Precise film mulching and seeding equipment and platform operation method

Abstract

The invention relates to the technical field of agricultural machinery, in particular to precise film mulching and seeding equipment and a platform operation method, and aims to solve the problems of low agricultural material carrying efficiency, insufficient mulching film laying precision and the like in traditional seeding. A soil preparation device, a drip irrigation belt laying device, an electric drive film feeding device, an automatic film and belt breaking device and a seeding device are arranged on the machine frame in the traction direction, an operation platform and a seed uniformizing box are arranged on the upper rear portion of the machine frame, all the core assemblies are controlled through the electric drive film feeding device, the automatic film and belt breaking device and the seeding device, the operation platform and the seed uniformizing box are arranged on the upper rear portion of the machine frame, and all the core assemblies are cooperatively controlled through a controller bus communication interface. The operation platform and the seed uniformizing box improve the agricultural material management efficiency, optimize the agricultural material storage and carrying mode, improve the self-adaptive capacity of mulching film laying, improve the seed distribution uniformity, achieve automation of film and belt breaking operation, reduce manual intervention and improve the operation continuity and the overall efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery, in particular to a precision mulching and seeding device and a platform operation method. BACKGROUND

[0002] The design principle of the traditional wide-mulch precision mulching and seeding device is usually built around the basic needs of mechanized operation. Generally, it is pulled by a tractor, uses mechanical transmission of ground wheels or driving shafts to drive a series of operation components to work cooperatively. Specifically, the mulch film is usually placed on a simple film roller frame and is passively or semi-actively fed by friction with the ground or mechanical chain / belt transmission synchronized with the forward speed of the machine. The seeds are carried by multiple small seed boxes and are distributed to each seeding unit by mechanical seed distributors or simple screw mechanisms.

[0003] However, with the continuous expansion of agricultural production scale and the increasing refinement of crop yield and quality requirements, some inherent characteristics of the above-mentioned traditional mulching and seeding device in principle gradually reveal deep limitations when facing new challenges.

[0004] Firstly, in the loading, unloading and replenishing link of agricultural materials, the traditional device generally lacks an integrated automatic handling system, which leads to a high dependence on manual labor during the operation process. Such labor is not only intensive and inefficient, but also greatly increases the safety risk of personnel when operating on large wide machine platforms, handling heavy objects and working on narrow and uneven machine platforms. More importantly, frequent manual intervention disrupts the continuous operation process, making it difficult to break through the bottleneck of the overall operation efficiency of the device, and even if the machine performance is superior, it will ultimately be limited by the non-efficiency link of agricultural supply.

[0005] Secondly, the mulch film unwinding mechanism of the traditional device often adopts mechanical rigid coupling based on the forward speed of the machine. This non-feedback transmission system cannot dynamically match the micro ups and downs of the field, the instantaneous changes of soil resistance and the slight fluctuations of tractor speed, and cannot adapt to the continuous changes of the mulch film roll diameter from large to small. In actual operation, the tension of the mulch film cannot be accurately controlled, which easily leads to wrinkles, twists and even tears of the mulch film during the laying process, seriously affecting the mulching quality.

[0006] Thirdly, the traditional multi-small-seed-box mode, although relatively simple in structure, brings the secondary problem of difficulty in maintaining the uniformity of seed distribution. Since the seed consumption speed and replenishment period of each small seed box are not the same, it is easy to cause local seed shortage or excess, which ultimately manifests as uneven emergence after seeding, seriously affecting the uniformity of crop growth and the final yield.

[0007] In addition, the film and tape cutting operation at the end of the row or operation is still manually cut and covered with soil by using a knife tool. This not only consumes time and effort, but also has safety hazards. Each manual intervention increases downtime and reduces operation continuity and overall efficiency.

[0008] In summary, the traditional precision mulch seeding device has problems in key links such as agricultural material handling, mulch laying precision, seed uniform distribution, and operation process automation. Due to the inherent mechanical linkage or high dependence on manual design mode, it is difficult to meet the requirements of modern agriculture for efficient, simplified, and intelligent operation. Therefore, how to integrate innovation to build a precision mulch seeding system that can realize automatic agricultural material handling and accurate distribution, mulch laying and tool speed adaptive matching, and highly automated and intelligent operation process, to overcome the bottleneck of existing technology in large-scale and standardized application, has become a technical problem to be solved by technical personnel in the field. SUMMARY

[0009] Based on the above problems, the present application aims to provide a precision mulch seeding device and a platform operation method to solve the problems of low agricultural material handling efficiency, insufficient mulch laying precision, uneven seed distribution, and limited automation of operation process during precision mulch seeding operation. By optimizing agricultural material storage and handling, improving the adaptive ability of mulch laying, improving the uniformity of seed distribution, and realizing the automation of film and tape cutting operation, manual intervention is reduced, and operation continuity and overall efficiency are improved.

[0010] To achieve the above purpose, the first aspect of the present application provides a precision mulch seeding device, comprising a rack, a power transmission system and a walking device. The rack is provided with a land preparation assembly, a drip tape laying assembly, an electric driven mulch device, an automatic film and tape cutting device and a seeding device from front to rear along the traction direction of the walking device. The upper rear of the rack is provided with an operation platform. The operation platform is used for storage, loading and unloading of agricultural materials and auxiliary operation of operation personnel. The operation platform is provided with a uniform seed tank for centralized storage and uniform distribution of seeds. The uniform seed tank is connected with the seeding device. The operation platform, the uniform seed tank, the electric driven mulch device and the automatic film and tape cutting device are connected through the bus communication interface of the controller for data communication and collaborative control. The rack is connected with the walking device through a suspension mechanism. The traction power and hydraulic power are provided by the walking device. The position information and forward speed information are obtained in real time by a Beidou satellite navigation receiver installed on the precision mulch seeding device. The controller is configured to accurately control the power execution units of the electric film driving device module and the automatic film and tape cutting device module according to the information provided by the Beidou satellite navigation receiver and a preset control algorithm.

[0011] As preferred, the operation platform comprises a platform frame for carrying agricultural materials and operation personnel, a front end of the platform frame is hingedly connected to the main girder of the machine frame through a main rotating shaft, and a floating support assembly is arranged at a tail end of the platform frame; the floating support assembly comprises two groups of height-adjustable ground wheels, and is configured to be in contact with the ground through the ground wheels and to be adjusted in height according to the terrain undulation, so as to ensure that the operation platform always maintains a horizontal floating posture relative to the ground when the machine is working on a terrain undulating land.

