Novel efficient biological cultivation equipment for black land based on earthworm-driven inoculation

Abstract

The invention discloses novel efficient biological cultivation equipment for black land based on earthworm driven inoculation, and designs novel pure-electric-driven unmanned earthworm complex large-field throwing equipment in order to solve the problem that existing throwing machinery for earthworm complexes is lacked. According to the device, mixed liquid acts on materials at the bottom of the material box in a spraying mode, the overhead phenomenon formed in the material box due to adhesion of the materials is avoided, and it is guaranteed that the materials are continuously and fully filled into the discharging mechanism; according to the feeding device with the earthworm feeding hopper and the straw mixture feeding hopper as main components, accurate feeding is achieved under the condition that the reasonable sowing amount is controlled, and the feeding distance and the feeding amount can be controlled according to actual needs. According to the design, the requirement of intelligent agricultural machinery is met, quantitative and damage-free putting of the earthworm complex is met, and a feasible solution is provided for solving the problems of insufficient soil porosity and soil hardening.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, and more specifically, this invention relates to a new equipment for efficient biological tillage in black soil based on earthworm-driven inoculation. Background Technology

[0002] Black soil is a precious and rare soil resource on Earth. Research has shown that earthworms, driven by food and other factors, can create a macroporous soil structure. Therefore, earthworms were selected as the research subject. Earthworms, along with straw and microorganisms, were introduced into black soil at different distances and in different amounts, allowing the earthworms to survive in the microenvironment and constructing a macroporous soil structure suitable for field crops. This has significant strategic importance. However, currently, there is no agricultural machinery or equipment to deliver earthworms, straw, and microorganisms into field soil, let alone specialized equipment for inoculating earthworms under driven conditions. This invention addresses this problem by using earthworm-driven inoculation as a breakthrough to improve the existing black soil environment. It aims to elucidate a macroporous soil structure regulation mechanism, improve earthworm survival rates, and achieve a macroporous soil structure in black soil. This has scientific significance and wide application value. Therefore, inventing a new, highly efficient biological tillage equipment for black soil based on earthworm-driven inoculation is of great importance. Summary of the Invention

[0003] The technical problem to be solved by the present invention is that existing technologies face the problem of no available inorganic materials for the field application of earthworms and their complexes, as well as the problem of how to drive inoculation with earthworms. The present invention provides a new equipment for efficient biological cultivation of black soil based on earthworm-driven inoculation.

[0004] A new type of equipment for efficient biological tillage in black soil based on earthworm-driven inoculation includes a walking device, a vehicle body, a quantitative seeding control system for earthworm and straw mixture, and a soil covering system.

[0005] The walking device is the main frame of the whole machine. The vehicle body is located on the upper part of the walking device and is fixed to the chassis in the walking device by welding. The earthworm and straw mixture quantitative sowing control system is located in the middle of the walking device and is fixed to the chassis by welding the material box support base plate and fixing block. The soil covering system is installed at the bottom of the vehicle body.

[0006] The aforementioned walking device provides mobility for the entire machine, and its main body consists of four off-road engineering wheel systems and a chassis.

