Intelligent precision plowing and sowing machine for layered fertilization of crops

Abstract

The invention relates to the technical field of agricultural machinery, in particular to a crop layered fertilization intelligent precision plowing and sowing machine which comprises a rack, a walking driving part is arranged on the rack, a sowing machine is arranged on one side of the rack, a bearing frame is fixedly connected to the side, away from the sowing machine, of the rack, and a plurality of rotary tillage assemblies are transversely arranged on the bearing frame at equal intervals; a plurality of fertilization assemblies capable of vertically sliding are arranged at the bottom of the side, close to the rack, of the bearing frame, transmission assemblies are arranged between the soil retaining assemblies and the fertilization assemblies, and the transmission assemblies are used for reducing the impact force of the soil particles raised by the rotary tillage assemblies to the soil retaining assemblies and reducing the impact force of the soil particles raised by the rotary tillage assemblies to the fertilization assemblies. Transmission is converted into driving force for the height of the fertilizing assembly. The soil texture is fed back through the impact force of soil particles raised by rotary tillage and soil disturbance, so that the layered fertilization depth is adjusted in a linkage manner, and the defects of poor adaptability between the fixed layered fertilization depth and different soil properties and soil nutrient loss in traditional tillage and sowing are overcome.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to an intelligent precision tillage and sowing machine for crop layered fertilization. Background Art

[0002] The layered fertilization tillage seeder is an agricultural machine that integrates rotary tillage, layered fertilization and sowing functions. Through the compartment design and multi-depth fertilizer pipes, fertilizers can be accurately applied according to different soil depths, and seeds can be sown at the same time, realizing the integrated operation of rotary tillage, fertilization and sowing.

[0003] Existing products, such as the Nonghaha 2BYGS-4 deep tillage and fertilization rotary tillage corn precision seeder, integrate deep tillage, rotary tillage, layered fertilization, and precision seeding. The layered fertilization system uses front bottom tubes and rear upper tubes to achieve a vertical gradient distribution of fertilizer (less fertilizer in the upper layer, more fertilizer in the lower layer). It is equipped with a gearbox to adjust plant spacing, adjustable sowing depth per unit, and a pressure wheel to ensure close contact between the seed and the soil. This product's manufacturing breaks down the plow bottom layer to improve soil permeability and utilizes layered fertilization to increase soil fertility utilization. It also protects corn plants from drought and lodging, increasing corn yield per unit area.

[0004] However, in actual application, due to the significant differences in soil texture (such as clay, loam, and sand), basic fertility, and tillage layer thickness among different farmlands, the fixed-depth fertilization used by the aforementioned corn tillage seeder is difficult to match the root distribution characteristics of crops and the migration patterns of soil nutrients. This leads to an imbalance in the distribution of fertilizers in the soil, reducing the utilization rate of fertilizers in the current season. It also causes nutrient enrichment in the tillage layer or nutrient deficiency in the deeper layers of the soil. Long-term operation leads to deterioration of soil physical and chemical properties, ultimately affecting crop growth. To this end, it is necessary to propose an intelligent precision tillage seeder for crop stratified fertilization that has the function of adjusting the depth of stratified fertilization to improve the adaptability of fertilization. Summary of the Invention

[0005] To solve the above problems, the present invention provides an intelligent precision tillage and seeding machine for crop layered fertilization. The machine uses the impact force of soil particles raised by rotary tillage to feedback soil texture, thereby adjusting the layered fertilization depth in a linked manner, solving the defects of poor adaptability of the fixed layered fertilization depth to different soil properties and soil nutrient loss in traditional tillage and seeding.

[0006] To achieve the above-mentioned object, the technical solution of the present invention is as follows: an intelligent precision tillage and sowing machine for crop layered fertilization, comprising a frame, a travel drive unit for driving the displacement of the frame being provided on the frame, a seeder for sowing seeds in a single-body contour, a supporting frame being fixedly connected to the side of the frame away from the seeder, and a plurality of rotary tillage assemblies for disturbing the soil to be planted being provided on the supporting frame at equal intervals in the horizontal direction;

[0007] The rotary tillage components are each provided with a retaining component for blocking the soil particles raised by the rotary tillage component. The bottom of the carrier frame near the frame is provided with a number of fertilizer components for layered fertilization and capable of vertical sliding. A transmission component is provided between the retaining component and the fertilizer component for adjusting the depth of layered fertilization according to soil conditions. The transmission component converts the impact force of the soil particles raised by the rotary tillage component on the retaining component into a driving force for the height of the fertilizer component.

[0008] A laying assembly for laying drip irrigation tapes is provided between adjacent rotary tillage assemblies.

[0009] The technical principle behind this solution is as follows: This solution achieves complete machine movement through a frame-integrated travel drive unit. A seeder is installed on one side to sow seeds, while a supporting frame is used to horizontally arrange the rotary tillage assembly, fertilization assembly, and laying assembly on the other side, forming an integrated operation of rotary tillage, layered fertilization, and drip irrigation tape installation. When the rotary tillage assembly disturbs the soil, the retaining assembly intercepts the soil particles raised by the rotary tillage and transmits the impact force to the transmission assembly, driving the fertilization assembly to slide vertically to adjust the layered fertilization depth. Simultaneously, the laying assembly between adjacent rotary tillage assemblies synchronously completes the laying of drip irrigation tape, achieving coordinated operations of soil pretreatment, layered fertilization, and irrigation system deployment.

[0010] The above scheme has the following beneficial effects:

[0011] 1. Traditional tillage and sowing techniques use fixed-depth, layered fertilization, which struggles to adapt to the nutrient penetration patterns of different soil textures (such as clay and sand), resulting in low fertilizer utilization. This solution uses a transmission component to convert soil impact force into power for layered fertilization, enabling adaptive control of deep fertilization in clay and shallow fertilization in sandy soils, improving nutrient absorption efficiency.

[0012] 2. The retaining element intercepts soil particles raised by rotary tillage, reducing soil loss and maintaining a stable tillage layer structure. This prevents nutrient loss and surface compaction caused by soil splashing during traditional tillage operations, providing a high-quality soil environment for subsequent sowing. Uniquely, the retaining element can reflect the soil's texture based on the impact of raised soil particles.

