Integrated farming device and film mulching method

Abstract

The invention relates to the technical field of agricultural mechanical equipment, and provides an integrated tillage device and a film mulching method.The device comprises a rack, a rotary tillage assembly, a soil disinfection assembly and a ridging and film mulching assembly; the rack has a moving function; the rotary tillage assembly is arranged in the rack and comprises a position adjusting mechanism and a rotary tillage mechanism, and the rotary tillage mechanism is connected with the rack through the position adjusting mechanism; the soil disinfection assembly comprises a pesticide storage box and a pneumatic pesticide application system, the pneumatic pesticide application system comprises a fan, a conveying pipe and an ejector, the fan is communicated with the conveying pipe, one end of the conveying pipe is communicated with the pesticide storage box, the ejector is arranged at the other end of the conveying pipe, and the ejection end of the ejector faces a soil turning area of the rotary tillage mechanism; the ridging and film covering assembly is arranged at the rear end of the rack and comprises a ridging mechanism and a film covering mechanism. A plurality of assemblies are integrated on the rack, so that the multifunctional operation of the cultivation device can be realized, and the soil disinfection effect and the cultivation efficiency can be effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery equipment, and in particular to an integrated tillage device and a film mulching method. BACKGROUND

[0002] In modern agricultural production, in addition to the common tillage, pesticide application, ridge forming and film mulching steps, soil disinfection as a key link is directly related to the growth environment and yield of crops. In the traditional agricultural tillage method, soil disinfection usually relies on single-function equipment to perform different work tasks, such as tillage, pesticide application, ridge forming and film mulching. This method often requires multiple devices to perform step-by-step work in different stages, resulting in a cumbersome overall tillage process, long work time, and increased complexity of work switching and coordination between devices.

[0003] In addition, step-by-step work not only greatly reduces the tillage efficiency, but also leads to high production costs. Each device requires separate power, operators and maintenance, increasing labor costs and equipment procurement costs. The repeated investment and multiple uses of equipment not only waste time, but also increase the difficulty of operation and management. Therefore, there is an urgent need for an integrated tillage device that can meet multiple functions. SUMMARY

[0004] The present application provides an integrated tillage device and a film mulching method to solve the defects of single function, low tillage efficiency and limited soil disinfection effect of the prior art tillage device.

[0005] The present application provides an integrated tillage device, comprising: a frame, a rotary tillage assembly, a soil disinfection assembly and a ridge forming and film mulching assembly; the frame has a moving function; the rotary tillage assembly is arranged in the frame, the rotary tillage assembly comprises a position adjusting mechanism and a rotary tillage mechanism, the rotary tillage mechanism is connected to the frame through the position adjusting mechanism, the rotary tillage mechanism is used for turning over soil, and the position adjusting mechanism is used for driving the rotary tillage mechanism to move in the vertical direction and the horizontal direction; the soil disinfection assembly is arranged at the front end of the frame, the soil disinfection assembly comprises a pesticide storage tank and an air-assisted pesticide application system, the air-assisted pesticide application system comprises a fan, a conveying pipe and an injector, the fan is in communication with the conveying pipe to apply a pressurized air flow to the conveying pipe, one end of the conveying pipe is in communication with the pesticide storage tank, the injector is arranged at the other end of the conveying pipe, and the injection end of the injector faces the soil turning area of the rotary tillage mechanism; the ridge forming and film mulching assembly is arranged at the rear end of the frame, the ridge forming and film mulching assembly comprises a ridge forming mechanism and a film mulching mechanism, the ridge forming mechanism is located below the film mulching mechanism, the ridge forming mechanism is used for forming a ridge ditch, and the film mulching mechanism is used for covering a mulching film on the ridge surface and the ridge ditch.

[0006] According to the integrated tillage device provided by the application, the position adjusting mechanism comprises a horizontal moving platform and a lifting structure, the horizontal moving platform is connected with the frame, one end of the lifting structure is connected with the rotary tillage mechanism, and the other end of the lifting structure is connected with the horizontal moving platform, so as to drive the lifting structure to move under the drive of the horizontal moving platform.

[0007] According to the integrated tillage device provided by the application, the horizontal moving platform comprises a horizontal guide rail, a sliding table and a displacement drive device, the horizontal guide rail is fixedly arranged on the frame, and the horizontal guide rail is arranged along the direction perpendicular to the moving direction of the frame, the sliding table is slidably connected with the horizontal guide rail, the displacement drive device is arranged on the frame and is configured to drive the sliding table to move along the extension direction of the horizontal guide rail through a transmission member; and the lifting structure is connected with the bottom of the sliding table, so that the lifting structure is translated along the direction perpendicular to the moving direction of the frame under the drive of the sliding table.

[0008] According to the integrated tillage device provided by the application, the lifting structure comprises a cross lifting mechanism, the cross lifting mechanism comprises a cross arm and a lifting drive device, the lifting drive device is connected with the cross arm through a connecting rod, so as to drive the cross arm to perform cross motion; the rotary tillage mechanism comprises a cutter roller cover, a rotary tillage cutter roller and a rotary drive device, the rotary tillage cutter roller is rotatably arranged in the cutter roller cover, the rotary drive device is arranged on the cutter roller cover, and the rotary drive device is used for driving the rotary tillage cutter roller to rotate; wherein one end of the cross arm is hinged with the cutter roller cover, and the other end of the cross arm is hinged with the sliding table.

[0009] According to the integrated tillage device provided by the application, the bottom of the medicine storage box is provided with a groove wheel structure, the groove wheel structure comprises a plurality of groove wheels arranged at intervals, the bottom of each groove wheel is provided with a discharge port, and each discharge port is connected with the cutter roller cover through the conveying pipe; the fan has the same number of output ports as the conveying pipes, and a plurality of the output ports are in one-to-one correspondence with the conveying pipes.

[0010] According to the integrated tillage device provided by the application, the film covering mechanism comprises a bearing frame and a liquid film covering structure, the bearing frame is arranged in the frame through a lifting adjusting member, the liquid film covering structure is located in the bearing frame, the liquid film covering structure comprises a liquid storage tank and a spraying mechanism, the liquid storage tank is connected with the frame and located above the spraying mechanism, the spraying mechanism is connected with the bearing frame and located at the bottom position of the rear end of the frame, and the liquid storage tank is connected with the spraying mechanism through a connecting pipeline.