[0007] The off-road engineering wheel system provides power for the movement of the entire machine, including: off-road engineering tires, wheel hubs, direct drive motor connection port, fixing buckle bolts, wheel system fixing plate, fixing buckle, and direct drive motor; The off-road engineering tires have wide and deep treads to adapt to complex terrain and are made of rubber. The wheel hub is connected to the direct drive motor to support the tire and transmit power and torque. The direct drive motor connection port is used to connect the wheel hub to the direct drive motor; The aforementioned fixing bolts are used to lock the fixing clips and ensure the fixation of the wheel system; The wheel system fixing plate is welded to the bottom of the chassis to provide space for the installation of the wheel system; The aforementioned fixing clips are used to secure the entire wheel system to the bottom of the chassis; The direct drive motor and the off-road engineering tire hub are bolted together through the direct drive motor mounting bracket holes, providing power for the movement of the entire machine; The chassis includes a chassis mounting plate, chassis connecting beams, beam fasteners, and reinforcing ribs to provide installation positions for related components; The chassis mounting plate is divided into two parts, left and right. The bottom is connected to the wheel system by welding, which expands the chassis space and provides installation positions for related components. The chassis connecting beam is used to fix the two chassis mounting plates together. The beam fastener is used to connect the chassis connecting beam to the chassis fixing plate; The reinforcing ribs are used to reinforce the fixed connection between the two chassis mounting plates, expand the chassis space, and provide installation positions for related components; The vehicle body includes a vehicle body shell, an electronic control system, and a trencher; The vehicle body shell includes a vehicle body, an earthworm hopper cover plate, a straw mixture hopper cover plate, an earthworm hopper mounting port, a straw mixture hopper mounting port, an electrical control box, an antenna mounting hole, a camera support plate, a front chassis extension plate, a rear chassis extension plate, a trencher mounting hole, and a soil covering system mounting hole. The vehicle body is the main frame of the vehicle body shell, composed of steel beams and sheet metal; The earthworm hopper cover plate is located at the upper front end of the vehicle body and is connected to the vehicle body by welding; The cover plate of the straw mixture hopper is located at the upper rear end of the vehicle body and is connected to the vehicle body by welding; The earthworm feeding hopper installation opening provides space for the installation of the earthworm feeding hopper; The straw mixture hopper installation port provides space for the installation of the straw mixture feeding device; The electrical control box is located on the inner front side of the vehicle body and is connected to the vehicle body by welding; The antenna mounting hole is located on the left side of the vehicle body and is used to connect the vehicle body and the signal receiver. The vehicle body and the signal receiver are connected by threads. The camera support plate is located at the front end of the vehicle body and is connected to the vehicle body by welding to support the camera; The aforementioned front chassis extension plate is welded to the vehicle body and chassis respectively, providing space for the installation of the trencher; The aforementioned rear chassis extension plate is welded to the vehicle body and chassis respectively, providing space for the installation of the soil covering system; The trencher mounting hole is used to connect the trencher to the front chassis extension plate. The trencher connecting hole and the front chassis extension plate are connected together by high-strength bolts. The mounting holes for the soil covering system are used to connect the soil covering system to the rear chassis extension plate. The soil covering system and the rear chassis extension plate are connected together by high-strength bolts. The electronic control system includes a depth camera, a signal board, an antenna, and a battery; The depth camera is a binocular recognition system, which is connected to the signal board via circuitry to identify the path. The signal board is located inside the electrical control box and is connected to the depth camera and various motors via circuitry. The antenna is a component of the signal board inside the electrical control box that transmits or receives signals; The battery provides power to the power system, electronic control system, and actuators, and drives the motor. The trencher consists of a trencher fixing hole and a hoe-type trenching component, and is used for trenching operations of the whole machine; The trencher fixing hole on the trencher is connected to the trencher mounting hole on the front chassis extension plate by bolts. The earthworm and straw mixture quantitative seeding control system consists of an earthworm quantitative seeding control system and a straw mixture quantitative seeding control system. The earthworm quantitative seeding control system includes an earthworm feeding hopper motor, an earthworm quantitative seeding control system support base plate, an earthworm quantitative seeding control system fixing block, and an earthworm feeding hopper; The aforementioned earthworm feeding hopper motor provides power for the operation of the earthworm feeding hopper; The earthworm quantitative seeding control system support base plate is used to support the earthworm quantitative seeding control system. It is located in the front chassis and is connected to the front end of the reinforcing rib plate and the inner end of the chassis fixing plate by welding. The earthworm quantitative seeding control system fixing block is used to fix the earthworm feeding hopper and assist in supporting the earthworm feeding hopper. It is bolted to both sides of the earthworm feeding hopper and connected to the inner end of the chassis fixing plate and the bottom plate of the earthworm feeding hopper by welding. The earthworm feeding hopper, used for quantitative earthworm sowing, includes an earthworm feeding hopper reducer, an earthworm feeding hopper pulley, an earthworm feeding hopper material conveying device, and an earthworm feeding hopper hopper. The earthworm feeder reducer is used to reduce the rotational speed of the power source and increase the output torque, thereby matching the working requirements of the equipment.