[0012] As preferred, a multi-degree-of-freedom lifting arm is arranged on the platform frame, the multi-degree-of-freedom lifting arm is installed at the rear of the platform frame and is used for automatic carrying of agricultural materials; the multi-degree-of-freedom lifting arm comprises a first hydraulic motor for driving the multi-degree-of-freedom lifting arm to rotate horizontally around a vertical axis, a first hydraulic cylinder for controlling the multi-degree-of-freedom lifting arm to perform pitching motion to adjust the height, and a second hydraulic cylinder for controlling the multi-degree-of-freedom lifting arm to perform telescopic motion to adjust the working radius.

[0013] As preferred, an electric clamping device is arranged at an end of the multi-degree-of-freedom lifting arm; the electric clamping device is connected to the multi-degree-of-freedom lifting arm through a traction rope, the traction rope is driven to extend and retract through a planetary gear reduction box driven by a servo motor; a lifting claw is connected to a tail end of the traction rope, arc-shaped clamping devices are arranged at two ends of the lifting claw, clamping widths of the arc-shaped clamping devices are adapted to different sizes of film rolls or seed bags, and the arc-shaped clamping devices are controlled to open or close through built-in electromagnetic driving units.

[0014] As preferred, the uniform seeding seed box comprises a seed box body installed on the operation platform, a plurality of seed outlets for connecting the seeding device are arranged at a bottom of the seed box body, and a spiral uniform seeding mechanism is arranged inside the seed box body; the spiral uniform seeding mechanism comprises a horizontally arranged spiral auger, and the spiral uniform seeding mechanism is configured to ensure that the seeds are diffused to the periphery of the seed box body at a uniform flow rate matching the advancing speed by making the rotating speed of the spiral auger proportional to the advancing speed of the precision mulching and seeding equipment.

[0015] As preferred, the electric film driving device comprises a film roll supporting mechanism for carrying the film roll and achieving stable film laying, and a power control unit for driving the film roll to rotate; the power control unit comprises an electric motor, and the power control unit is configured to generate a control signal for driving the electric motor to rotate by using a speed matching algorithm in the controller; the speed matching algorithm calculates the required film roll laying linear speed according to the real-time advancing speed data of the Beidou satellite navigation receiver and converts it into a rotating speed control signal of the electric motor, so as to ensure that the film laying speed of the mulch film is completely matched with the advancing speed of the machine.

[0016] As preferred, a film unwinding guide system for guiding the smooth unwinding of the ground film is arranged below the film roller supporting mechanism; the film unwinding guide system comprises a film feeding plate fixed to the frame, and a first-level film frame rod, a second-level film frame rod and a third-level film frame rod are sequentially arranged on the film feeding plate; a film unwinding roller is arranged at the bottom of the film feeding plate, the film unwinding roller is coaxially connected with a belt pulley, and the belt pulley is uniformly provided with retractable hooks in the circumferential direction; the retractable hooks are configured to be in an extended state in a static state, and when the retractable hooks move to a contact point with the ground, the retractable hooks are automatically retracted through an internal mechanical linkage mechanism to release the ground film.

[0017] As preferred, the automatic film and tape cutting device comprises a film cutting mechanism, a tape cutting mechanism and an auxiliary positioning assembly; the film cutting mechanism comprises a circular arc shovel, the width of the shovel opening of the circular arc shovel is matched with the width of the laid ground film, one end of the circular arc shovel is hingedly connected with a film cutting hydraulic cylinder through a hinge point, and the extension and retraction movement of the film cutting hydraulic cylinder drives the circular arc shovel to rotate around the hinge point to realize the dual functions of cutting the ground film and digging the soil; the tape cutting mechanism comprises a vertically arranged tape cutting hydraulic cylinder, the bottom of the tape cutting hydraulic cylinder is connected with a cross beam, and blades are arranged at equal intervals on the cross beam; the extension and retraction movement of the tape cutting hydraulic cylinder drives the blades to move up and down in the vertical direction; the auxiliary positioning assembly comprises two film clamping rods, the film clamping rods are connected with a film clamping rod base through a profiled spring, and are used to keep the ground film and the soil in the circular arc shovel in a stable state when the machine is lifted.

[0018] The second aspect of the present application provides a platform operation method, using the precision film laying and seeding device, comprising the following steps: In the film and tape laying stage, the Beidou satellite navigation receiver installed on the device body collects the forward speed information of the machine in real time during the travel of the precision film laying and seeding device, and transmits the speed information to the central controller; the controller accurately controls the motor speed of the electric film feeding device according to the preset algorithm, so that the film roll is unwound at a linear speed matching the forward speed of the machine; In the seeding and uniform seeding stage, the screw uniform seeding mechanism in the uniform seeding seed box rotates synchronously under the mechanical linkage of the ground wheel, uniformly pushes the seeds to the multiple seed outlets at the bottom of the seed box body, and then conveys the seeds to each seeding device; In the row changing operation stage, when the precision film laying and seeding device travels to the end of the row for row changing, the Beidou satellite navigation receiver monitors the machine position information in real time, and when the machine reaches the preset film and tape cutting point, the controller triggers the instruction to start the automatic film and tape cutting device, the tape cutting hydraulic cylinder is elongated to drive the blades to cut the drip irrigation tape, then the film cutting hydraulic cylinder is elongated to drive the circular arc shovel to rotate, cut the ground film and dig the appropriate amount of soil, after the machine completes the row changing, the film cutting hydraulic cylinder is retracted, and the soil in the shovel is dropped into the broken part of the ground film and the drip irrigation tape for compaction and fixation; During the operation, if the agricultural material reserves are insufficient, the operation personnel operates the multi-degree-of-freedom lifting arm and the electric clamping device through the control terminal on the operation platform to realize automatic carrying and replenishment of the heavy film roll or seed bag.

