The spiral trenching box 36 and the lifting fertilizer conveying mechanism B are both located at the front of the whole machine. This distribution can adjust the center of gravity of the whole machine to the middle point and prevent the equipment from tipping over during operation.

[0021] The lifting fertilizer conveying mechanism B includes a top conveying trough 35 of the spiral trenching box 36. The conveying trough 35 is the same width as the fertilizer box 28 and is located directly below its top. Both sides of the conveying trough 35 are provided with conveying hinges 43 wound around the shaft 24. The input shaft 38 of the spiral trenching fertilizer bucket 36 is connected to the working motor 22 through a telescopic universal coupling 23. The working motor 22 transmits power to the feeding hinge 42 and the conveying hinge 43 again through a four-stage transmission chain. Example 1:

[0022] The fertilizer box 28 is fixed on the third frame 12. Both sides of the fertilizer box 28 are provided with feeding hinges 44, which are driven by separate conveying motors 27. The fertilizer box 28 is shaped with a wider top and a narrower bottom, with a middle surface 45 in the middle of the bottom. The middle surface 45 has grooves for conveying fertilizer on both sides. The axis of the feeding hinges 44 on both sides is higher than the middle surface 45 of the fertilizer box 28, so that part of the feeding hinges 44 is above the middle surface 45. The included angle β of the middle surface 45 is 60°-70°. This allows the fertilizer above the fertilizer box 28 to be fed into the conveying trough 35 under the action of the feeding hinges 44. If the axis of the feeding hinges 44 is lower than the middle surface 45 of the fertilizer box 28, the fertilizer above the middle surface 45 will easily accumulate on it. Example 2:

[0023] To prevent fertilizer from accumulating and clumping, and to ensure that the fertilizer above the middle surface 45 is smoothly delivered to the feeding auger 44 below, in accordance with Embodiment 1, a cam stirring mechanism is also provided in the fertilizer box 28, located above the middle surface 45. The cam stirring mechanism includes a disc 46, two rocker arms 48, and a long rod 50 located between the rocker arms 48. The rocker arms 48 have long grooves 49, and their tops are connected to a shaft 47. The shaft 47 is fixed along its length to the fertilizer box 28. The edge of the disc 46 has pins 51 that cooperate with the long grooves 49. The disc 46 is connected to a stirring motor 52 outside the fertilizer box 28. When the stirring motor 52 rotates, it drives the pins 51 on the disc 46 to rotate. The pins 51 move within the long grooves 49, causing the rocker arms 48 to reciprocate left and right around the shaft 47, and causing the long rod 50 between the rocker arms 48 to reciprocate left and right, thus stirring the fertilizer in the fertilizer box 28.

[0024] To improve the fertilization rate, a flexible hose 30 is provided between the conveying trough 35 and the fertilizer box 28 to prevent fertilizer from spilling.

[0025] The four-stage transmission drive chain includes a right-angle gearbox 31 fixed above the conveying trough 35, a shaft 34 supported by bearings on the front side of the conveying trough 35, and a drive sprocket 39 on the input shaft 38. A transition shaft 26 runs through the right-angle gearbox 31. A driven sprocket 29 connected to the drive sprocket 39 by a chain is provided on the transition shaft 26. The transition shaft 26 transmits power to the feeding auger 42 and the shaft 23 respectively after conversion by two pairs of bevel gears. A drive sprocket 21 is provided on the shaft 23, which transmits power to the driven sprocket 40 on the shaft 34 by a chain. Then, the driven sprockets 33 on both sides of the shaft 34 transmit power to the driven sprocket 25 on the shaft 24 by a chain, ultimately driving the conveying auger 43 to rotate.

[0026] The advantage of placing the lifting fertilizer conveying mechanism B in front of the battery 6 is that it can clear away hard lumps, gravel, and other debris in the field, preventing damage to the battery and motor behind it and extending their service life.

[0027] The control method of the range-extended electric spiral trenching fertilizer applicator is realized through a power supply system and a control system. The power supply system includes a battery 6 that supplies power to the control system and a range extender 13 that continuously replenishes the battery 6. The battery 6 is connected in parallel with all electrical actuators in the control system, thus ensuring that each electrical actuator can be repaired individually if a problem occurs.

[0028] The control system includes a controller 11 and an electric push rod 17, a motor reducer 18, a working motor 22, and a conveyor motor 27 connected to it. The controller 11 controls the speed of the motor reducer 18 on the left and right sides respectively, realizing the forward movement, stopping, reversing, and turning in place of the electric tracked chassis A. The controller 11 also controls the working motor 22 and the conveyor motor 27 to rotate together, realizing the ditching and fertilizing mechanism B of the descending spiral ditching and fertilizing mechanism B to perform ditching, fertilizer mixing, conveying, and fertilizing. The controller 11 also controls the extension and retraction of the electric push rod 17, realizing the raising and lowering of the descending spiral ditching and fertilizing mechanism B.

[0029] The controller 11 is equipped with corresponding control buttons on the control panel 9 for easy manual operation.