[0013] 3. This solution integrates rotary tillage, layered fertilization and drip irrigation tape laying into the same frame, solving the problem of low matching accuracy of each link in traditional step-by-step operations, shortening the operation cycle and improving the tillage and sowing efficiency per unit area.

[0014] Furthermore, the rotary tillage components include a cross bar fixedly connected to the supporting frame, a rotary tillage outer cylinder fixedly connected to the bottom of the cross bar away from the frame, a rotary tillage inner cylinder vertically slidingly connected to the rotary tillage outer cylinder, a rotary tillage blade rotatably connected to the groove at the bottom of the rotary tillage inner cylinder, a driving part for driving a plurality of rotary tillage blades to rotate is provided on the cross bar, and the driving part signal is connected to a controller for signal-adjusting the rotational speed of a plurality of rotary tillage blades.

[0015] Beneficial effect: This design, through the vertical sliding cooperation of the rotary tillage outer cylinder and the rotary tillage inner cylinder, combined with the signal connection between the drive component and the controller, realizes the intelligent adjustment of the rotary tillage blade's soil penetration depth and the rotary tillage intensity of the rotary tillage blade, solves the problem that traditional mechanical adjustment requires shutdown and steering operations, and improves the rotary tillage depth control accuracy and operation continuity.

[0016] Furthermore, the fertilizing components include an outer fertilizing cylinder fixedly connected to the corresponding cross bar, the top of the outer fertilizing cylinder is connected to a fertilizer storage component for storing and transporting fertilizer, the inner fertilizing cylinder is vertically slidably connected to the outer fertilizing cylinder, and the inner fertilizing cylinder includes a soil-breaking shovel on the side away from the frame and a fertilizing leg on the side close to the frame, the soil-breaking shovel is fixedly connected to the fertilizing leg, and the fertilizing leg is vertically equidistantly provided with a plurality of fertilizer discharge grooves on the side away from the soil-breaking shovel, and the plurality of fertilizer discharge grooves are connected to the inside of the outer fertilizing cylinder.

[0017] Beneficial effect: The inner fertilization cylinder is designed to slide vertically inside the outer fertilization cylinder. Through the cooperation of the soil-breaking shovel and the fertilization legs with multiple fertilizer outlet grooves, the layered fertilizer release at different soil depths is realized, which solves the defect of traditional layered fertilizer spreaders that the fixed layered fertilization depth cannot meet the layered absorption needs of crop roots, thereby improving fertilizer utilization efficiency.

[0018] Furthermore, the transmission components include a transmission outer cylinder fixedly connected to the middle part of the bottom surface of the corresponding cross bar, a transmission inner cylinder is vertically slidably connected to the transmission outer cylinder, a first connecting rod is hinged on the retaining plate, a second connecting rod is hinged on the outer wall of the fertilizing leg, the end of the second connecting rod away from the fertilizing leg is hinged to the end of the corresponding first connecting rod away from the rotary tillage inner cylinder, and the middle part of the second connecting rod is hinged to the bottom end of the corresponding transmission inner cylinder.

[0019] Beneficial effect: This design, through the articulated linkage of the first connecting rod, the second connecting rod and the transmission inner cylinder, converts the impact force of soil particles on the retaining plate into the driving force for the vertical displacement of the fertilization inner cylinder, so that the height of the fertilization inner cylinder is driven by the swing angle of the retaining plate, that is, the layered fertilization depth is dynamically adjusted according to the soil texture, solving the problem of mismatch between the depth of traditional layered fertilization and soil conditions.

[0020] Furthermore, the laying components include a belt reel bracket fixedly connected to the carrier frame, the bottom of the belt reel bracket is fixedly connected to a laying outer cylinder, the top of the laying outer cylinder is connected to a belt storage component for storing and transporting the drip irrigation tape to be laid, the laying outer cylinder is vertically slidably connected to the laying inner cylinder, the laying inner cylinder is vertically slidably connected to a hollow laying shovel, and the hollow part of the laying shovel is connected to the laying outer cylinder.

[0021] Beneficial effect: This design transports the drip irrigation tape through the tape storage assembly, and is guided by the laying outer cylinder and the slidable laying inner cylinder. The drip irrigation tape is buried by the hollow laying shovel, which solves the problem of the laying of the drip irrigation tape being out of sync with the tillage and sowing rhythm, and realizes the integrated connection between the laying of the drip irrigation tape and the tillage and turning of the soil.

[0022] Furthermore, a third connecting rod is rotatably connected to one side of the laying inner cylinder through a bearing, a limiting groove is provided on the second connecting rod, a limiting block is slidably connected in the limiting groove, and the end of the third connecting rod away from the laying inner cylinder is rotatably connected to the limiting block through a bearing.

[0023] Beneficial effect: The third connecting rod slides with the limiting groove of the second connecting rod through the limiting block, and the displacement of the retaining plate swing is synchronously transmitted to the laying inner cylinder, so that the laying depth of the drip irrigation belt is adjusted in conjunction with the layered fertilization depth. That is, the burial depth of the drip irrigation belt is related to the soil texture, solving the problem of water and fertilizer loss caused by the mismatch between the burial depth of the traditional drip irrigation belt and the fertilization layer.

[0024] Furthermore, the bottom of the laying inner cylinder is hinged with a contour wheel, and the contour wheel is hinged with a fourth connecting rod. The laying inner cylinder is provided with a vertical groove that penetrates into the interior of the laying inner cylinder. The vertical groove is slidably connected with a vertical block welded to the laying shovel, and the fourth connecting rod is hinged to the corresponding vertical block at one end away from the contour wheel.

[0025] Beneficial effect: The contoured wheel drives the laying shovel to slide vertically along the undulating terrain through the fourth connecting rod and the vertical block, ensuring the consistent depth of the drip irrigation tape under the soil during laying, solving the problem of drip irrigation tape burial depth error caused by uneven tillage terrain, and improving the uniformity of subsequent drip irrigation tape irrigation.

[0026] Furthermore, the transmission inner cylinder is fixedly connected with an electric push cylinder, the output shaft of the electric push cylinder is coaxially fixedly connected to the transmission inner cylinder, and the electric push cylinder is connected to the controller signal.