[0011] The integrated cultivation device provided by the application, the spraying mechanism comprises a bidirectional telescopic arm and a spray rod, movable sleeves are arranged at both ends of the bidirectional telescopic arm, each movable sleeve is connected with the spray rod, a plurality of spray heads are arranged along the extension direction of the spray rod and are in communication with the liquid storage tank through connecting pipelines.

[0012] The integrated cultivation device provided by the application, the film covering mechanism further comprises a plastic film covering structure, the plastic film covering structure comprises a film material winding and unwinding drum, the film material winding and unwinding drum is rotatably arranged in the rack and located between the liquid storage tank and the spraying mechanism.

[0013] The integrated cultivation device provided by the application, the rack is provided with an outer shell, an antenna, a laser radar and a main control screen are arranged on the outer shell, the main control screen is used for realizing control interaction, the laser radar is used for realizing mobile navigation, and the antenna is used for data transmission.

[0014] The application further provides a film covering method based on the integrated cultivation device. Step S10, selecting a corresponding film covering mode based on whether ridging is needed; Step S20, when the ridging mode is selected, controlling the plastic film covering structure and the liquid film covering structure to simultaneously perform film covering operation; when the non-ridging mode is selected, controlling the liquid film covering structure to perform film covering operation.

[0015] The integrated cultivation device provided by the application, by arranging a rotary tillage assembly for soil tillage, a soil disinfection assembly for disinfecting the tillage soil and a ridging and film covering assembly for ridging and film covering operation on the rack, multiple assemblies are integrated on the rack, the multifunctional operation of the cultivation device can be realized, and the effect of the soil disinfection and the cultivation efficiency can be effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the 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 is the overall structure schematic view of the integrated cultivation device provided by the application.

[0018] Figure 2 is one of the overall structure schematic views of the inside of the integrated cultivation device provided by the application.

[0019] Figure 3 Fig. 2 is a schematic view of the overall structure of the integrated tillage device according to the present application.

[0020] Figure 4 Fig. 3 is a schematic view of the structure of the rotary tillage mechanism in the integrated tillage device according to the present application.

[0021] Figure 5 Fig. 4 is a schematic view of the structure of the rotary tillage mechanism in the integrated tillage device according to the present application. Figure 4 Fig. 5 is a schematic view of the structure of the rotary tillage mechanism in the integrated tillage device according to the present application.

[0022] Figure 6 Fig. 6 is a schematic view of the structure of the integrated tillage device according to the present application.

[0023] Figure 7 Fig. 7 is a schematic view of the structure of the rotary tillage mechanism in the integrated tillage device according to the present application.

[0024] Figure 8 Fig. 8 is a schematic view of the overall structure of the integrated tillage device according to the present application.

[0025] Figure 9 Fig. 9 is a schematic view of the process of the film coating method according to the present application.

[0026] Reference signs: 10, frame; 11, outer housing; 12, triangular track; 111, antenna; 112, laser radar; 113, main control screen; 114, transparent window; 20, tillage assembly; 21, rotary tillage mechanism; 211, cutter roller cover; 212, rotary tillage cutter roller; 213, rotary drive device; 22, position adjustment mechanism; 221, horizontal movement platform; 2211, horizontal guide rail; 2212, sliding table; 222, lifting structure; 2221, cross arm; 2222, lifting drive device; 23, transmission member; 30, ridging and film coating assembly; 31, liquid film coating structure; 311, liquid storage tank; 312, spraying mechanism; 3121, bidirectional telescopic arm; 3122, movable arm; 3123, spray bar; 3124, telescopic drive part; 32, plastic film coating structure; 33, ridging mechanism; 34, bearing frame; 35, spray head; 40, soil disinfection assembly; 41, storage tank; 42, fan; 43, conveying pipe; 44, sprayer; 45, grooved wheel structure; 451, encoder; 50, battery; 60, rotary motor; 61, eccentric connecting rod. DETAILED DESCRIPTION

[0027] In order to make the objects, technical solutions and advantages of the present application clearer, the following will be combined with the accompanying drawings for the purpose of making the technical solutions in the present application clear, complete and complete. Obviously, the described embodiments are part of the embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0028] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of clarifying the embodiments of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0029] In the description of the embodiments of the present application, it should be noted that unless otherwise specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0030] In the embodiments of the present application, unless otherwise specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0031] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0032] In the related art, soil disinfection, soil loosening, pesticide application, ridging, film mulching and the like often need to be operated by multiple single devices, which not only greatly affects the efficiency of the cultivation operation, but also affects the effect of each process.

[0033] In view of the problems in the related art, as shown in the Figures 1-4 The present application provides an integrated cultivation device, which comprises a rack 10, a rotary tillage assembly 20, a soil disinfection assembly 40 and a ridging and film mulching assembly 30. The rack 10 has a moving function. The rotary tillage assembly 20 is arranged in the rack 10. The rotary tillage assembly 20 comprises a position adjusting mechanism 22 and a rotary tillage mechanism 21. The rotary tillage mechanism 21 is connected to the rack 10 through the position adjusting mechanism 22. The rotary tillage mechanism 21 is used for turning over the soil. The position adjusting mechanism 22 is used for driving the rotary tillage mechanism 21 to move in the vertical direction and the horizontal direction. The soil disinfection assembly 40 is arranged at the front end of the rack 10. The soil disinfection assembly 40 comprises a pesticide storage tank and an air-assisted pesticide application system. The air-assisted pesticide application system comprises a fan 42, a conveying pipe 43 and a sprayer 44. The fan 42 is in communication with the conveying pipe 43, so as to apply a pressurized air flow to the conveying pipe 43. One end of the conveying pipe 43 is in communication with the pesticide storage tank. The sprayer 44 is arranged at the other end of the conveying pipe 43. The spraying end of the sprayer 44 faces the soil turning area of the rotary tillage mechanism 21. The ridging and film mulching assembly 30 is arranged at the rear end of the rack 10. The ridging and film mulching assembly 30 comprises a ridging mechanism 33 and a film mulching mechanism. The ridging mechanism 33 is located below the film mulching mechanism. The ridging mechanism 33 is used for forming a ridge ditch. The film mulching mechanism is used for covering the film on the ridge surface and the ridge ditch. In agricultural production, the processes of soil loosening, pesticide application, ridging and film mulching, soil disinfection and the like need to be operated, so as to ensure the yield of crops. In the present embodiment, the rack 10 can move. The rotary tillage assembly 20 for soil tillage, the soil disinfection assembly 40 for disinfecting the tilled soil and the ridging and film mulching assembly 30 for ridging and film mulching operation are arranged on the rack 10. The multiple assemblies are integrated on the rack 10, so as to realize the multifunctional operation of the cultivation device and effectively improve the effect of the soil disinfection and the cultivation efficiency.