Claims

1. A range-extended electric spiral ditching fertilizer applicator, comprising a track assembly support (4), with drive wheels (20) and tension wheel assemblies (5) respectively provided at the front and rear ends of the track assembly support (4). The drive wheels (20) are connected to a motor reducer unit (18), and are vertically fixed on the track assembly support (4). Load-bearing wheels (2) are evenly distributed on the track assembly support (4). The track assembly supports (4) are fixedly connected to each other through a frame base (19). The frame base (19) is provided with... The machine includes a frame assembly (15), a column (14) with linear guide rails, and an electric push rod (17). The rear end of the frame assembly (15) is equipped with a handrail (8) and a control panel (9). A fertilizer bin (28) and a conveyor motor (27) are fixed above it. A lifting bracket (16) and a spiral trenching box (36) are connected to the column (14) with linear guide rails. The electric push rod (17) is connected to the lifting bracket (16) to move the spiral trenching box (36) up and down. Its features are: The spiral trenching box (36) and the fertilizer box (28) are provided with a lifting fertilizer conveying mechanism B, which includes a conveying trough (35) on the top of the spiral trenching box (36) and a four-stage transmission drive chain. The conveying trough (35) is the same width as the bottom of the fertilizer box (28) and is located directly below the front end of the fertilizer box (28). The two are connected by a telescopic hose (30). The middle of the conveying trough (35) is provided with a vertically arranged feeding auger (42) and the two sides are provided with horizontally arranged conveying augers (43). The working motor (22) transmits power to the feeding auger (42), the conveying auger (43) and the spiral trenching fertilizer bucket (37) in sequence through the four-stage transmission drive chain. The front end of the frame assembly (15) is connected and fixed to the column (14) with linear rail. The frame assembly (15) 5) The middle part is provided with a battery (6), a range extender (13) and a controller (11). The battery (6) is located directly above the tension wheel assembly (5). The controller (11) and the range extender (13) are respectively located above and at the front end of the battery (6). The fertilizer box (28) is provided with feeding augers (44) on both sides below. The fertilizer box (28) is wider at the top and narrower at the bottom and has a middle surface (45) in the middle of the bottom. The middle surface (45) has grooves for conveying fertilizer on both sides. The axis of the feeding auger (44) is higher than the middle surface (45) of the fertilizer box (28). The fertilizer in the fertilizer box (28) is sent to the conveying auger (43) via the feeding auger (44). Then, the feeding auger (42) cooperates with the spiral ditching fertilizer bucket (37) located below the spiral ditching box (36) to realize ditching fertilizer application.

2. The range-extended electric spiral trenching fertilizer applicator according to claim 1, characterized in that: The four-stage transmission drive chain includes a right-angle gearbox (31) fixed above the conveying trough (35), a shaft three (34) located at the front end of the conveying trough (35), and a drive sprocket one (39) located on the input shaft (38). A transition shaft (26) runs through the right-angle gearbox (31). A passive sprocket two (29) connected to the drive sprocket one (39) via a chain is provided on the transition shaft (26). The transition shaft (26) transmits power to the feeding auger (42) and shaft two (32) respectively after being converted by two pairs of bevel gears in the right-angle gearbox (31). A drive sprocket two (41) is provided on shaft two (32). The power is transmitted to the passive sprocket four (40) on shaft three (34) via a chain. Then, the passive sprocket three (33) on both sides of shaft three (34) transmits the power to the passive sprocket one (25) on shaft one (24) via a chain, and finally drives the conveying auger (43) to rotate.

3. The range-extended electric spiral trenching fertilizer applicator according to claim 1, characterized in that: The fertilizer box (28) is also equipped with a cam stirring mechanism, including a disc (46), two rocker arms (48) and a long rod (50) between the rocker arms (48). The rocker arms (48) are provided with a long groove (49) and the top is connected to the shaft (47). The edge of the disc (46) is provided with a pin (51) that works with the long groove (49). The disc (46) is connected to a stirring motor (52) outside the fertilizer box (28). The rotation of the stirring motor (52) drives the rocker arms (48) to move back and forth about the shaft (47) as the center, so that the long rod (50) stirs the fertilizer in the fertilizer box (28).

4. The range-extended electric spiral trenching fertilizer applicator according to claim 1, characterized in that: The frame assembly (15) includes a first frame (3), a second frame (7) and a third frame (12) welded from bottom to top. The handrail (8), control panel (9) and battery (6) are all located on the second frame (7). A controller mounting bracket (10) is also provided above the battery (6). The controller (11) that controls the whole machine and the range extender (13) that continuously supplies power to the battery (6) are both fixed on the controller mounting bracket (10). The fertilizer box (28) is fixed on the third frame (12). The width of the second frame (7) and the third frame (12) does not exceed the distance between the two track assembly supports (4).

5. A range-extended electric spiral trenching fertilizer applicator according to claim 4, characterized in that: The first frame (3) is the same width as and fixed to the column (14) with linear rails, and the frame base (19) is provided with a mounting plate (21) for fixing the working motor (22).

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