[0027] Beneficial effects: The electric push cylinder designed in the transmission inner cylinder can send signals through the controller to drive the rotary tillage inner cylinder to rise and fall, realize the adjustment of the position of the rotary tillage blade and the fertilization leg, thereby realizing the rapid lifting and resetting of rotary tillage and layered fertilization, solving the problems of large resistance and time-consuming operation during line change and steering in traditional technologies, and improving the operating efficiency of the entire machine.

[0028] Furthermore, symmetrical elastic pressing blocks are welded at the bottom outlet of the paving shovel, heating plates are welded on the surfaces of the elastic pressing blocks, the heating plates are connected to the controller signal, and the surfaces of the heating plates are coated with polytetrafluoroethylene coating.

[0029] Beneficial effect: The elastic pressure block at the outlet of the laying shovel cooperates with the heating plate to realize the automatic melting and sealing of the drip irrigation tape through hot melting and pressing. This design connects the laying of the drip irrigation tape with the tillage mechanism through the signal connection between the controller and the heating plate. Compared with conventional tillage machines, the time difference of the drip irrigation tape needs to be considered when laying the drip irrigation tape after sowing.

[0030] Furthermore, a connecting assembly capable of adjusting the height of the seeder from the ground is provided between the seeder and the travel drive unit. The connecting assembly includes a connecting block, which is vertically slidably connected to the travel drive unit. An electric hydraulic cylinder fixedly connected to the frame is provided on the top of the slider, and the electric hydraulic cylinder is connected to the controller signal.

[0031] Beneficial effects: The connecting block is connected to the electric hydraulic cylinder, and the controller adjusts the height of the seeder from the ground, so that the operation of the sowing system can be controlled by signals; it solves the problem of low adjustment accuracy and the need for shutdown operation of traditional machinery, and improves the adaptability of sowing depth to terrain.

[0032] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the intelligent precision tillage and sowing machine for crop layered fertilization according to the present invention;

[0034] Figure 2 It is a partial axonometric cross-sectional view of a carrier frame in an embodiment of the intelligent precision tillage and seeding machine for crop layered fertilization according to the present invention;

[0035] Figure 3 This is a partial axonometric cross-sectional view of the components on the carrier frame in an embodiment of the intelligent precision tillage and sowing machine for crop layered fertilization according to the present invention;

[0036] Figure 4 This is an embodiment of the crop layered fertilization intelligent precision tillage and sowing machine of the present invention. Figure 2 A partial enlarged schematic diagram of the laying components at point A in the middle;

[0037] Figure 5 This is an axonometric cross-sectional view of the outer cylinder of the intelligent precision tillage and sowing machine for crop layered fertilization according to the present invention;

[0038] Figure 6 This is an axonometric diagram of the connection relationship between the connecting assembly and the frame in an embodiment of the intelligent precision tillage and sowing machine for crop layered fertilization of the present invention.

[0039] The reference numerals in the drawings of the specification include: 1, frame; 2, travel drive unit; 201, engine; 202, travel wheel; 3, carrier frame; 4, cross bar; 5, rotary tillage assembly; 501, rotary tillage outer cylinder; 502, rotary tillage inner cylinder; 503, rotary tillage blade; 504, rotary tillage gearbox; 6, soil retaining assembly; 601, soil retaining plate; 7, fertilization assembly; 701, fertilizer outer cylinder; 702, fertilizer storage assembly; 703, fertilizer inner cylinder; 7031, soil breaking shovel; 7032, fertilization leg; 7033, fertilizer trough; 8, transmission Assembly; 801, transmission outer cylinder; 802, transmission inner cylinder; 803, first connecting rod; 804, second connecting rod; 9, laying assembly; 901, reel bracket; 902, laying outer cylinder; 903, belt storage assembly; 904, laying inner cylinder; 905, laying shovel; 10, third connecting rod; 11, limit groove; 12, limit block; 13, contour wheel; 14, fourth connecting rod; 15, vertical groove; 16, vertical block; 17, electric push cylinder; 18, connecting block; 19, electric hydraulic cylinder; 20, elastic pressure block; 21, heating plate. DETAILED DESCRIPTION

[0040] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0041] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0042] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0043] The following is further described in detail through specific implementation methods:

[0044] Example 1:

[0045] This embodiment provides an intelligent precision tillage and sowing machine for crop layered fertilization. Figure 1 As shown, it includes a frame 1, and the frame 1 is provided with a travel drive unit 2 for driving the displacement of the frame 1. The travel drive unit 2 includes an engine 201 fixedly connected to the top of the frame 1 by bolts. The output end of the engine 201 is connected to a travel wheel 202, and the travel wheel 202 provides power for the displacement of the entire machine; a seeder (not shown in the figure) for single-body contour sowing of seeds is provided on one side of the frame 1, and the seeder includes a seed box, a seed metering device, a disc furrow opener and a pressing wheel.

[0046] The side of the frame 1 away from the connecting block 18 is fixedly connected to the supporting frame 3. Figure 1 、 Figure 2 and Figure 3 As shown, a plurality of rotary tillage assemblies 5 for disturbing the soil to be planted are equidistantly disposed laterally on the carrier 3. This embodiment will be described using one of the rotary tillage assemblies 5 as an example. The rotary tillage assembly 5 includes a crossbar 4 integrally formed with the carrier 3. A rotary tillage outer cylinder 501 is welded to the bottom of the crossbar 4 on the side away from the frame 1. A rotary tillage inner cylinder 502 is vertically slidably connected to the outer cylinder 501 via a slider and slot mechanism. Rotary tillage blades 503 are slotted into the bottom of the rotary tillage inner cylinder 502. Based on the design of the plurality of rotary tillage blades 503, a rotary tillage gearbox 504 is disposed on the crossbar 4. The output end of the rotary tillage gearbox 504 transmits power to each rotary tillage blade 503 via a transverse splined main shaft.