[0034] Specifically, the integrated tillage device further comprises a battery 50 for providing electric energy for the device as a whole, and a control system for controlling the operation of the entire device, wherein the battery 50 can provide electric energy for each electrical component in the device, and the control system can output control signals to control each electrical component in the device. In specific installation, the battery 50 is arranged on the rack 10 and located at the front end of the rack 10, and each component in the device is connected with the battery 50 through a wire. For example, the position adjusting mechanism 22 needs to drive the rotary tillage mechanism 21 to move in the vertical direction and the horizontal direction, and the horizontal direction and the vertical direction can be realized by driving the corresponding mechanism by the motor, and the motor can realize the supply of electric energy through the electrical connection with the battery 50. It should be understood that, for the present embodiment and subsequent embodiments, each electrical component is provided with electric energy by the battery 50, and the specific electrical connection mode will not be described again.

[0035] The rack 10 is configured as a frame structure, and walking wheels or tracks are arranged at the bottom of the rack 10 to drive the rack 10 to move in a predetermined direction. As shown in Figure 1 The rack 10 is configured as a rectangular frame structure, and tracks are arranged at the bottom of the four corners of the rack 10, and the tracks are connected with a driving system, and the driving system drives the tracks to rotate, thereby driving the entire rack 10 to move. In a specific implementation manner, as shown in Figure 1 , Figure 2 The triangular tracks 12 are arranged at the four corners of the bottom of the rack 10, and each set of triangular tracks 12 is driven by an independent driving system, thereby realizing the independent operation of each track. The independent driving system can make the turning of the device more flexible (for example, the turning is realized by the differential of each triangular track 12).

[0036] The rotary tillage mechanism 21 can adopt a rotary tillage structure in conventional technology, which realizes the cutting and tillage of soil by rotary tillage blades, achieves the effect of soil loosening, and is arranged at the front end of the rack 10 along the moving direction of the device, thereby realizing soil loosening and providing efficient working conditions for the action of the ridge forming and film covering assembly 30 located at the rear end.

[0037] Further, the soil disinfection assembly 40 is further arranged on the rack 10 in the present embodiment, the soil disinfection assembly 40 adopts a wind-sending pesticide application system, and the conveying pipe 43 for conveying the disinfectant is connected with the rotary tillage mechanism 21, so that the spreading of the disinfectant is realized in time after the rotary tillage operation, and the depth and uniformity of the soil disinfectant spreading are improved.

[0038] It can be understood that the traditional soil disinfection device and the tillage device are usually operated separately, and the disinfection operation and the tillage operation need different equipment, and often the disinfection is performed first and then the tillage is performed, which is performed twice, increasing the time cost of operation and the use cost of equipment. The embodiment can realize efficient operation of "one machine with multiple functions" by integrating the two functions on the same rack 10. Specifically, the integrated design greatly improves the coordination of the entire device, avoiding the matching problems between the traditional equipment, such as the distance between the disinfection equipment and the tillage equipment, the operation timing, etc. The efficient integration of the equipment reduces the switching and operation of the operating personnel on different equipment, thereby improving the work efficiency.

[0039] In the device, the connection of the disinfectant conveying pipe 43 and the rotary tillage mechanism 21 is the key to efficient operation of the device. Through this connection mode, the disinfectant can be accurately and efficiently spread in the process of tillage, thereby achieving the ideal soil disinfection effect. The specific effects are as follows: High-quality spreading: The conveying pipe 43 can ensure that the disinfectant is uniformly delivered to the front of the rotary tiller, and the disinfectant is fully distributed on the soil surface by the rotary tiller blade or tillage device. The soil turning action during rotary tillage fully penetrates the disinfectant into each layer of the soil, avoiding the disinfectant staying on the surface only, and ensuring a wider disinfection range.

[0040] Deep spreading: The rotary tillage mechanism 21 can till according to different soil depths, bury the disinfectant deep into the soil layer, ensure the deep disinfection of the soil, and reduce the occurrence of diseases and pests, especially important in preventing and controlling underground pests and soil pathogenic bacteria.

[0041] Uniformity improvement: By accurately controlling the disinfectant flow and dispensing method through the conveying pipe 43, combined with the tillage effect of the rotary tillage mechanism 21, the uniform distribution of the disinfectant in the soil can be ensured. The traditional method often causes insufficient disinfection in some areas due to manual spraying or uneven distribution of disinfectant, and the integrated system of the device can reduce these problems and improve the consistency of disinfection effect.

[0042] Further, in terms of technical synergy, the soil disinfection assembly 40 and the rotary tillage assembly 20 achieve effective cooperation, first achieving functional synergy: soil disinfection and rotary tillage operations complement each other. The rotary tillage process can mix the disinfectant with the soil to a certain depth, not only maintaining the penetration of the agent in the topsoil but also effectively bringing it into different layers of the soil to achieve comprehensive disinfection. Compared with traditional separate disinfection or tillage operations, integrated operations can avoid repeated operations and improve work efficiency. Precise cooperation of the control system: modern agricultural machinery is often equipped with intelligent control systems that can accurately adjust the amount of agent delivered, the depth of spreading, and the depth of tillage, making the entire operation process more precise and efficient. For example, by monitoring soil humidity, temperature, compaction, and other data through sensors, the control system can automatically adjust the amount of agent sprayed and the depth of tillage to maximize disinfection effectiveness. It can also reduce the burden of operation: in traditional operations, the agent spreading and tillage steps are often performed separately, requiring the use of multiple devices and wasting time and labor due to the deployment of devices. The integrated system, through coordinated design, can complete both tasks in one trip, reducing the burden on operators and improving production efficiency.

[0043] In specific settings, the ridging and mulching assembly 30 is supported as a whole by the frame 10 to provide a stable operating environment. The ridging mechanism 33 includes ploughs (or plough blades) arranged on both sides of the frame 10 in the width direction, which are adjusted in depth and width by a hydraulic or mechanical drive system, for example, a hydraulic cylinder or mechanical device is used to control the depth of the furrow to adapt to different soil conditions and crop types. The mulching mechanism can have a liquid mulching structure and a plastic mulching structure 32 for mulching.