[0019] As preferred, before the film laying and tape laying stage, the method further comprises: In the pretreatment stage, the precision film laying and seeding device is connected to the walking device through the suspension mechanism, the walking device drags the precision film laying and seeding device to move, in the moving process, the bulldozing plate at the front end of the precision film laying and seeding device performs the leveling operation on the ground, the compacting roller performs the compaction operation on the soil, and the ditching disc piece digs the side ditch on both sides.

[0020] Through the above technical solution, the application achieves the following technical effects: According to the purpose of the application, the precision film laying and seeding device stores the mulching film and seeds on the operation platform above the frame, which facilitates loading, unloading and replenishment, reduces manual back-and-forth labor, the uniform seed box and the seeding device are directly connected, the seeds are evenly distributed without manual point-by-point addition, the large-area operation can reduce the labor input, the precision film laying and seeding device greatly improves the agricultural material carrying and distribution efficiency, the electric film feeding device and the Beidou satellite navigation work cooperatively, the Beidou satellite transmits the position and speed information in real time, the controller accurately controls the film feeding speed, cooperates with the soil leveling assembly to level the soil and synchronously lays the drip irrigation tape, reduces the damage rate, guarantees the seeding quality, realizes seamless connection, improves the operation continuity, adapts to various crops and regional demands, improves the cost performance and application range of the equipment, and creates higher economic benefits for users. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a perspective structural schematic view of a precision film laying and seeding device in an embodiment of the application.

[0022] Figure 2 is a front view of Figure 1 .

[0023] Figure 3 is a perspective structural schematic view of an operation platform in an embodiment of the application.

[0024] Figure 4 is a partial enlarged structural schematic view of a multi-degree-of-freedom lifting arm in an embodiment of the application.

[0025] Figure 5 is an assembly structural schematic view of an electric film feeding device in an embodiment of the application.

[0026] Figure 6 is a partial enlarged structural schematic view of an electric film feeding device in an embodiment of the application.

[0027] Figure 7 is a perspective structural schematic view of an automatic film and tape cutting device in an embodiment of the application.

[0028] Figure 8 This is a reference diagram showing the usage status of the automatic film and tape cutting device in an embodiment of the present invention.

[0029] Figure 9 This is a schematic diagram of the assembly structure of the seed uniform box in an embodiment of the present invention.

[0030] Reference numerals: 1. Frame; 2. Land preparation assembly; 3. Drip irrigation tape laying assembly; 4. Electrically driven film delivery device; 5. Automatic film and tape cutting device; 6. Seeding device; 7. Working platform; 8. Seed distribution box; 9. Suspension mechanism; 10. Beidou satellite navigation receiver; 41. Film roller support mechanism; 42. Power control unit; 43. Film spreading guide system; 51. Film cutting mechanism; 52. Tape cutting mechanism; 53. Film clamping rod; 71. Platform frame; 72. Floating support assembly; 73. Multi-degree-of-freedom 81. Crane arm; 82. Seed box body; 431. Spiral seeding mechanism; 432. Primary film support rod; 433. Secondary film support rod; 434. Tertiary film support rod; 435. Film feeding plate; 516. Arc shovel; 517. Film cutting hydraulic cylinder; 528. Strip cutting hydraulic cylinder; 529. Blade; 730. First hydraulic motor; 731. First hydraulic cylinder; 732. Second hydraulic cylinder; 733. Electric clamping device; 734. Traction rope; 735. Lifting claw; 736. Arc-shaped clamping device. Detailed Implementation

[0031] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0032] like Figures 1-9 As shown, an embodiment of the present invention proposes a precision film-laying and sowing device, which includes a frame 1, a power transmission system and a walking device. Along the traction direction of the walking device, the frame 1 is arranged from front to back as follows: a land preparation component 2, a drip irrigation tape laying component 3, an electric film delivery device 4, an automatic film and tape cutting device 5 and a sowing device 6. A working platform 7 is arranged on the upper rear of the frame 1.

[0033] The operating platform 7 is used for the storage, loading and unloading of agricultural materials and for auxiliary operations of workers. The operating platform 7 is equipped with a seed uniform box 8 for centralized storage and uniform distribution of seeds. The seed uniform box 8 is connected to the sowing device 6.

[0034] Among them, the working platform 7, the seed uniform box 8, the electric film delivery device 4, and the automatic film cutting and tape cutting device 5 communicate and coordinate with each other through the bus communication interface integrated in the controller.

[0035] The frame 1 is connected to the walking device via the suspension mechanism 9. The walking device provides traction and hydraulic power, and the location and forward speed information are obtained in real time through the Beidou satellite navigation receiver 10 installed on the precision film laying and seeding equipment.

[0036] The controller is configured to accurately control the power execution units of the electric film feeding device 4 module and the automatic film breaking device 5 module according to the information provided by the Beidou satellite navigation receiver 10 and the preset control algorithm.

[0037] The precision mulching and seeding device solves the multiple pain points in traditional seeding operation through scientific structure design and intelligent control logic, and has significant advantages in operation efficiency, operation quality, automation level and operation convenience. First, in terms of agricultural material management and transportation efficiency improvement, the device innovatively sets an operation platform 7 above the rear of the frame 1, and integrates a uniform seed box 8 for centralized storage and uniform distribution of seeds, forming an "centralized storage-precise distribution" agricultural material management mode.

[0038] Thus, on the one hand, the operation platform 7 provides a regular storage space for agricultural materials such as mulch and seeds, avoiding the problem of transportation chaos caused by random storage of agricultural materials in traditional operation. The operation personnel can directly complete the loading and unloading and replenishment of agricultural materials on the platform, reducing the invalid labor of going back and forth between the device and the storage point. On the other hand, the uniform seed box 8 is directly connected with the seeding device 6, which can uniformly distribute seeds to the seeding unit without manual point-by-point addition of seeds, greatly reducing the frequency of manual intervention. Especially in large-area seeding operation, it can reduce more than 30% of manual input, significantly improving the efficiency of agricultural material transportation and distribution.

[0039] In the key link of ensuring seeding quality, the device realizes precise regulation of mulch laying through the cooperative control of the electric film feeding device 4 and the Beidou satellite navigation. The Beidou satellite navigation receiver 10 can obtain the position information and forward speed information of the device in real time and transmit the data to the controller. The controller accurately regulates the power execution unit of the electric film feeding device 4 according to the preset control algorithm combined with the device operation parameters, so that the film feeding speed is synchronized with the forward speed of the device, avoiding the problem of tight or loose film stretching caused by speed mismatch in traditional mechanical film feeding.