[0047] The outer side wall of the rotary tillage inner cylinder 502 is provided with a soil retaining assembly 6 for blocking the soil particles raised by the rotary tillage blade 503. Figure 1 、 Figure 2 and Figure 3 As shown, the soil retaining assembly 6 includes a soil retaining plate 601 hinged to the outer wall of the rotary tillage inner cylinder 502; during rotary tillage operation, when the rotary tillage blade 503 rotates at high speed to disturb the soil, the hinged structure of the soil retaining plate 601 and the rotary tillage inner cylinder 502 enables the soil retaining plate 601 to swing. On the one hand, the soil retaining plate 601 can effectively intercept and guide the soil particles raised by the rotary tillage blade 503, reduce the amount of dust diffusion to the surrounding environment, and reduce pollution to the tillage operation environment; on the other hand, the soil retaining plate 601 limits the splashing range of soil particles, avoids the total amount of soil loss in the planting area due to excessive throwing, ensures the stability of soil thickness and structure, and provides better basic conditions for subsequent sowing links.

[0048] Furthermore, the hinged connection between retaining plate 601 and the rotary tiller inner cylinder 502 (i.e., retaining plate 601 can swing) allows for monitoring soil texture. When the rotary tiller blade 503 turns over the soil, the flying soil particles impact the inner side of retaining plate 601, generating a dynamic impact force. Because different soil textures (e.g., clay, loam, and sand) vary in cohesiveness, particle size, and fluidity, the impact force on retaining plate 601 varies in intensity and frequency. For example, heavy clay resists turning over, resulting in a strong and long-lasting impact force. Loose sand, on the other hand, produces a weak and short-lived impact force. When the rotary tiller 503 turns over the soil, the dynamic impact force generated by the flying soil particles hitting the inner side of the retaining plate 601 will push the retaining plate 601 to swing around the hinge point. The swing angle of the retaining plate 601 is directly related to the magnitude of the impact force: when the soil texture is heavy (such as clay), the soil particles have strong adhesion and the cohesion between the particles is large, the resistance is large when turning over, and the impact force hitting the retaining plate 601 is strong and continuous, resulting in a large swing amplitude and slow swing back speed of the retaining plate 601, and eventually the retaining plate 601 is stabilized at a larger swing angle; if the soil texture is loose (such as sand), the adhesion between the soil particles is weak and the fluidity is high, the resistance is small when turning over, the impact force is weak and dispersed, and the retaining plate 601 only produces a small amplitude, high-frequency rapid swing, and eventually the retaining plate 601 is stabilized at a smaller angle.

[0049] The bottom of the support frame 3 near the frame 1 is provided with a plurality of fertilizer components 7 for layered fertilization. Figure 1 、 Figure 2 and Figure 3 As shown, this embodiment is described by taking one of the fertilizing components 7 as an example. The fertilizing component 7 includes a fertilizing outer cylinder 701 welded to the corresponding cross bar 4. The top of the fertilizing outer cylinder 701 is connected to a fertilizer storage component 702 for storing and transporting fertilizers. The fertilizer storage component 702 includes a fertilizer storage box welded to the top of the corresponding cross bar 4. The bottom of the fertilizer storage box is connected to a fertilizer delivery pipe. The fertilizing outer cylinder 701 is vertically slidably connected to a fertilizing inner cylinder 703 through a slider chute mechanism. The two ends of the fertilizer delivery pipe are respectively connected to the fertilizer storage box and the fertilizing inner cylinder 703. A fertilizer pumping part (not shown in the figure) for pumping fertilizer is provided on the fertilizer delivery pipe. The fertilizer pumping part is preferably Y The ZB-15 miniature plunger pump features an inner fertilizing barrel 703, which includes a soil-breaking blade 7031 located on the side away from the frame 1 and a fertilizer leg 7032 located on the side closer to the frame 1. The soil-breaking blade 7031 and the fertilizer leg 7032 are welded together. The fertilizer leg 7032 has a number of fertilizer dispensing troughs 7033 equidistantly spaced vertically on the side away from the soil-breaking blade 7031. These troughs 7033 are all connected to the interior of the outer fertilizing barrel 701. This design allows for flexible adjustment of the depth of the fertilizer dispensing troughs 7033 through the relative displacement of the inner fertilizing barrel 703 and the outer fertilizing barrel 701 (i.e., the fertilizer leg 7032 slides up and down within the outer fertilizing barrel 701). When the inner fertilizing barrel 703 moves upward, the fertilizer dispensing troughs 7033 approach the ground surface, enabling shallow, layered fertilization. When the inner fertilizing barrel 703 moves downward, the fertilizer dispensing troughs 7033 penetrate deep into the soil, enabling deep, layered fertilization.

[0050] Conventional tillage and sowing techniques generally adopt a fixed-depth layered fertilization model, and the depth of its layered fertilization cannot be dynamically adjusted according to differences in plots. Due to significant differences in soil texture (such as clay, loam, and sand), basic fertility, and tillage layer thickness among different farmlands, fixed-depth fertilization is difficult to match the distribution characteristics of crop roots and the migration patterns of soil nutrients. For example, deep fertilization in heavy clay soils can easily lead to difficulties in root absorption due to low permeability, while shallow fertilization in sandy soils will aggravate nutrient leaching and loss. The traditional fixed-depth fertilization method will directly cause a temporal and spatial mismatch between fertilizer and crop demand, resulting in reduced nutrient utilization and attenuated fertilization efficiency, while increasing the risk of agricultural non-point source pollution.

[0051] This embodiment is based on the mechanism of vertical displacement of the fertilizing legs 7032 (i.e., the depth of layered fertilization is adjustable), combined with the principle that the retaining plate 601 can reflect the texture of the soil, and the bottom of the cross bar 4 in this embodiment is also provided with a transmission component 8 for adjusting the depth of layered fertilization according to the soil conditions. Figure 1 、 Figure 2 and Figure 3 As shown, one of the transmission components 8 is used for illustration. The transmission component 8 includes a transmission outer cylinder 801 welded to the middle part of the bottom surface of the cross bar 4. The transmission inner cylinder 802 is vertically slidably connected to the transmission outer cylinder 801 through a slider groove mechanism. The corresponding end of the retaining plate 601 is hinged with a first connecting rod 803, and the outer wall of the fertilizing leg 7032 is hinged with a second connecting rod 804. The end of the second connecting rod 804 away from the fertilizing leg 7032 is hinged to the end of the first connecting rod 803 away from the rotary tillage inner cylinder 502. The middle part of the second connecting rod 804 is hinged to the bottom end of the transmission inner cylinder 802.