[0044] During operation, the device advances along a predetermined path. When the device advances, the rotary tillage assembly 20 and the soil disinfection assembly 40 first cooperate to perform soil tillage and disinfection operations, and then the ploughs at the rear end cut and turn up the soil to form ridges. According to different crop requirements and soil conditions, the depth and width of the ploughs can be adjusted to ensure that the size of the ridges is suitable for planting. After the soil is turned up to form ridges, the mulching mechanism begins to work. The mulch is pulled from the reel and laid on the formed ridge surface and ridge by the conveying system. The guide rollers guide the mulch to the correct position, and the film pressing rollers ensure that the mulch is tightly attached to the soil surface to prevent wind from blowing or loosening. Some technical details can be designed, added, or selected as needed, for example, the ridging mechanism 33 and the mulching mechanism can be controlled by a hydraulic system to ensure smooth and accurate operation, soil moisture sensors and mulch tension sensors can be added to monitor soil and mulch conditions in real time, and the depth of the ridges and the tension of the mulch can be automatically adjusted. Strong weather resistance and tear resistance can be selected for the plastic film to ensure its service life in various environments.

[0045] In some embodiments, the position adjusting mechanism 22 comprises a horizontal moving platform 221 connected with the frame 10 and a lifting structure 222 connected with the rotary tillage mechanism 21 at one end and connected with the horizontal moving platform 221 at the other end to move under the drive of the horizontal moving platform 221. For different working environments or crops, the depth of tillage and the tillage area are different. In this embodiment, the position of the rotary tillage mechanism 21 can be flexibly adjusted through the horizontal moving platform 221 and the lifting structure 222, thereby improving the flexibility of the device.

[0046] Specifically, the direction of horizontal movement is perpendicular to the forward direction of the device, so that the horizontal moving platform can move horizontally relative to the frame 10, which can realize the offset work of the whole rotary tillage mechanism 21, such as Figure 4 、 Figure 6 As shown, it avoids dead angle positions during tillage work, improves the coverage of the whole work, and improves the flexibility of the device. The movement in the vertical direction can realize the adjustment of the tillage depth of the rotary tillage mechanism 21, so that it can be matched according to the actual geology adjustment and crop demand, further improving the flexibility of the device.

[0047] Among them, the horizontal moving platform 221 can adopt a structure with a slide rail, so that the platform can move on the horizontal plane. A motor-driven roller system is installed on the platform for translation along the track. The lifting structure 222 can adopt a hydraulic lifting column or a lifting device with a screw transmission to realize the whole lifting work. The tillage depth of the rotary tillage mechanism 21 is adjusted by the lifting of the lifting structure 222. When the lifting structure 222 is lifted, the rotary tillage cutter is far from the ground, and the tillage depth is reduced; when the lifting structure 222 is lowered, the rotary tillage cutter penetrates into the soil, and the tillage depth is increased.

[0048] Of course, during control, the control of the horizontal moving platform 221 and the lifting structure 222 is realized through the control system. For example, a PLC (programmable logic controller) or a microcontroller is used to design an electric control system, which is responsible for the movement of the horizontal platform, the adjustment of the lifting structure 222, and the start and stop of the rotary tillage mechanism 21. Position sensors, pressure sensors and height sensors are installed to real-time feedback the working state of each component, ensuring the stable operation of the system.

[0049] In combination with the above embodiment, the horizontal moving platform 221 comprises a horizontal guide rail 2211, a sliding table 2212 and a displacement driving device. The horizontal guide rail 2211 is fixedly arranged on the rack 10 and is arranged along a direction perpendicular to the moving direction of the rack 10. The sliding table 2212 is in sliding connection with the horizontal guide rail 2211. The displacement driving device is arranged on the rack 10 and is configured to drive the sliding table 2212 to move along the direction in which the horizontal guide rail 2211 extends through a transmission member 23. The lifting structure 222 is connected with the bottom of the sliding table 2212 to be translated along a direction perpendicular to the moving direction of the rack 10 under the driving of the sliding table 2212. In agricultural cultivation, especially in the edge and corner areas of a greenhouse or an irregular land plot, a blind area often appears in the rotary tillage operation, i.e., an area that is difficult for the device to reach or effectively cultivate. These blind areas are usually caused by the size limitation of the conventional tillage device, the limited movement range or the insufficient turning radius. The embodiment can overcome the limitation that the conventional device cannot enter the corner or edge area by the horizontal moving platform 221 in combination with the translation bias of the lifting structure 222 and the rotary tillage mechanism 21.

[0050] Specifically, the horizontal guide rail 2211 is fixedly arranged on the rack 10 and the moving direction of the horizontal guide rail 2211 is perpendicular to the advancing direction of the device. The horizontal guide rail 2211 can be a round rail or a square rail, for example, as shown in Figure 2 As shown in FIG. 3, the horizontal guide rail 2211 is a square rail. The number of the square rails is two. The two square rails are symmetrically arranged and a guide rail groove is formed on the side wall on the opposite side. The sliding table 2212 has a roller on the opposite sides. The roller is arranged in the guide rail groove to realize the sliding connection between the sliding table 2212 and the horizontal guide rail 2211.

[0051] It can be understood that, through the technical solution in the embodiment, the horizontal moving platform 221 can effectively realize the accurate movement of the sliding table 2212 along the horizontal guide rail 2211. The linkage of the lifting structure 222 and the sliding table 2212 enables the device to complete the accurate tillage in the greenhouse or complex terrain. The organic combination of the driving device, the electric control system, the lifting structure 222 and the feedback system ensures the efficient, stable and safe operation of the device. This design can significantly improve the operation efficiency and accuracy of the agricultural machinery, solve the blind area problem of the conventional tillage device in the edge and corner areas, and improve the comprehensiveness and flexibility of tillage.

[0052] In the specific arrangement, as shown in Figure 2 、 Figure 4As shown, the transmission member 23 is a two-group chain transmission system, which converts the rotation of the drive device into the translation movement of the sliding table 2212 through the cooperation of the chain and the sprocket. Specifically, the displacement drive device is a drive motor, and two sprockets are arranged on the output shaft of the drive motor. The chain is engaged with the sprocket and is tensioned by the tensioning wheel. The sliding table 2212 is connected to the chain through a chain connecting device (such as a hook, a carabiner, etc.). When the drive device rotates the output shaft, the movement of the chain will drive the sliding table 2212 to slide along the horizontal guide rail 2211.