[0040] At the same time, the device is sequentially provided with the land preparation assembly 2, the drip irrigation tape laying assembly 3 and the electric film feeding device 4 along the traction direction. The land preparation assembly 2 first flattens the soil to create a flat base for mulch laying. The drip irrigation tape is laid synchronously with the mulch and the position is accurately corresponding, further ensuring the sealing and standardization of mulch covering. Through this design, the lateral deviation of mulch laying can be controlled within ±2cm, and the longitudinal flatness is improved by more than 40%, effectively reducing the mulch damage rate and providing a stable soil environment for seed growth, effectively ensuring the seeding quality.

[0041] To solve the problem of insufficient operation continuity in traditional operation, the automatic film and tape cutting device 5 is configured in the equipment. Through the cooperation of the controller and the bus communication interface, the automatic film and tape cutting operation can be realized. In traditional precision film laying and seeding operation, when it is necessary to change the land or complete a section of operation, manual operation is required to cut off the mulch film and drip irrigation tape. Not only is it time-consuming and labor-intensive, but it is also prone to operation interruption due to manual operation delay. In the equipment, when the controller determines that the equipment has reached the end of the operation or needs to change the section according to the Beidou navigation information, it will automatically send an instruction to the automatic film and tape cutting device 5. The device responds quickly and accurately cuts off the mulch film and drip irrigation tape. The whole process does not require manual intervention, and the operation time is shortened from 3-5 minutes in traditional manual operation to less than 10 seconds.

[0042] Moreover, the automatic operation avoids the problem of irregular cutting caused by uneven force during manual cutting, reduces the risk of equipment jam caused by residual cutting in subsequent operation, and the coordinated control of the automatic film and tape cutting device 5, the electric film feeding device 4, and the seeding device 6 can realize seamless connection of "film cutting - shutdown - restart - continuous laying". The operation interruption time is greatly shortened, the operation continuity is improved by more than 50%, and it is especially suitable for seeding operation in large-scale contiguous land.

[0043] In terms of equipment automation and intelligent upgrading, the equipment integrates the bus communication interface through the controller to realize data interconnection and coordinated control of the operation platform 7, the uniform seed box 8, the electric film feeding device 4, the automatic film and tape cutting device 5, and the Beidou navigation system, etc. Core components build an intelligent operation closed loop of "perception - decision - execution". The operator does not need to operate each component one by one. Only by presetting the operation parameters (such as seeding row spacing, mulch film width, film feeding speed, etc.) through the controller, the equipment can automatically adjust the running state according to the real-time working condition, greatly reducing the dependence on the operator's experience and significantly reducing the operation threshold.

[0044] For example, when operating in a land with a large slope, the Beidou navigation system provides real-time slope data, and the controller automatically adjusts the film feeding force of the electric film feeding device 4 to ensure that the mulch film laying is not affected by the terrain. When the seed remaining amount in the uniform seed box 8 is insufficient, the equipment will automatically send a warning signal to remind the operator to supplement agricultural materials. This highly integrated intelligent control mode changes the equipment from a mechanical operation type to an intelligent decision-making type, not only improving the stability and accuracy of the operation, but also allowing novice operators to work after simple training, which is conducive to the popularization and application of the equipment.

[0045] The precision film laying and seeding device provided in the embodiment of the present application is structured to include a frame 1, a power transmission system and a walking device. The frame 1 is made of high-strength structural steel material and is formed into an integrated frame structure through welding and bolt connection to ensure the overall rigidity and durability in the complex field operation environment. The frame 1 is sequentially fixed or hingedly connected with a land preparation assembly 2, a drip irrigation tape laying assembly 3, an electric film feeding device 4, an automatic film and tape cutting device 5 and a seeding device 6 from front to rear along the traction direction of the walking device. An operation platform 7 is arranged at the rear upper portion of the frame 1. The operation platform 7 realizes the centralized storage, efficient loading and unloading of agricultural materials and the auxiliary operation of the operator through its structure and function.

[0046] Specifically, the operation platform 7 is structured for the storage, loading and unloading of agricultural materials and the auxiliary operation of the operator. An uniform seed bin 8 for the centralized storage and uniform distribution of seeds is arranged on the operation platform 7. The uniform seed bin 8 is connected with each seeding unit of the seeding device 6 through a flexible conveying pipeline to realize the accurate conveying of seeds. The operation platform 7, the uniform seed bin 8, the power execution unit and the sensor unit of the electric film feeding device 4 and the automatic film and tape cutting device 5 all perform data communication and collaborative control through the industrial bus communication interface integrated by the controller. The industrial bus adopts CAN protocol to ensure the real-time, reliability and anti-interference ability of data transmission.

[0047] The frame 1 is connected with the walking device through a three-point suspension mechanism 9. The walking device is structured to provide the traction power and hydraulic power required by the precision film laying and seeding device. A Beidou satellite navigation receiver 10 is installed on the precision film laying and seeding device. The receiver is structured to obtain the geographic position information and forward speed information of the machine in real time.

[0048] The Beidou satellite navigation receiver 10 adopts double-frequency RTK technology and can provide centimeter-level real-time positioning accuracy and high-precision speed measurement capability with a data update frequency of 10 Hz. The controller is structured to accurately control the power execution unit of the electric film feeding device 4 module and the automatic film and tape cutting device 5 module according to the real-time position information and forward speed information provided by the Beidou satellite navigation receiver 10, combined with the preset motion control algorithm and task management logic, to realize the high automation and intelligence of the operation process.

[0049] As a preferred embodiment of the present application, the operation platform 7 includes a platform frame 71 for carrying agricultural materials and operators. The platform frame 71 is made of high-strength aluminum alloy profiles or lightweight structural steel and is welded to reduce the overall weight and ensure the structural strength. The front end of the platform frame 71 is hingedly connected with the main girder of the frame 1 through a main rotating shaft. The main rotating shaft is made of high-strength alloy steel shaft with a diameter not less than 80 mm and is supported by a roller bearing to bear the weight of the operation platform 7 and its load and allow the operation platform 7 to perform pitching motion.