[0052] When tilling and sowing is carried out on soil with a relatively hard texture (such as clay) or soil with less sandiness, due to the large cohesive force of the soil, the rotary blade 503 needs to output a stronger driving power to ensure the soil disturbance effect. At this time, the impact force of the turned-up soil particles on the retaining plate 601 is significantly increased, causing the retaining plate 601 to flip upward at a larger angle around the hinge point. Through the pulling action of the first connecting rod 803, the second connecting rod 804 is driven to generate a lever movement with the bottom end of the transmission inner cylinder 802 as the fulcrum, thereby pushing the fertilizing leg 7032 to move downward along the slide mechanism, making the layered fertilization deeper, effectively solving the problem that fertilizer in hard soil is difficult to penetrate into the crop root distribution layer; on the contrary, when tilling and sowing is carried out, the rotary blade 503 needs to output a stronger driving power to ensure the soil disturbance effect. When the soil is soft (such as humus soil) or the soil is sandy, the adhesion between soil particles is weak and the fluidity is strong. The impact force of the soil particles turned over by the rotary tiller 503 on the retaining plate 601 is small, and the swing angle of the retaining plate 601 decreases accordingly. The pulling effect of the first connecting rod 803 on the second connecting rod 804 is weakened. Under the dual effects of the soil's own resistance and the gravity reset of the transmission inner cylinder 802, the fertilizing leg 7032 moves upward along the slide mechanism, and the layered fertilization depth becomes shallower accordingly, avoiding deep loss of fertilizer in sandy soil due to rapid infiltration, realizing adaptive adjustment of deep application in hard soil and shallow application in soft soil, and significantly improving the fertilizer utilization efficiency under different soil conditions.

[0053] In the existing tillage and sowing process of the tillage machine, the drip irrigation belt is laid synchronously with the soil tillage and fertilization and sowing. In this embodiment, a laying component 9 for laying the drip irrigation belt is provided between adjacent cross bars 4. Figure 2 and Figure 4 As shown, the laying components 9 include a tape reel bracket 901 welded to the carrier frame 3, a laying outer cylinder 902 is welded to the bottom of the tape reel bracket 901, and the top of the laying outer cylinder 902 is connected to a tape storage component 903 for storing and transporting the drip irrigation tape to be laid. The tape storage component 903 includes a tape storage box welded to the top of the tape reel bracket 901, a rotatable tape reel shaft is provided in the tape storage box, and the shaft end of the tape reel shaft is equipped with a torsion spring to realize automatic winding of the drip irrigation tape. The drip irrigation tape is wound on the tape reel shaft and extends through the tape storage box to the laying outer cylinder 902; the tape storage box outlet is symmetrically arranged Two groups of conveying rollers driven by stepper motors form a clamping conveying mechanism; the laying outer cylinder 902 is vertically slidably connected to the laying inner cylinder 904 through a slider slot mechanism, and the laying inner cylinder 904 is vertically slidably connected to a hollow laying shovel 905, and the hollow part of the laying shovel 905 is connected to the laying outer cylinder 902; when working, the drip irrigation tape in the tape storage box is actively pushed to the laying outer cylinder 902 by the conveying roller group, and passes through the cavity of the laying inner cylinder 904 in turn and is discharged from the outlet at the bottom of the laying shovel 905; the overall burial depth can be changed by adjusting the vertical position of the laying inner cylinder 904.

[0054] The special thing is that, Figure 2 and Figure 4As shown, one side of the laying inner cylinder 904 is rotatably connected to the third connecting rod 10 through a bearing, and a limiting groove 11 is provided on the second connecting rod 804. The limiting groove 11 is slidably connected to the limiting block 12, and the end of the third connecting rod 10 away from the laying inner cylinder 904 is rotatably connected to the limiting block 12 through a bearing; based on the vertical sliding design of the laying inner cylinder 904 and the laying outer cylinder 902, when the second connecting rod 804 swings due to the change of the impact force of the soil on the retaining plate 601 (such as hard soil causing the retaining plate 601 to flip at a large angle), , driving the second connecting rod 804 to swing downward), the limit block 12 will slide relatively in the limit groove 11 of the second connecting rod 804 (at this time, the limit block 12 moves along the limit groove 11 away from the hinge point), and through the transmission action of the third connecting rod 10, the laying inner cylinder 904 is pushed to move downward along the slide groove of the laying outer cylinder 902; on the contrary, the swing angle of the retaining plate 601 under soft soil is reduced, the second connecting rod 804 swings back upward, the limit block 12 slides in the opposite direction and pulls the laying inner cylinder 904 to move upward through the third connecting rod 10. This movement process dynamically links the laying depth of the drip tape with the soil texture. That is, when the inner cylinder 904 is laid in hard soil, it moves downward, and the drip tape penetrates into the tillage layer along with the laying shovel 905, thereby avoiding water and fertilizer retention in the surface layer due to low soil permeability; when the inner cylinder 904 is laid in soft soil, it moves upward, and the buried depth of the drip tape becomes shallower, thereby preventing water and fertilizer from infiltrating and losing too quickly in sandy soil. This achieves coordinated adjustment of the laying depth of the drip tape, soil texture, and layered fertilization depth, thereby improving the water and fertilizer utilization efficiency of tillage and sowing operations.