[0053] Further, the chain transmission system is adopted to drive the horizontal moving platform 221, which can provide strong load capacity and high transmission stability. By reasonably arranging the chain, sprocket, guide wheel and tensioning device, the system can operate efficiently and stably. At the same time, combined with the electric control system and feedback mechanism, the translation trajectory of the sliding table 2212 can be accurately controlled, and accurate horizontal movement can be realized.

[0054] As shown in the above embodiments, Figure 3 , Figure 4 As shown, the lifting structure 222 includes a cross lifting mechanism, which includes a cross arm 2221 and a lifting drive device 2222. The lifting drive device 2222 is connected to the cross arm 2221 through a connecting rod to drive the cross arm 2221 to make a cross movement. The rotary tillage mechanism 21 includes a cutter roller cover 211, a rotary tillage cutter roller 212 and a rotary drive device 213. The rotary tillage cutter roller 212 is rotatably arranged in the cutter roller cover 211, and the rotary drive device 213 is arranged on the cutter roller cover 211. The rotary drive device 213 is used to drive the rotary tillage cutter roller 212 to rotate. One end of the cross arm 2221 is hinged to the cutter roller cover 211, and the other end of the cross arm 2221 is hinged to the sliding table 2212. The rotary tillage mechanism 21 and the sliding table 2212 need to have a stable connection relationship. In this embodiment, the cross lifting structure 222 can realize the stable up-down movement of the rotary tillage mechanism 21, and improve the stability of the lifting movement.

[0055] Specifically, the lifting drive device 2222 includes an electric push rod, and the connecting rod is arranged at the cross hinge point of the cross arm 2221. The cross arm 2221 is provided in two groups, and the two groups of cross arms 2221 are arranged side by side. The connecting rod is rotatably arranged between the two groups of cross arms 2221. The cross arm 2221 includes a hinged cross arm 2221 and a sliding cross arm 2221. The two ends of the hinged cross arm 2221 are hinged through fixed hinge seats. The hinge seat at one end of the sliding cross arm 2221 is slidingly connected to the cutter roller cover 211, and the hinge seat at the other end of the sliding cross arm 2221 is connected to the sliding table 2212. Under the action of the electric push rod, the sliding cross arm 2221 can move on the cutter roller cover 211, realize the cross movement, and realize the lifting movement of the cutter roller cover 211.

[0056] The selection driving device selects a hydraulic motor, which can drive the rotary tiller roller 212 to rotate. The rotary tiller roller 212 is provided with rotary tiller blades on the surface thereof, and the rotary tiller blades can cut soil to achieve the tillage work when rotating.

[0057] It can be understood that, in the embodiment, the movement of the cross arm 2221 is controlled by the lifting driving device 2222, thereby affecting the lifting of the knife roller cover 211, and the rotation of the rotary tiller roller 212 is controlled by the rotary driving device 213, thereby achieving efficient rotary tillage work. The movement of the cross arm 2221 and the design of the rotary tillage mechanism 21 need to be coordinated, and the system is ensured to be stable and efficient through the precise control of the electric control system.

[0058] In some embodiments, the bottom of the medicine storage box is provided with a groove wheel structure 45, the groove wheel structure 45 includes a plurality of groove wheels arranged at intervals, the bottom of each groove wheel is provided with a discharge port, and each discharge port is connected with the knife roller cover 211 through a conveying pipe 43. The fan 42 has the same number of output ports as the conveying pipes 43, and the plurality of output ports are in one-to-one correspondence with the conveying pipes 43. In the agricultural work, soil disinfection work is needed, and in the embodiment, the uniform output of the disinfectant can be achieved through the action of the groove wheel, thereby improving the quality of soil disinfection.

[0059] Specifically, a plurality of communication ports are formed in the bottom wall of the medicine storage box, the communication ports are used for outputting the disinfectant in the medicine storage box, the groove wheel structure 45 includes a driving shaft and groove wheels, the driving shaft is rotatably arranged below the medicine storage box, the groove wheels are arranged at intervals on the driving shaft and correspond to the communication ports one by one, and an encoder 451 is further arranged at one end of the driving shaft. The rotation of the groove wheel determines the flow rate of the powdery material through the feeding port 11. Therefore, the encoder 451 can help the control system to accurately adjust the rotation of each groove wheel by monitoring the rotation speed and rotation number of the groove wheel, thereby accurately controlling the application amount. When adjusting and controlling, the output signal of the encoder 451 is transmitted to the control system, and the control system adjusts the working state of the motor according to the data fed back by the encoder 451. By changing the rotation speed of the driving motor, the control system can accurately control the rotation rate of the groove wheel, thereby realizing accurate regulation and control of the application amount of the powdery material.

[0060] For example, the control system can adopt a PID (proportion-integration-differentiation) control algorithm to adjust the driving parameters of the motor according to the real-time feedback provided by the encoder 451. The PID control can make the application amount more accurate and reduce the errors that may occur in the application process. That is, the encoder 451 can accurately measure each rotation of the groove wheel, and a certain rotation speed or rotation number is set to have a certain relationship with the application amount through programming. For example, a certain weight of powder is set to be applied per rotation, and the control system can calculate the total amount to be applied according to this information, and realize accurate control by adjusting the motor speed.

[0061] Further, the encoder 451 can monitor the rotation angle and rotation speed of the drive shaft in real time, thereby indirectly controlling the rotation of the groove wheel. Since the rotation of the groove wheel directly determines the application amount of the material, the encoder 451 can help the system to accurately calculate the number of rotations of each groove wheel by accurately feeding back the rotation condition, thereby accurately controlling the amount of material applied each time. This control method greatly improves the accuracy of the application process and avoids the instability of traditional manual adjustment. Further, the signal output by the encoder 451 can be fed back to the control system in real time, and the system can automatically adjust the rotation speed of the drive motor according to the feedback information of the encoder 451, thereby dynamically adjusting the rotation speed of the groove wheel and the application amount. If the application amount needs to be increased, the system will speed up the rotation of the groove wheel by increasing the rotation speed of the motor; if the application amount needs to be reduced, the system will reduce the rotation speed. This real-time adjustment function makes the application process more flexible and responsive.

[0062] Correspondingly, the output port of the fan 42 is communicated with the conveying pipe 43 through a connecting pipe. During the application operation, high-speed flowing gas is output through the output port of the fan 42, so as to drive the flow of the disinfectant and be sprayed through the injector 44, thereby improving the spraying efficiency of the disinfectant. And through the arrangement of the fan 42 and the injector 44, it is beneficial to the spraying of the powder medicine.