[0050] The tail end of the platform frame 71 is provided with a floating support assembly 72. The floating support assembly 72 includes two groups of independently adjustable height ground wheel units, each ground wheel unit being composed of a 500mm diameter and 150mm wide wear-resistant rubber ground wheel, a hydraulic or electric lifting mechanism, and a set of profiled linkage mechanism.

[0051] The floating support assembly 72 is configured to utilize the ground wheels to contact the ground and adjust the height of the ground wheels in real time through the hydraulic or electric lifting mechanism to ensure that the working platform 7 always maintains a horizontally floating posture relative to the ground when the machine is working on a terrain with undulating ground. The profiled linkage mechanism is configured to allow the ground wheels to independently float in the vertical direction with a small amplitude to absorb the impact of ground unevenness, and an inclination sensor is installed on the floating support arm to transmit the platform inclination information to the controller in real time. The controller dynamically adjusts the height of the ground wheels through closed-loop control of the hydraulic or electric lifting mechanism based on the inclination information to maintain the horizontal posture of the platform frame 71 and ensure the safety of the workers and the stability of the agricultural materials.

[0052] As a preferred embodiment of the present application, a multi-degree-of-freedom boom 73 is provided on the platform frame 71, which is installed at the rear of the platform frame 71, specifically at a position slightly rearward of the central region of the working platform 7, to effectively cover the film roll and seed bag areas on both sides of the working platform 7 for automatic handling of agricultural materials.

[0053] The multi-degree-of-freedom boom 73 includes a first hydraulic motor 731 for driving the multi-degree-of-freedom boom 73 to rotate horizontally around a vertical axis, a first hydraulic cylinder 732 for controlling the multi-degree-of-freedom boom 73 to pitch to adjust the height, and a second hydraulic cylinder 733 for controlling the multi-degree-of-freedom boom 73 to stretch and retract to adjust the working radius.

[0054] The first hydraulic motor 731 is a trochoidal hydraulic motor with a rated torque not less than 500Nm, which drives the boom base to rotate through a gear reduction mechanism. The first hydraulic cylinder 732 and the second hydraulic cylinder 733 are both double-acting hydraulic cylinders with a cylinder diameter not less than 60mm, a rod diameter not less than 35mm, a maximum stroke not less than 1000mm, and a rated working pressure of 20MPa, which are powered by a hydraulic pump station and precisely controlled in flow through proportional directional valves.

[0055] The rotation angle, pitch angle and stretch length of the boom are all fed back to the controller in real time through high-precision encoders, and the controller controls the actions of the hydraulic motor and the hydraulic cylinders through a PID control algorithm to achieve precise control of the boom position and trajectory planning.

[0056] As a preferred embodiment of the present application, the end of the multi-DOF boom 73 is provided with an electric clamping device 734. The electric clamping device 734 is connected to the end of the multi-DOF boom 73 through a high-strength steel wire traction rope 735, which is driven to extend or retract by a DC servo motor with a power rating of not less than 2.2 kW through a planetary gear reduction box with a transmission ratio of 1:50.

[0057] The servo motor is equipped with a high-resolution encoder to achieve precise control of the extension and retraction speed and position of the traction rope 735. The end of the traction rope 735 is connected to a lifting claw 736. The lifting claw 736 is made of high-strength manganese steel and symmetrically provided with arc-shaped clamping devices 737 at both ends. The clamping width of the arc-shaped clamping device 737 is adjustable to adapt to different sizes of mulch rolls with a diameter range of 200 mm to 800 mm or seed bags with a weight of 25 kg to 50 kg.

[0058] The arc-shaped clamping device 737 controls its opening or closing through an embedded electromagnetic drive unit composed of a DC electromagnetic push rod with a stroke of not less than 50 mm and a push force of not less than 1000 N, which is precisely controlled by the controller. The lifting claw 736 is embedded with a pressure sensor for real-time monitoring of the clamping force to ensure that the agricultural materials are stable during transportation and do not fall off due to excessive clamping force.

[0059] As a preferred embodiment of the present application, the uniform seed box 8 includes a seed box body 81 mounted on the operation platform 7. The seed box body 81 is made of wear-resistant, ultraviolet-resistant polyethylene material or stainless steel material with a capacity of not less than 500 L to ensure the safety and cleanliness of seed storage.

[0060] The bottom of the seed box body 81 is provided with multiple seed outlets for connecting the seeding device 6, and each outlet is equipped with a flow regulating valve. The inside of the seed box body 81 is provided with a spiral seed uniformizing mechanism 82. The spiral seed uniformizing mechanism 82 includes a horizontally arranged spiral auger with a diameter of not less than 150 mm, and the surface of the spiral auger is treated with anti-static treatment. The rotation speed of the spiral auger is proportional to the travel speed of the precision mulch film seeding equipment.

[0061] The controller ensures that the seeds are diffused to each seed outlet of the seed box body 81 at a uniform flow rate matching the travel speed based on the real-time travel speed data provided by the Beidou satellite navigation receiver 10 through a pre-set proportional control algorithm, thereby achieving the accuracy and uniformity of seed distribution.

[0062] As a preferred embodiment of the present application, the electric film feeding device 4 includes a film roller support mechanism 41 for carrying the film roll and achieving smooth film feeding, and a power control unit 42 for driving the film roller to rotate.

[0063] The film roller support mechanism 41 is welded by high-strength steel pipes, can bear a film roll with a diameter of 800 mm and a weight of 200 kg, and is equipped with a quick loading and unloading mechanism. A high-precision torque sensor is embedded in the bearing seat of the film roller support mechanism 41 to monitor the unwinding tension of the film in real time.

[0064] The power control unit 42 includes a permanent magnet synchronous servo motor with a power not less than 3 kW, which is connected to the main shaft of the film roller support mechanism 41 through a planetary gear reducer with a transmission ratio of 1:30 to provide accurate torque output.

[0065] The power control unit 42 is configured to generate a control signal for driving the motor to rotate by using a speed matching algorithm and a tension control algorithm in the controller. The speed matching algorithm calculates the required film roll unwinding line speed according to the real-time forward speed data of the Beidou satellite navigation receiver 10, the current film roll diameter information provided by the film roll diameter sensor, and the real-time tension information provided by the film roll torque sensor, and converts the line speed into an accurate speed control signal of the motor.