[0055] In addition, specific Figure 4 As shown, the bottom of the paving inner cylinder 904 is hinged with a profiling wheel 13, and the profiling wheel 13 is hinged with a fourth connecting rod 14. The paving inner cylinder 904 is provided with a vertical groove 15 that penetrates the interior of the paving inner cylinder 904. The vertical groove 15 is slidably connected with a vertical block 16 welded to the paving shovel 905. The end of the fourth connecting rod 14 away from the profiling wheel 13 is hinged with the corresponding vertical block 16. During the tillage and sowing operation, when the profiling wheel 13 moves to a raised part of the soil (such as a ridge), The wheel body is pushed upward by the ground, and through the pulling action of the fourth connecting rod 14, it drives the vertical block 16 to slide upward along the vertical groove 15, synchronously raising the height of the laying shovel 905, so that the drip irrigation tape outlet maintains a constant distance from the ground. Conversely, when the contouring wheel 13 sinks into a depression in the soil (such as a furrow), the wheel body swings downward due to its own weight, and the fourth connecting rod 14 pushes the vertical block 16 to slide downward along the vertical groove 15, driving the laying shovel 905 downward to compensate for the terrain difference. This single-unit independent contouring design can accurately adapt to local uneven changes in the soil surface within a range of 5-15cm (such as stubble accumulation and uneven soil clods), ensuring that the drip irrigation tape laying depth error is controlled within ±2cm, avoiding the problem of deep burial in deep trenches and shallow laying on high ridges due to undulating terrain, improving the uniformity and reliability of drip irrigation tape laying, and laying the foundation for the subsequent precise supply of water and fertilizer.

[0056] The following experiments were conducted using the tillage seeding machine proposed in this embodiment:

[0057] · Experimental purpose: To verify whether the tillage and sowing device proposed in this embodiment can solve the technical defects of traditional tillage and sowing machines, such as poor adaptability of fixed layered fertilization depth, loss of soil nutrients, and insufficient operation coordination.

[0058] Experimental steps:

[0059] 1. Experimental Materials and Grouping

[0060] Test equipment:

[0061] Experimental group: the intelligent precision tillage and sowing machine for crop layer fertilization of the present invention (with the function of self-adapting soil texture adjustment);

[0062] Control group: traditional fixed-depth stratified fertilizer tillage seeder (such as Nonghaha 2BYGS-4, stratified fertilizer depth is fixed at 20 cm).

[0063] Test soil: 3 typical soil texture treatments were set up, each treatment was repeated 3 times, and the plot area was 50m 2 :

[0064] Clay (clay content > 30%);

[0065] Loam (clay content 20%-30%);

[0066] Sandy soil (clay content <20%).

[0067] Test crops: corn (variety: Zhengdan 958), with a planting density of 4500 plants / mu.

[0068] 2. Experimental process

[0069] Step 1: Soil Pretreatment

[0070] The initial soil physical and chemical properties (organic matter content, available nitrogen / phosphorus / potassium content, and bulk density) of each plot were determined.

[0071] Step 2: Tillage and sowing

[0072] Experimental group: The intelligent tillage and seeding machine was activated. The soil retaining component 6 automatically sensed the soil texture and adjusted the depth of stratified fertilization. It simultaneously completed rotary tillage, stratified fertilization (N-P2O5-K2O ternary compound fertilizer with a ratio of 15-15-15) and drip irrigation tape laying.

[0073] Control group: A traditional tillage seeding machine was used, with a fixed layered fertilization depth of 20 cm. Other operating parameters (rotary tillage depth, seeding amount) remained consistent with the experimental group.

[0074] Step 3: Sampling and measurement

[0075] Dynamic adjustment of stratified fertilization depth: During the operation, the stratified fertilization depth of the experimental group in different soil textures is recorded in real time (the displacement of the fertilization inner cylinder is monitored by sensors);

[0076] Fertilizer utilization efficiency: During the grain filling period of corn, plant samples were collected to measure the nitrogen and phosphorus accumulation in the aboveground parts and calculate the fertilizer utilization efficiency for the season (fertilizer utilization efficiency = amount of nutrients absorbed by the plant / total amount of fertilizer applied × 100%).

[0077] Soil nutrient loss: Soil samples were collected from the 0-60 cm soil layer and the amount of nitrate nitrogen leached from the soil was measured 30 days after fertilization (extraction with a water-soil ratio of 5:1, measured by flow injection).

[0078] Operational collaboration: record two groups of equipment completing 50m 2 The total time required for land cultivation and drip irrigation tape laying.

[0079] 3. Data Statistics

[0080] Analysis of variance (ANOVA) was used to compare the differences between the two groups of equipment in different soil textures, and the significance level was set at P < 0.05.

[0081] Experimental data:

[0082]

[0083]

[0084] Experimental conclusion:

[0085] The experimental group automatically adjusted the stratified fertilization depth to 28.5 cm, 22.3 cm, and 15.6 cm in clay, loam, and sand, respectively, which were significantly higher or lower than the fixed 20 cm in the control group (P < 0.05). This demonstrates that the linkage mechanism of retaining assembly 6 and transmission assembly 8 can adjust the stratified fertilization depth in real time according to soil texture, matching the nutrient migration patterns of different soils (for example, deep fertilization in clay reduces volatilization, and shallow fertilization in sand reduces leaching).

[0086] The average fertilizer utilization rate in the experimental group reached 48.9%, a 34.0% increase compared to the control group (36.5%). The average nitrate leaching rate was 10.3 mg / kg, a 48.0% decrease compared to the control group (19.8 mg / kg) (P < 0.05). This suggests that dynamic stratified fertilization depth adjustment effectively reduced surface nutrient accumulation in clay soils and deep leaching in sandy soils, addressing the issues of fertilizer waste and deterioration of soil physical and chemical properties caused by traditional fixed fertilization depths.

[0087] The time taken by the experimental group to complete tillage and drip tape laying (12.5 min) was 44.0% shorter than that of the control group (22.3 min) (P < 0.05), verifying the synergy of the integrated design of rotary tillage, layered fertilization and drip tape laying, and solving the defects of high energy consumption and soil compaction in traditional step-by-step operations.

[0088] Example 2:

[0089] As attached Figure 1 As shown, the difference from Example 3 is that, based on the vertical sliding connection between the transmission inner cylinder 802 and the transmission outer cylinder 801, the transmission inner cylinder 802 is fixedly connected with an electric push cylinder 17 by bolts, and the output shaft of the electric push cylinder 17 is coaxially fixedly connected to the transmission inner cylinder 802 through a coupling, and the electric push cylinder 17 is connected to the controller signal. With this design, when the tillage machine needs to change lines or turn, the operator sends a "lift" command through the cockpit touch screen, and the controller calculates the current tillage depth data in real time and outputs a pulse signal to the electric push cylinder 17 The output shaft of the electric push cylinder 17 contracts synchronously, driving the transmission inner cylinder 802 to move upward, and finally driving the plurality of rotary tillers 503 to rise as a whole, so that the blade teeth are completely separated from the tillage layer, significantly reducing the walking resistance; after completing the turn, the controller sends a "lowering" command, and the output shaft of the electric push cylinder 17 extends to the preset tillage depth position, and the plurality of rotary tillers 503 re-cut into the soil to resume operation, solving the pain points of traditional mechanical adjustment requiring shutdown operation and delayed response, reducing the time spent in the process of changing rows or turning of the tillage machine, and improving the efficiency of tillage operations and the convenience of operation.