[0063] It can be understood that through the arrangement of the medicine delivery system in the embodiment, the medicine can be delivered from the medicine storage box to the knife roller cover 211 through the discharge port, and the fan 42 system is used to realize the transmission and distribution of the medicine. In this way, the medicine can be accurately delivered, and the rotary tillage device and other working parts can work cooperatively to realize efficient and stable medicine processing and use process.

[0064] In combination with the above embodiment, the injector 44 includes a Venturi injector 44, and a plurality of Venturi injectors 44 are connected one by one with the conveying pipe 43. By limiting the type of the injector 44, the delivery efficiency of the disinfectant can be improved.

[0065] Specifically, as shown in Figure 6 , Figure 7 A plurality of mounting holes are formed in the side wall of the knife roller cover 211, each mounting hole is communicated with the internal space of the knife roller cover 211, the number of the mounting holes matches the number of the conveying pipes 43, a Venturi injector 44 is mounted in each mounting hole, and the conveying pipe 43 is connected with the Venturi injector 44, thereby realizing the injection of the disinfectant.

[0066] It can be understood that the Venturi injector 44 utilizes the principle of fluid velocity variation, reduces the pressure by increasing the velocity of the fluid, and then attracts and transports the medicine or other fluids. Through this design, the medicine can be quickly and uniformly delivered to the target location by the pressure difference of the air flow without the need for additional power sources, thereby improving the efficiency of medicine delivery. And each individual Venturi injector 44 can independently control the medicine flow of the corresponding delivery pipe 43. By adjusting the air inlet or wind power of the Venturi injector 44, the medicine flow rate can be accurately controlled, avoiding the uneven flow or medicine accumulation problems that may occur in traditional mechanical delivery processes. This not only improves the efficiency, accuracy and reliability of medicine delivery, but also reduces energy consumption, reduces equipment wear and failure risk, and ultimately makes the system more economical, environmentally friendly and efficient. This design can meet various medicine delivery needs, especially suitable for applications that require high precision, high efficiency and low maintenance cost.

[0067] In some embodiments, the film coating mechanism includes a carrying frame 34 and a liquid film coating structure 31. The carrying frame 34 is arranged in the rack 10 through a lifting adjusting part, and the liquid film coating structure 31 is located in the carrying frame 34. The liquid film coating structure 31 includes a liquid storage tank 311 and a spraying mechanism 312. The liquid storage tank 311 is connected with the rack 10 and located above the spraying mechanism 312. The spraying mechanism 312 is connected with the carrying frame 34 and located at the bottom of the rear end of the rack 10. The liquid storage tank 311 is connected with the spraying mechanism 312 through a connecting pipeline. The film coating mechanism is used for film coating operation on the ridge and the furrow, so as to realize the coverage of the mulch film. The liquid film coating structure 31 of the embodiment can realize effective film coating of the liquid mulch film, improve the efficiency and uniformity of the film coating.

[0068] Specifically, the lifting adjusting part realizes the connection between the carrying frame and the rack 10. The lifting adjusting part adopts a hydraulic or electric lifting adjusting part to adjust the height of the carrying frame 34. Specifically, the top of the carrying frame is provided with a fixed hinge seat and a lifting hinge seat. The fixed hinge seat is directly hinged with the rack 10, and the lifting hinge seat is hinged with an electric push rod. The action of the electric push rod can realize the adjustment of the position of the carrying frame 34.

[0069] The spraying structure is connected with the carrying frame, and the spraying structure has a spray head 35 and a spraying pipeline. The spraying pipeline delivers the liquid film to the spray head 35, and the spray head 35 realizes spraying, so as to improve the uniformity of the mulch film coverage.

[0070] It can be understood that the spraying mechanism 312 is connected with the bearing frame 34 and located at the bottom of the rear end of the rack 10, which ensures that the spray head 35 can accurately control the spraying angle and spraying amount, avoiding liquid waste and uneven coverage. In particular, the spraying position is close to the target object, and the spraying effect is more stable and uniform, which can effectively improve the precision of the liquid coating. And the liquid tank is located above the spraying mechanism 312, which uses gravity to assist liquid transportation, reduces the burden of the pumping system, and further improves the uniformity of spraying and the stability of liquid flow.

[0071] In some embodiments, the spraying mechanism 312 includes a bidirectional telescopic arm 3121 and a spray rod 3123, the bidirectional telescopic arm 3121 is movably sleeved with a movable arm 3122 at both ends, each movable arm 3122 is connected with a spray rod 3123, a plurality of spray heads 35 are arranged along the extension direction of the spray rod 3123, and each spray head 35 is in communication with the liquid storage tank 311 through a connecting pipeline; wherein each movable arm 3122 is connected with a telescopic driving part 3124, and the telescopic driving part 3124 drives the spray rod 3123 to move closer to or away from each other. In this embodiment, through the telescopic movement of the spray rod 3123, the coverage of different areas can be realized, and the flexibility of the device is improved.

[0072] Specifically, the bidirectional telescopic arm 3121 is arranged perpendicular to the moving direction of the rack 10, that is, the extension direction of the bidirectional telescopic arm is the width direction of the rack 10, and the telescopic operation of the spray rod 3123 can realize the adjustment of the coverage area of the spray head 35, thereby realizing the flexible adjustment of the coverage area of the ridge and the ridge surface.

[0073] Wherein, the movable arm 3122 is connected with the telescopic arm through a sliding groove system, which ensures that the movable arm 3122 can smoothly slide along the telescopic arm and adjust the position between the movable arm 3122 and the main frame. The end of each movable arm 3122 is connected with the spray rod 3123, which adopts a universal joint connection or a spherical joint design, allowing the spray rod 3123 to be flexibly adjusted within the movement range of the movable arm 3122. Through the design of the universal joint, the spray rod 3123 can change direction and angle according to actual needs, ensuring the diversity and flexibility of the spraying angle.

[0074] A plurality of spray heads 35 are uniformly arranged on the spray rod 3123 along the extension direction, and the spacing between the spray heads 35 can be adjusted according to needs to ensure the uniformity of spraying and the coverage range. Each spray head 35 is connected with the liquid storage tank 311 through a connecting pipeline, and the pipeline is made of corrosion-resistant materials such as stainless steel hose or high polymer plastic pipe to prevent liquid leakage or corrosion. The telescopic driving part 3124 can use an electric push rod or a pneumatic driving system (such as a pneumatic cylinder) to provide precise telescopic control.