[0008] The earthworm feeding hopper pulley is connected to the earthworm feeding hopper reducer for transmitting power; The earthworm feeding hopper material conveying device is fixed to the bottom of the earthworm feeding hopper by bolts and is used to convey materials; The earthworm feeding hopper is used to store sowing materials, including an earthworm material box, an earthworm material box connecting side plate, an earthworm material box baffle, and an earthworm material box outlet. The earthworm material box is the main body of the earthworm feeding hopper, which is used to store earthworm material. The earthworm material box and the earthworm feeding hopper fixing block are connected by bolts. The earthworm material box connecting side plate is used to connect the earthworm material box, the earthworm feeding hopper material conveying device and the earthworm material box outlet. It is connected to the earthworm material box and the earthworm material box outlet with bolts. The earthworm feeding hopper material conveying device is welded. The earthworm material box baffle is used to fix the material, forming a closed structure with the earthworm material box to prevent the material from overflowing. It is located at the front end of the earthworm material box and is bolted to the earthworm material box. The earthworm material box outlet is located at the lower part of the earthworm material box baffle, and is connected to the earthworm material box and the earthworm material box connecting side plate by bolts. It is also welded to the earthworm feeding hopper material conveying device for releasing materials. The straw mixture quantitative sowing control system includes a spraying device, a straw mixture feeding hopper, a straw mixture output guide plate, a straw mixture quantitative sowing control system fixing block, and a straw mixture quantitative sowing control system support base plate; The spraying device includes a telescopic bracket connection hole, a spraying device fixing plate, a telescopic bracket, and spraying elements; The retractable bracket connection hole is used to fix the retractable bracket to the inside of the straw mixture material box baffle and to bolt it to the retractable bracket; The spray device fixing plate is used to connect the straw mixture material box baffle and the telescopic bracket. One end is connected to the telescopic bracket by bolts, and the other end is welded and fixed to the inside of the straw mixture material box baffle. The retractable bracket is used to connect the fixing plate of the spray device and the spray element, and to control the spray position of the spray element. Both ends are connected by bolts. The spraying element includes a water tank, a water tank cover, a water outlet pipe, a water tank switch, and a spray pipe; The water tank is the main body of the spray element and is bolted to the telescopic bracket; The water tank cover is threaded onto the water inlet of the water tank; The water outlet pipe is used to connect the water outlet of the water tank and the water tank switch, and both ends are connected by welding. The water tank switch is used to connect the water outlet pipe and the spray pipe to control the water output. One end is connected to the water outlet pipe by welding, and the other end is connected to the spray pipe by clamp. The spray pipe is located at the bottom of the water tank and is used for spraying. It is connected to the water tank switch by a clamp. The straw mixture hopper includes a straw mixture hopper box, a straw mixture hopper material conveying device, a straw mixture hopper motor, and a straw mixture hopper reducer; The straw mixture feeder box is used to store the straw mixture, and its structure is the same as that of the earthworm feeder box; The straw mixture feeding hopper material conveying device is used to transport straw mixture materials, and its structure and working method are the same as those of the earthworm feeding hopper material conveying device. The motor of the straw mixture hopper provides power to the straw mixture hopper; The aforementioned straw mixture feed hopper reducer is used to reduce the speed of the power source and increase the output torque, thereby matching the working requirements of the equipment; The supporting base plate of the straw mixture quantitative sowing control system is used to support the straw mixture feeding hopper. It is located at the rear chassis. The straw mixture feeding hopper base plate is connected to the rear end of the reinforcing rib plate and the inner end of the chassis fixing plate by welding. The fixing block of the straw mixture quantitative sowing control system is used to fix the straw mixture hopper and provide auxiliary support for the straw mixture hopper. It is bolted to both sides of the straw mixture hopper. The fixing block of the straw mixture hopper is connected to the inner end of the chassis fixing plate and the bottom plate of the straw mixture hopper by welding. The soil covering system is connected to the soil covering system mounting holes on the rear chassis extension plate on the vehicle body shell by bolts. The soil covering system includes a soil covering bracket and a soil covering device. The covering device support is a double-disc covering device support that is fixed in the mounting hole of the covering system by bolt connection; The covering device is a double-disc covering device, which consists of two discs that are positioned at a certain angle and are fixed in the covering device mounting holes on the covering device bracket by bolt connection.

[0009] Compared with the prior art, the beneficial effects of the present invention are: 1. A new type of soil protection method that increases the survival rate of earthworms in fields.

[0010] 2. This invention features intelligent driving and path planning autonomous driving technology.

[0011] 3. The feeding mechanism can adjust the feeding amount according to the size of the soil pores to achieve the requirements of precision seeding.

[0012] 4. A liquid spraying device is installed inside the material bin to prevent the material in the bin from becoming empty during the feeding process, thus ensuring continuous material feeding.

[0013] 5. The feeding system uses a belt drive to deliver materials, achieving the effect of controlling the feeding distance and feeding amount.