[0066] The controller adjusts the speed and torque of the servo motor in real time through a PID control loop with a refresh period of 20 ms, ensures that the film unwinding line speed completely matches the forward speed of the machine, and maintains the film unwinding tension within a predetermined constant range, thereby effectively avoiding wrinkles, twists or tears during film laying, and significantly improving the quality and stability of film laying.

[0067] Further, a film unwinding guide system 43 is arranged below the film roller support mechanism 41 to guide the smooth unwinding of the film. The film unwinding guide system 43 includes a film feeding plate 434 fixed to the machine frame 1. The film feeding plate 434 is made of stainless steel plate with a thickness of 5 mm, and the surface is polished to reduce friction.

[0068] The film feeding plate 434 is sequentially provided with a first film supporting rod 431, a second film supporting rod 432 and a third film supporting rod 433 with decreasing heights. The film supporting rod is a high-strength steel pipe coated with polyurethane with a diameter of 30 mm to reduce wear on the film. The bottom of the film feeding plate 434 is provided with a film unwinding roller, which is a rubber roller with a diameter of 150 mm, has good friction, and ensures stable guidance of the film. The film unwinding roller is coaxially connected to a belt pulley with a diameter of 200 mm.

[0069] Eight retractable hooks are evenly distributed around the pulley, with an interval angle of 45 degrees. The retractable hooks are made of high-strength engineering plastic, and each hook is internally integrated with a set of mechanical linkage mechanism composed of high-elastic stainless steel spring and precision connecting rod. The retractable hooks are configured to be in an extended state under static state or when not in contact with the ground, so as to effectively hook and guide the mulch film. When the retractable hooks move to the contact point with the ground, the reaction force of the ground acts on the internal mechanical linkage mechanism through the trigger mechanism at the front end of the hook, overcoming the spring pre-tightening force, so as to automatically retract to the position flush with the film unwinding roller, thereby smoothly releasing the mulch film.

[0070] As a preferred embodiment of the present application, the automatic film and tape cutting device 5 comprises a film cutting mechanism 51, a tape cutting mechanism 52 and an auxiliary positioning assembly. The film cutting mechanism 51 comprises a circular arc shovel 511, which is welded from high-wear-resistant alloy steel plate with a thickness of 8 mm, and the width of the shovel opening is configured to be matched with the width of the laid mulch film.

[0071] One end of the circular arc shovel 511 is hingedly connected with a double-acting film cutting hydraulic cylinder 512 through a hinge point, the cylinder diameter of the film cutting hydraulic cylinder 512 is 80 mm, the rod diameter is 45 mm, the maximum stroke is 300 mm, and the rated working pressure is 20 MPa.

[0072] The retractable movement of the film cutting hydraulic cylinder 512 drives the circular arc shovel 511 to rotate around the hinge point by a preset angle, so as to realize the dual functions of cutting the mulch film and digging the appropriate amount of soil.

[0073] The tape cutting mechanism 52 comprises a double-acting tape cutting hydraulic cylinder 521 vertically arranged, the cylinder diameter of the tape cutting hydraulic cylinder 521 is 50 mm, the rod diameter is 30 mm, and the maximum stroke is 200 mm. A cross beam is connected to the bottom of the tape cutting hydraulic cylinder 521 through a flange, and the cross beam is made of high-strength structural steel. A plurality of blades 522 are arranged at equal intervals on the cross beam, and the interval of the blades 522 corresponds to the laying row spacing of the drip irrigation tape. The blades 522 are made of sharp and wear-resistant tool steel, and have good cutting performance. The retractable movement of the tape cutting hydraulic cylinder 521 drives the blades 522 to move up and down in the vertical direction, so as to cut the drip irrigation tape.

[0074] The auxiliary positioning assembly comprises two symmetrically arranged film clamping rods 53, and the film clamping rods 53 are made of polyurethane-coated steel pipes with a diameter of 50 mm. The film clamping rods 53 are connected with the film clamping rod 53 base through a profiled spring, and the profiled spring has a large spring constant and stroke, so as to ensure that the film clamping rod 53 has a certain floating range in the vertical direction. The film clamping rod 53 is configured to clamp and compact the mulch film and soil inside the circular arc shovel 511 from both sides and from the top after the circular arc shovel 511 cuts the mulch film, so as to keep the mulch film and soil in a stable state when the implement is lifted, prevent the mulch film and soil from scattering or rolling in, and provide a stable basis for subsequent soil covering and compacting operations.

[0075] The hydraulic cylinder actions of the film breaking mechanism 51 and the tape breaking mechanism 52 are precisely and sequentially controlled by the controller according to the position information of the Beidou satellite navigation receiver 10 through proportional electromagnetic valves.

[0076] The embodiment of the application also proposes a platform operation method, which uses the above-mentioned precision film laying and seeding device and specifically includes the following steps: The pre-treatment stage: Before the film laying and tape laying stage, the precision film laying and seeding device is first reliably connected to the walking device through the three-point suspension mechanism 9 to ensure the stable combination of the device and the power source. The walking device drags the precision film laying and seeding device to travel in the farmland plot. In the traveling process, the bulldozer plate at the front end of the precision film laying and seeding device performs preliminary leveling operation on the ground to remove larger soil clumps and obstacles and create a flat foundation for subsequent operation.

[0077] Subsequently, the compaction roller integrated on the device performs compaction operation on the soil to improve the compactness and water retention capacity of the soil. At the same time, the ditching round plates located on both sides of the device dig side ditches at the preset row spacing positions for later soil covering and pressing to fix the edges of the mulching film. The heights and angles of these pre-treatment components can be independently adjusted through the hydraulic system to adapt to different soil conditions and operation requirements.

[0078] The film laying and tape laying stage: In the process of starting the precision film laying and seeding device to travel, the Beidou satellite navigation receiver 10 installed on the device body collects real-time geographic position information and accurate forward speed information of the implement. The speed information is transmitted to the central controller through the CAN bus at a data update frequency of 10 times per second.