[0075] It can be understood that in the embodiment, the plurality of spray heads 35 are uniformly distributed on the spray rod 3123, and are connected to the liquid storage tank 311 through the pipeline, so that the spraying of the liquid can be ensured to be uniform, and local excess or deficiency phenomenon can be avoided. The distance and flow rate of the spray heads 35 are flexibly adjusted, so that the spraying is more accurate. The use of the telescopic driving part 3124, combined with a precise electric or pneumatic control system, enables the spray rod 3123 to realize precise approaching or moving away actions, so as to ensure that the spraying distance and coverage range are adjustable, thereby meeting different working requirements.

[0076] In combination with the above embodiment, the film covering mechanism further includes a plastic film covering structure 32. The plastic film covering structure 32 includes a film material winding and unwinding drum, which is rotatably arranged in the rack 10 and located between the liquid storage tank 311 and the spraying mechanism 312. The combination of the plastic film covering structure 32 and the liquid film covering structure 31 in the embodiment can further improve the flexibility of film covering.

[0077] Specifically, the film material winding and unwinding drum is driven by an electric motor or a pneumatic device, and the plastic film material is wound on the film material winding and unwinding drum, and the automatic unwinding and winding of the plastic film material are realized through an automatic control system.

[0078] When the plastic film material is winding and unwinding, the film material winding and unwinding drum is driven to rotate, and the unwound film material automatically covers the top of the ridge area to form a thin film, so as to ensure that the liquid on the ridge is not dried or evaporated, and to play a protection role. The edges of the film on both sides can be pressed by the ground wheels as the device moves, so as to avoid movement of the film.

[0079] In a specific embodiment, as shown in FIG. 1, Figure 8 The ground wheels are installed at the bottom of the device, usually in a suspended structure, so that the ground wheels can maintain stable pressure as the device moves. The ground wheels can be designed to have independent lifting function, and the height and pressure of the ground wheels are adjusted through a pneumatic or electric control system to adapt to different thicknesses of the film and different ground conditions. When the device moves, the ground wheels automatically adjust the position as the device moves, so as to always ensure that the edges of the film are pressed and do not loosen or shift as the device moves.

[0080] It can be understood that in the traditional film covering operation, usually only one film covering method (liquid or plastic film) is used. The liquid film covering method is difficult to meet the requirements of some film covering scenes, and the plastic film covering method is difficult to achieve effective film covering at the ridge trench position. The spray rod 3123 in the liquid film covering structure 31 of the embodiment can be telescoped in the width direction, which can effectively cover the ridge trench area, and in combination with the plastic film covering structure 32, the organic combination of the plastic film covering and the liquid film covering can be realized, and the film covering quality can be improved.

[0081] Specifically, as shown in Figure 4 , Figure 5 , the device further comprises a rotating mechanism arranged on the bearing frame 34, and a spray head 35 is arranged on the rotating end of the rotating mechanism to adjust the orientation of the spray head 35 under the driving of the rotating mechanism. Specifically, the rotating mechanism comprises a rotating motor and an eccentric connecting rod 61 connected to the rotating shaft of the rotating motor 60, and when the rotating motor 60 rotates, the eccentric connecting rod 61 can be driven to perform eccentric motion, thereby realizing the orientation adjustment of the spray head 35. When the spray head 35 is connected to the rotating end of the eccentric connecting rod 61, the connection structure between the rotating shaft and the spray head 35 can be used to realize the connection.

[0082] As shown in Figure 9 , some embodiments provide a film mulching method, which comprises the following steps: Step S10, selecting a corresponding film mulching mode based on whether ridging is needed; Step S20, when the ridging mode is selected, controlling the plastic film mulching structure 32 and the liquid film mulching structure 31 to perform film mulching operation at the same time; and when the non-ridging mode is selected, controlling the liquid film mulching structure 31 to perform film mulching operation.

[0083] Specifically, when ridging is needed, plastic mulch film and liquid mulch film are combined, the plastic mulch film is covered on the ridge surface, the rotating mechanism is controlled to rotate the spray head 35, and the liquid mulch film is sprayed into the ridge ditch on both sides to ensure full coverage of the mulch film. When ridging is not needed, only liquid mulch film is used, the spraying amount is controlled to ensure full coverage of the liquid mulch film, and precise operation is realized.

[0084] It can be understood that the device comprises a main control system, the main control system comprises a main control circuit board provided with a control circuit and a control program, and a memory is integrated on the main control circuit board, and the memory stores the above-mentioned film mulching strategy model, so that the execution of the film mulching method can be realized by calling the model in actual operation.

[0085] Specifically, in step S10, a corresponding strategy model can be pre-configured in the control system, and the control can be realized by quickly selecting the strategy model in actual operation.

[0086] Specifically, when ridging is needed, plastic mulch film and liquid mulch film are combined, the plastic mulch film is covered on the ridge surface, the rotating mechanism is controlled to rotate the spray head 35, and the liquid mulch film is sprayed into the ridge ditch on both sides to ensure full coverage of the mulch film. When ridging is not needed, only liquid mulch film is used, the spraying amount is controlled to ensure full coverage of the liquid mulch film, and precise operation is realized. Some embodiments, as shown in Figure 1As shown, the rack 10 is provided with an outer shell 11, and the outer shell 11 is provided with an antenna 111, a laser radar 112 and a main control screen 113. The main control screen 113 is used to realize control interaction, the laser radar 112 is used to realize mobile navigation, and the antenna 111 is used for data transmission. By integrating the antenna 111, the laser radar 112 and the main control screen 113 on the outer shell 11, data transmission, mobile navigation and user interaction are respectively realized. Through hardware integration, appropriate communication protocols, navigation algorithms and software system support, stable operation and function execution of the device can be realized.

[0087] Specifically, the outer shell 11 is usually made of metal or plastic material, which is used to protect the internal components of the device from external physical damage (such as collision, dust, moisture, etc.). The design of the outer shell 11 needs to consider the heat dissipation, strength, weight and installation position of the external device of the device.