[0090] Example 3:

[0091] As attached Figure 1 and Figure 6 As shown, the difference from Example 2 is that a connecting component capable of adjusting the height of the seeder from the ground is provided between the seeder and the engine 201, and the connecting component includes a connecting block 18, and the connecting block 18 is vertically slidably connected to the engine 201 through a slide rail and a slider mechanism, and an electric-controlled hydraulic cylinder 19 is provided on the top of the slider and is fixedly connected to the frame 1 by bolts, and the signal of the electric-controlled hydraulic cylinder 19 is connected to a controller for adjusting the height of the connecting block 18 according to the operating status.

[0092] During operation, a signal can be sent to the electronically controlled hydraulic cylinder 19 through the controller, causing the piston rod of the electronically controlled hydraulic cylinder 19 to rapidly contract, driving the connecting block 18 upward along the linear guide rail, and simultaneously lifting the seeder, so that the seed meter and furrow opener are completely separated from the soil, avoiding deformation of the seed furrow caused by dragging during steering. After the steering is completed, the system controls the piston rod of the electronically controlled hydraulic cylinder 19 to extend to a preset height based on the surface elevation data fed back by the terrain scanner (such as the difference between the ridge top and the furrow), ensuring that the seeder's furrowing depth matches the current terrain. This breaks through the limitations of traditional mechanical clamp-type connections, which require manual shutdown operations and have low adjustment accuracy, and effectively improves the consistency and adaptability of seeding operations, especially in complex terrain conditions such as slopes and ridges.

[0093] Example 4:

[0094] As attached Figure 5 As shown, the difference from Example 3 is that symmetrical elastic pressure blocks 20 are welded to the bottom outlet of the paving shovel 905. The elastic pressure blocks 20 are made of fluororubber with a Shore hardness of 65±5, and their relative inner surfaces are machined with V-shaped serrated grooves with a depth of 0.5 mm. Heater plates 21 are welded to the surfaces of the elastic pressure blocks 20. Each heater plate 21 is connected to the controller signal and coated with polytetrafluoroethylene. When the tillage needs to be turned, the operator manually sends a melting command to the controller, which sends a drive signal to each heater plate 21. The heater plates 21 heat up synchronously. At the same time, the elastic pressure blocks 20, under the action of the silicone rubber restoring force, clamp the drip irrigation tape and apply continuous pressure, causing the heating plates 21 to heat and melt the drip irrigation tape. The symmetrical elastic pressure blocks 20 achieve a pressurized seal at the melted point of the drip irrigation tape.

[0095] Based on the principle of connecting several heating plates 21 with controller signals, the controller is designed to integrate a drip irrigation belt position detection module, a fuse instruction receiving module and a fuse execution module;

[0096] The drip tape position detection module is connected to the incremental encoder installed at the outlet of the tape storage box. The incremental encoder collects the pulse signal of the drip tape moving in real time. The drip tape position detection module collects the pulse signal and records the pulse number, and performs the following calculations:

[0097] (1) Calculation of laying length: The drip irrigation tape position detection module calculates the actual length of the drip irrigation tape according to the pulse number and the formula:

[0098] Laying length (m) = total number of pulses ÷ encoder resolution (1000 pulses / m)

[0099] (2) Calculation of the distance from the headland: Taking the starting point of the tillage machine operation row (headland) as the reference, the paving length is directly used as the 'distance between the current position and the headland'.

[0100] The drip tape position detection module is also signal-connected to a display screen located in the travel drive unit 2. The display screen is used to receive and display the 'current position and distance to the ground'. This design provides the operator with feedback on the position information of the drip tape laying, which serves as a basis for the operator to determine the position of the drip tape when manually fusing it.

[0101] The fuse instruction receiving module includes a physical button located in the travel drive unit 2, which receives a trigger signal pressed by the operator; when the physical button is pressed, it synchronously latches the current distance data and generates a control signal containing the 'drip tape fuse trigger' instruction and the corresponding position parameters.

[0102] The fuse execution module receives the 'drip tape fuse trigger' command and position parameters sent by the module. When the fuse execution module receives the fuse command, the drive circuit outputs a PWM signal to the heater to control it to heat up to 180-200℃ within 2 seconds (the target temperature is preset by the controller);

[0103] After the heating plate maintains the target temperature for 5 seconds, the heating power is cut off and the elastic pressure block remains clamped until the temperature drops below 80°C, forming a 3-5mm wide sealed weld band. At the same time, a "fusing completed" signal is sent to the fuse command receiving module to upload the results (including actual fuse location, time consumption, etc.) to the cockpit display for operator confirmation.

[0104] This design collects the remaining length data from the end of the drip tape to the edge of the plot in real time, supports the operator to pre-draw the drip tape of corresponding length according to the boundary distance, and completes the cutting at the preset position through the precise positioning and fusing function, so as to achieve adaptive matching of the laying length of the drip tape and the boundary of the plot.

[0105] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. An intelligent precision tillage and sowing machine for crop layer fertilization, comprising a frame (1), a travel drive unit (2) for driving the frame (1) to move, a sowing machine for single-body contour sowing of seeds provided on one side of the frame (1), and characterized in that: A supporting frame (3) is fixedly connected to the frame (1) at a side away from the seed drill, and a plurality of rotary tillage assemblies (5) for disturbing the soil to be planted are arranged at equal intervals laterally on the supporting frame (3); The rotary tillage assembly (5) is provided with a soil retaining assembly (6) for retaining soil particles raised by the rotary tillage assembly (5). The bottom of the supporting frame (3) close to the frame (1) is provided with a plurality of fertilizer assemblies (7) for layered fertilization and capable of vertical sliding. A transmission assembly (8) for adjusting the layered fertilization depth according to soil conditions is provided between the soil retaining assembly (6) and the fertilizer assemblies (7). The transmission assembly (8) converts the impact force of the soil particles raised by the rotary tillage assembly (5) on the soil retaining assembly (6) into a driving force for the height of the fertilizer assemblies (7). A laying assembly (9) for laying a drip irrigation tape is provided between adjacent rotary tillage assemblies (5).