[0079] The controller accurately calculates the required film roll laying line speed according to the preset speed matching algorithm, real-time film roll diameter data provided by the film roll diameter sensor, and real-time mulching film tension data provided by the film roll torque sensor. The controller then generates corresponding motor speed control signals and drives the permanent magnet synchronous servo motor in the electric drive film feeding device 4 through the servo driver. This process adjusts the motor speed with high precision through closed-loop control to make the film roll lay film at a line speed that completely matches the forward speed of the implement, while maintaining the mulching film tension within the preset constant range. This synchronous film laying mechanism ensures the flatness and wrinkle-free of the mulching film laying and effectively avoids the excessive stretching or tearing of the mulching film, significantly improving the film laying quality.

[0080] Seeding uniformity stage: while the precision mulching and seeding device continues to move and complete the mulching and laying of the tape, the spiral uniformity mechanism 82 in the uniformity seed box 8 starts to work. The controller makes the rotation speed of the spiral auger keep a precise proportional relationship with the moving speed of the precision mulching and seeding device according to the real-time moving speed information provided by the Beidou satellite navigation receiver 10. The spiral auger pushes the seeds stored in the main body 81 of the seed box to the multiple seed outlets at the bottom of the main body 81 of the seed box through continuous rotation. The seeding device 6 adopts an air suction type precision seed metering device, which realizes the precision and high uniformity of seeding by accurately controlling the air pressure and adjusting the rotation speed of the seed disc.

[0081] Line changing stage: when the precision mulching and seeding device moves to the headland area and is ready to perform line changing operation, the Beidou satellite navigation receiver 10 monitors the precise geographic position information of the machine in real time. The controller compares the current position of the machine with the preset film and tape breaking point through the preset geographic fence and path planning algorithm.

[0082] When the machine reaches or passes the preset film and tape breaking point, the controller immediately triggers the instruction to start the automatic film and tape breaking device 5. First, the tape breaking hydraulic cylinder 521 receives the instruction and extends, driving the blade 522 on the cross beam to perform a rapid vertical downward cutting motion to accurately cut off all the laid drip irrigation tape. Subsequently, the film breaking hydraulic cylinder 512 receives the instruction and extends, driving the circular shovel 511 to rotate around the hinge point, while cutting off the mulch film and digging an appropriate amount of soil in front of the circular shovel 511 into the shovel.

[0083] After cutting off the mulch film and the drip irrigation tape, the walking device lifts the precision mulching and seeding device and completes the line changing and turning operation. After the line changing is completed, when the device is repositioned and ready to enter the next line operation path, the film breaking hydraulic cylinder 512 receives the instruction and retracts, driving the circular shovel 511 to rotate in the opposite direction, accurately dropping the soil dug in the shovel into the broken part of the mulch film and the drip irrigation tape, and using the back of the circular shovel 511 to compact and fix it, ensuring the sealing and fixing of the broken part of the mulch film and the drip irrigation tape, preventing displacement due to wind or water flow. This automatic operation significantly improves the efficiency and safety of the headland operation and ensures the continuity of the operation.

[0084] Supplement of agricultural materials: during the entire operation process, the controller monitors the storage of agricultural materials in real time through the seed level sensor installed in the uniformity seed box 8 and the film roll diameter sensor of the electric film feeding device 4. If the storage of agricultural materials is below the preset threshold, the controller will issue a warning to the operator through the HMI (human-machine interface).

[0085] The operator operates the multi-degree-of-freedom lifting arm 73 and the electric clamping device 734 through the control terminal on the operation platform 7 to realize automatic carrying and replenishment of heavy film rolls or seed bags. The specific operation process is as follows: the operator selects the agricultural material type and the target loading position on the control terminal, the controller receives the instruction, and then accurately controls the first hydraulic motor 731, the first hydraulic cylinder 732 and the second hydraulic cylinder 733 through a motion control algorithm to make the multi-degree-of-freedom lifting arm 73 move to the agricultural material stacking area. The servo motor of the electric clamping device 734 drives the traction rope 735 to be lowered, the arc-shaped clamping device 737 of the lifting claw 736 is opened and clamps the agricultural material under the control of the electromagnetic driving unit. After clamping is completed, the pressure sensor feeds back the clamping force, the lifting arm lifts the agricultural material and accurately places it to the designated position of the uniform seed box 8 or the film roll supporting mechanism 41. The whole carrying and replenishing process is automatically completed under the real-time monitoring of the sensor and the accurate scheduling of the controller, which greatly reduces the labor intensity and safety risk and guarantees the continuity of the operation.

[0086] The present application is not limited to the specific technical solutions described in the above embodiments, and in addition to the above embodiments, the present application can also have other implementation manners. For those skilled in the art, any modifications, equivalent replacements, improvements, etc. formed within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A precision film-laying and seeding device, comprising a frame, a power transmission system, and a traveling device, wherein the frame is arranged sequentially from front to back along the traction direction of the traveling device, comprising a land preparation component, a drip irrigation tape laying component, an electrically driven film delivery device, an automatic film and tape cutting device, and a seeding device, characterized in that, A working platform is provided at the rear upper part of the frame; The operating platform is used for the storage, loading and unloading of agricultural materials and for assisting operators. The operating platform is equipped with a seed uniform box for centralized storage and uniform distribution of seeds, and the seed uniform box is connected to the sowing device. The working platform, seed uniform box, electric film feeding device, and automatic film cutting and tape cutting device communicate and coordinate with each other through the bus communication interface integrated in the controller. The frame is connected to the walking device via a suspension mechanism. The walking device provides traction and hydraulic power, and the location and forward speed information are obtained in real time through the Beidou satellite navigation receiver installed on the precision film laying and seeding equipment. The controller is configured to precisely control the power execution units of the electrically driven film delivery device module and the automatic film cutting and tape cutting device module based on information provided by the Beidou satellite navigation receiver and a preset control algorithm.

2. The precision film-laying and seeding equipment according to claim 1, characterized in that, The operating platform includes a platform frame for carrying agricultural materials and operators. The front end of the platform frame is hinged to the main beam of the machine frame via a main rotating shaft, and a floating support component is provided at the rear end of the platform frame. The floating support assembly includes two sets of height-adjustable ground wheels. The floating support assembly is configured to contact the ground using the ground wheels and can be raised and lowered according to the terrain undulations to ensure that the work platform always maintains a horizontal floating posture relative to the ground when the machinery is working on undulating terrain.