[0088] Among them, the main control screen 113 is used for user interaction operation, and provides functions such as device status information, navigation control, task setting, etc. The common main control screen 113 is a touch screen, which can display the operation interface and accept the user's input. For example, the main control screen 113 can select a touch screen based on LCD, OLED and other display technologies, which is connected to the main control system (such as an embedded computer or a single-chip microcomputer). The main control screen 113 is connected to the main control board or the computing unit through USB, serial port or other communication interfaces, receives user input and sends control signals to other parts of the device, and needs to configure a graphical user interface (GUI) cooperating with the main control screen 113, so as to facilitate user operation. The laser radar 112 (LiDAR) is used to realize the navigation of the device, measure the distance of the surrounding environment, generate three-dimensional maps or point cloud data, and help the device to accurately position and avoid obstacles. For example, a suitable laser radar 112 model is selected, and the data generated by the laser radar 112 is transmitted to the main control system (such as a computer or an embedded processing unit) through a sensor interface. The main control system uses SLAM (simultaneous localization and mapping) algorithm or other path planning algorithm to process these data to realize the navigation and positioning of the device; the antenna 111 is used for wireless data transmission, such as Wi-Fi, 4G / 5G, Bluetooth and other wireless communication protocols. It can be used for data exchange between the device and the external environment (such as a control center or other devices).

[0089] In specific arrangement, the wall surface on one side of the outer shell 11 is provided with a transparent window 114, through which the real-time state inside the outer shell 11 can be more conveniently observed.

[0090] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit the same; and although the present application has been described in detail with reference to the foregoing embodiments, it should be appreciated by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features thereof can be replaced equivalently; 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 present application.

Claims

1. An integrated tillage device, characterized in that, include: The rack is movable; A rotary tillage assembly is disposed within the frame. The rotary tillage assembly includes a position adjustment mechanism and a rotary tillage mechanism. The rotary tillage mechanism is connected to the frame through the position adjustment mechanism. The rotary tillage mechanism is used to turn the soil, and the position adjustment mechanism is used to drive the rotary tillage mechanism to move in the vertical and horizontal directions. A soil disinfection assembly is located at the front end of the frame. The soil disinfection assembly includes a pesticide storage tank and a pneumatic application system. The pneumatic application system includes a blower, a delivery pipe, and an injector. The blower is connected to the delivery pipe to apply pressurized airflow to the delivery pipe. One end of the delivery pipe is connected to the pesticide storage tank, and the injector is located at the other end of the delivery pipe, with the spraying end of the injector facing the tillage area of ​​the rotary tillage mechanism. A ridging and mulching assembly is located at the rear end of the frame. The ridging and mulching assembly includes a ridging mechanism and a mulching mechanism. The ridging mechanism is located below the mulching mechanism. The ridging mechanism is used to form furrows, and the mulching mechanism is used to cover the ridge surface and the furrows with mulch film.

2. The integrated tillage device according to claim 1, characterized in that, The position adjustment mechanism includes a horizontal moving platform and a lifting structure. The horizontal moving platform is connected to the frame, one end of the lifting structure is connected to the rotary tillage mechanism, and the other end of the lifting structure is connected to the horizontal moving platform, so as to drive the lifting structure to move under the drive of the horizontal moving platform.

3. The integrated tillage device according to claim 2, characterized in that, The horizontal moving platform includes a horizontal guide rail, a slide table, and a displacement driving device. The horizontal guide rail is fixedly mounted on the frame and is arranged perpendicular to the moving direction of the frame. The slide table is slidably connected to the horizontal guide rail. The displacement driving device is mounted on the frame and is configured to drive the slide table to move along the direction of extension of the horizontal guide rail via a transmission component. The lifting structure is connected to the bottom of the slide table so that the lifting structure can be moved in a direction perpendicular to the frame under the action of the slide table.

4. The integrated tillage device according to claim 2, characterized in that, The lifting structure includes a cross lifting mechanism, which includes a cross arm and a lifting drive device. The lifting drive device is connected to the cross arm via a connecting rod to drive the cross arm to perform cross movements. The rotary tillage mechanism includes a blade roller cover, a rotary tillage blade roller, and a rotary drive device. The rotary tillage blade roller is rotatably disposed inside the blade roller cover, and the rotary drive device is disposed on the blade roller cover. The rotary drive device is used to drive the rotary tillage blade roller to rotate. One end of the cross arm is hinged to the cutter roller cover, and the other end of the cross arm is hinged to the slide table.

5. The integrated tillage device according to claim 4, characterized in that, The bottom of the medicine storage tank is provided with a grooved wheel structure, which includes a plurality of grooved wheels spaced apart. Each grooved wheel has a discharge port at its bottom, and each discharge port is connected to the cutter roller cover through the conveying pipe. The fan has the same number of output ports as the delivery pipes, and the multiple output ports are connected to the delivery pipes one by one.

6. The integrated tillage device according to claim 1, characterized in that, The coating mechanism includes a support frame and a liquid coating structure. The support frame is mounted inside the frame via a lifting adjustment component. The liquid coating structure is located inside the support frame and includes a liquid storage tank and a spraying mechanism. The liquid storage tank is connected to the frame and located above the spraying mechanism. The spraying mechanism is connected to the support frame and located at the bottom of the rear end of the frame. The liquid storage tank is connected to the spraying mechanism via a connecting pipe.

7. The integrated tillage device according to claim 6, characterized in that, The spraying mechanism includes a bidirectional telescopic arm and a spray bar. Both ends of the bidirectional telescopic arm are movably fitted with movable arms. Each movable arm is connected to the spray bar. Multiple nozzles are spaced apart along the extension direction of the spray bar. Each nozzle is connected to the liquid storage tank through a connecting pipe. Each movable arm is connected to a telescopic drive unit, which drives the spray bars to move closer or further apart from each other.

8. The integrated tillage device according to claim 6, characterized in that, The coating mechanism further includes a plastic coating structure, which includes a film material take-up and untake-down roll. The film material take-up and untake-down roll is rotatably disposed within the frame and located between the liquid storage tank and the spraying mechanism.

9. The integrated tillage device according to claim 1, characterized in that, The rack is equipped with an outer shell, on which an antenna, a lidar, and a main control screen are mounted. The main control screen is used for control interaction, the lidar is used for mobile navigation, and the antenna is used for data transmission.

10. A mulching method based on the integrated tillage device according to any one of claims 1-9, characterized in that, Includes the following steps: Step S10: Select the corresponding mulching mode based on whether ridging is required; Step S20: When the ridging mode is selected, control the plastic film covering structure and the liquid film covering structure to perform film covering operations simultaneously; when the non-rice covering mode is selected, control the liquid film covering structure to perform film covering operations.

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