2. The intelligent precision tillage and sowing machine for crop layered fertilization according to claim 1 is characterized in that: The rotary tillage assembly (5) comprises a cross bar (4) fixedly connected to the carrier frame (3); a rotary tillage outer cylinder (501) is fixedly connected to the bottom of the cross bar (4) away from the frame (1); a rotary tillage inner cylinder (502) is vertically slidably connected inside the rotary tillage outer cylinder (501); a rotary tillage blade (503) is rotatably connected to a groove at the bottom of the rotary tillage inner cylinder (502); a driving member for driving a plurality of rotary tillage blades (503) to rotate is provided on the cross bar (4); and a controller for signal-controlled rotation of the plurality of rotary tillage blades (503) is connected to the driving member. The soil retaining assemblies (6) each comprise a soil retaining plate (601) hingedly connected to the corresponding rotary tillage inner cylinder (502), and the soil retaining plate (601) is an arc-shaped structure.

3. The intelligent precision tillage and sowing machine for crop layered fertilization according to claim 2 is characterized in that: Each fertilizing assembly (7) comprises a fertilizing outer cylinder (701) fixedly connected to a corresponding cross bar (4); a fertilizer storage assembly (702) for storing and transporting fertilizer is connected to the top of the fertilizing outer cylinder (701); a fertilizing inner cylinder (703) is vertically slidably connected to the inside of the fertilizing outer cylinder (701); the fertilizing inner cylinder (703) comprises a soil-breaking shovel (7031) on a side away from the frame (1) and a fertilizing leg (7032) on a side close to the frame (1); the soil-breaking shovel (7031) is fixedly connected to the fertilizing leg (7032); a plurality of fertilizer discharging grooves (7033) are vertically equidistantly opened on a side of the fertilizing leg (7032) away from the soil-breaking shovel (7031); and the plurality of fertilizer discharging grooves (7033) are connected to the inside of the fertilizing outer cylinder (701).

4. The intelligent precision tillage and sowing machine for crop layered fertilization according to claim 3 is characterized in that: The transmission assembly (8) includes a transmission outer cylinder (801) fixedly connected to the middle part of the bottom surface of the corresponding cross bar (4), a transmission inner cylinder (802) vertically slidably connected inside the transmission outer cylinder (801), a first connecting rod (803) hinged on the retaining plate (601), a second connecting rod (804) hinged on the outer wall of the fertilizing leg (7032), an end of the second connecting rod (804) away from the fertilizing leg (7032) is hinged to the end of the corresponding first connecting rod (803) away from the rotary tillage inner cylinder (502), and a middle part of the second connecting rod (804) is hinged to the bottom end of the corresponding transmission inner cylinder (802).

5. The intelligent precision tillage and sowing machine for crop layered fertilization according to claim 4 is characterized in that: The laying components (9) each include a belt reel support (901) fixedly connected to the carrier frame (3); a laying outer cylinder (902) is fixedly connected to the bottom of the belt reel support (901); a belt storage component (903) for storing and transporting the drip irrigation tape to be laid is connected to the top of the laying outer cylinder (902); a laying inner cylinder (904) is vertically slidably connected inside the laying outer cylinder (902); a hollow laying shovel (905) is vertically slidably connected inside the laying inner cylinder (904); and a hollow portion of the laying shovel (905) is connected to the laying outer cylinder (902).

6. The intelligent precision tillage and sowing machine for crop layered fertilization according to claim 5 is characterized in that: One side of the laying inner cylinder (904) is rotatably connected to a third connecting rod (10) via a bearing, a limiting groove (11) is provided on the second connecting rod (804), a limiting block (12) is slidably connected in the limiting groove (11), and an end of the third connecting rod (10) away from the laying inner cylinder (904) is rotatably connected to the limiting block (12) via a bearing.

7. The intelligent precision tillage and sowing machine for crop layered fertilization according to claim 6, characterized in that: The bottom of the laying inner cylinder (904) is hinged with a profiling wheel (13), and the profiling wheel (13) is hinged with a fourth connecting rod (14). The laying inner cylinder (904) is provided with a vertical groove (15) that penetrates the inside of the laying inner cylinder (904), and the vertical groove (15) is slidably connected with a vertical block (16) welded to the laying shovel (905). The fourth connecting rod (14) is hinged with the corresponding vertical block (16) at one end away from the profiling wheel (13).

8. The intelligent precision tillage and sowing machine for crop layered fertilization according to claim 7, characterized in that: The transmission inner cylinder (802) is fixedly connected with an electric push cylinder (17), the output shaft of the electric push cylinder (17) is coaxially fixedly connected to the transmission inner cylinder (802), and the electric push cylinder (17) is connected to the controller signal.

9. The intelligent precision tillage and sowing machine for crop layered fertilization according to claim 8, characterized in that: Symmetrical elastic pressing blocks (20) are welded at the bottom outlet of the paving shovel (905), and heating plates (21) are welded on the surfaces of the elastic pressing blocks (20). The heating plates (21) are connected to the controller signal, and the surfaces of the heating plates (21) are coated with a polytetrafluoroethylene coating.

10. The intelligent precision tillage and seeding machine for crop layered fertilization according to claim 9, characterized in that: A connecting assembly capable of adjusting the height of the planter from the ground is provided between the planter and the travel drive unit (2). The connecting assembly comprises a connecting block (18), the connecting block (18) is vertically slidably connected to the travel drive unit (2), an electric-controlled hydraulic cylinder (19) fixedly connected to the frame (1) is provided on the top of the slider, and the electric-controlled hydraulic cylinder (19) is connected to a controller signal.

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