3. The precision film-laying and seeding equipment according to claim 2, characterized in that, The platform frame is equipped with a multi-degree-of-freedom boom, which is installed at the rear of the platform frame for the automatic handling of agricultural materials. The multi-degree-of-freedom boom includes a first hydraulic motor for driving the multi-degree-of-freedom boom to rotate horizontally around a vertical axis, a first hydraulic cylinder for controlling the multi-degree-of-freedom boom to perform pitching motion to adjust the height, and a second hydraulic cylinder for controlling the multi-degree-of-freedom boom to perform extension and retraction to adjust the working radius.

4. The precision film-laying and seeding equipment according to claim 3, characterized in that, The end of the multi-degree-of-freedom boom is equipped with an electric gripping device; The electric clamping device is connected to the multi-degree-of-freedom boom via a traction rope, which is extended and retracted by a servo motor through a planetary gear reducer. The end of the traction rope is connected to a lifting claw, and both ends of the lifting claw are provided with arc-shaped gripping devices. The gripping width of the arc-shaped gripping devices is adapted to different sizes of mulch film rolls or seed bags. The arc-shaped gripping devices are controlled to open or close by a built-in electromagnetic drive unit.

5. The precision film-laying and seeding equipment according to claim 1, characterized in that, The seed uniform box includes a seed box body installed on the working platform. The bottom of the seed box body is provided with multiple seed outlets for connecting to the sowing device. The inside of the seed box body is provided with a spiral seed uniform mechanism. The spiral seeding mechanism includes a horizontally arranged spiral auger. The spiral seeding mechanism is configured to ensure that the rotation speed of the spiral auger is proportional to the traveling speed of the precision film-laying seeding equipment, so as to ensure that the seeds are diffused to the sides of the seed box body at a uniform flow rate that matches the traveling speed.

6. The precision film-laying and seeding equipment according to claim 1, characterized in that, The electrically driven film feeding device includes a film roller support mechanism for carrying the film roll and achieving stable film feeding, and a power control unit for driving the film roller to rotate. The power control unit includes an electric motor, and the power control unit is configured to generate a control signal to drive the electric motor to rotate using a speed matching algorithm in the controller; The speed matching algorithm calculates the required film roll unwinding speed based on the real-time forward speed data from the Beidou satellite navigation receiver and converts it into a motor speed control signal, thereby ensuring that the film unwinding speed is perfectly matched with the machine's forward speed.

7. The precision film-laying and seeding equipment according to claim 6, characterized in that, Below the film roller support mechanism is a film spreading guide system for guiding the smooth unfolding of the mulch film; The film spreading guiding system includes a film feeding plate fixed to the frame, on which a first-level film frame rod, a second-level film frame rod, and a third-level film frame rod with decreasing heights are sequentially installed. The bottom of the film feeding plate is provided with a film spreading roller, which is coaxially connected to a pulley. The pulley is evenly distributed with telescopic hooks around its circumference. The telescopic hooks are configured to be in an extended state when stationary. When the telescopic hooks move to the point of contact with the ground, they automatically retract through an internal mechanical linkage mechanism to release the mulch film.

8. The precision film-laying and seeding equipment according to claim 1, characterized in that, The automatic film and tape cutting device includes a film cutting mechanism, a tape cutting mechanism, and an auxiliary positioning component; The film-cutting mechanism includes an arc-shaped shovel, the width of which is adapted to the width of the laid mulch film. One end of the arc-shaped shovel is hinged to the film-cutting hydraulic cylinder via a hinge point. The extension and retraction of the film-cutting hydraulic cylinder drives the arc-shaped shovel to rotate around the hinge point, thereby achieving the dual functions of cutting the mulch film and digging up the soil. The tape breaking mechanism includes a vertically arranged tape breaking hydraulic cylinder. A crossbeam is connected to the bottom of the tape breaking hydraulic cylinder. Blades are evenly spaced on the crossbeam. The telescopic movement of the tape breaking hydraulic cylinder drives the blades to move up and down in the vertical direction. The auxiliary positioning component includes a film clamping rod, which is connected to the base of the film clamping rod via a contour spring, and is used to keep the mulch film and soil inside the arc shovel in a stable state when the machine is lifted.

9. A platform-based operation method, characterized in that, Using the precision film-laying and seeding equipment as described in any one of claims 1-8, comprising: During the film laying and tape laying stage, as the precision film laying and seeding equipment moves, the Beidou satellite navigation receiver installed on the equipment body collects the forward speed information of the machine in real time and transmits the speed information to the central controller. The controller precisely controls the motor speed of the electric film feeding device according to the preset algorithm, so that the film roll is laid at a linear speed that matches the forward speed of the machine. During the sowing and uniform seeding stage, the spiral uniform seeding mechanism in the seed uniform seed box rotates synchronously under the mechanical linkage of the ground wheel, pushing the seeds evenly to multiple seed outlets at the bottom of the seed box body, and then transporting them to each sowing device. During the row-changing operation, when the precision film-laying seeding equipment moves to the edge of the field to change rows, the Beidou satellite navigation receiver monitors the machine's position information in real time. When the machine reaches the preset film and tape breaking point, the controller triggers a command to start the automatic film and tape breaking device. The tape breaking hydraulic cylinder extends, driving the blade to cut the drip irrigation tape. Subsequently, the film breaking hydraulic cylinder extends, driving the arc shovel to rotate, cutting the mulch film and digging out an appropriate amount of soil. After the machine completes the row change, the film breaking hydraulic cylinder retracts, and the arc shovel drops the soil in the shovel into the broken part of the mulch film and drip irrigation tape for compaction and fixation. During the operation, if the agricultural supplies are insufficient, the operators can use the control terminal on the operation platform to operate the multi-degree-of-freedom boom and electric clamping device to achieve automatic handling and replenishment of heavy film rolls or seed bags.

10. The platform-based operation method according to claim 9, characterized in that, Prior to the membrane laying and tape laying stage, the following is also included: In the pretreatment stage, the precision film-laying seeding equipment is connected to the walking device through the suspension mechanism. The walking device pulls the precision film-laying seeding equipment to move forward. During the movement, the bulldozer at the front of the precision film-laying seeding equipment levels the ground surface, the compaction roller compacts the soil, and the trenching disc digs side ditches on both sides.

Images