[0014] 6. The feeding systems of this machine are independent and the composition of the materials can be changed according to requirements. Attached Figure Description

[0015] Figure 1 This is the assembly isometric drawing of the present invention; Figure 2 This is a bottom-view axonometric view of the assembly drawing of the present invention; Figure 3 This is an isometric view of the walking device of the present invention; Figure 4 This is an axleometric drawing of the off-road engineering wheel system of the present invention; Figure 5 This is an axonometric drawing of the chassis of the present invention; Figure 6 This is an axle-view drawing of the vehicle body of the present invention; Figure 7 This is an axonometric view of the vehicle body shell of the present invention; Figure 8 This is a top-view axonometric view of the vehicle body shell of the present invention; Figure 9 This is an isometric view of the electronic control system of the present invention; Figure 10 This is an isometric view of the trencher of the present invention; Figure 11 This is an isometric view of the quantitative seeding control system for earthworm and straw mixture of the present invention. Figure 12 This is an isometric view of the earthworm quantitative seeding control system of the present invention; Figure 13 This is an isometric view of the earthworm feeding hopper of the present invention; Figure 14 This is an isometric view of the earthworm feeding box of the present invention; Figure 15 This is an isometric view of the straw mixture quantitative sowing control system of the present invention; Figure 16 This is an isometric view of the spray device of the present invention; Figure 17 This is an isometric view of the spray element of the present invention; Figure 18 This is an isometric view of the straw mixture feeding hopper of the present invention; Figure 19 This is an isometric view of the soil covering system of the present invention; In the diagram: A. Walking system; B. Vehicle body; C. Quantitative seeding control system for earthworm and straw mixture; D. Soil covering system; 1. Off-road engineering wheel system; 2. Chassis; 3. Off-road engineering tires; 4. Wheel hub; 5. Direct drive motor connection port; 6. Fixing buckle bolt; 7. Wheel system fixing plate; 8. Fixing buckle; 9. Direct drive motor; 10. Chassis fixing plate; 11. Chassis connecting beam; 12. Beam fixing component; 13. Reinforcing rib plate; 14. Vehicle body shell; 15. Electrical control device; 16. Ditch opener; 17. Earthworm hopper cover plate; 18. Camera support plate; 19. Ditch opener mounting hole. 20. Antenna mounting hole; 21. Straw mixture hopper cover plate; 22. Straw mixture hopper mounting opening; 23. Vehicle body; 24. Earthworm hopper mounting opening; 25. Electrical control box; 26. Soil covering system mounting hole; 27. Rear chassis extension plate; 28. Front chassis extension plate; 29. ​​Depth camera; 30. Signal board; 31. Antenna; 32. Battery; 33. Ditcher fixing hole; 34. Hoe-type ditching component; 35. Earthworm quantitative seeding control system; 36. Straw mixture quantitative seeding control system; 37. Earthworm hopper motor; 38. Earthworm quantitative seeding 39. Earthworm quantitative seeding control system support base plate; 40. Earthworm feeding hopper; 41. Earthworm feeding hopper reducer; 42. Earthworm feeding hopper pulley; 43. Earthworm feeding hopper material conveying device; 44. Earthworm feeding hopper hopper; 45. Earthworm material box; 46. Earthworm material box connecting side plate; 47. Earthworm material box baffle; 48. Earthworm material box outlet; 49. Spraying device; 50. Straw mixture feeding hopper; 51. Straw mixture output guide plate; 52. Straw mixture quantitative seeding control system support block; 53. Straw mixture quantitative seeding... 54. Control system support base plate; 55. Telescopic bracket connection hole; 56. Sprayer device fixing plate; 57. Telescopic bracket; 58. Spraying element; 59. Water tank cover; 60. Water tank; 61. Spray pipe; 62. Water tank switch; 63. Water outlet pipe; 64. Straw mixture hopper material box; 65. Straw mixture hopper material conveying device; 66. Straw mixture hopper motor; 67. Straw mixture hopper reducer; 68. Covering device fixing hole; 69. Double disc covering device; 70. Covering device mounting hole; 71. Covering system fixing hole; 72. Covering device bracket. Detailed Implementation

[0016] See Figures 1 to 2 A new type of equipment for efficient biological farming in black soil based on earthworm-driven inoculation includes a walking system (A), a vehicle body (B), a quantitative seeding control system for earthworm and straw mixture (C), and a soil covering system (D).

[0017] The aforementioned walking system (A) is a system based on an off-road engineering wheeled chassis. The vehicle body (B) is located on the upper part of the walking system (A) and is fixed to the chassis by welding. The earthworm and straw mixture quantitative seeding control system (C) is located in the middle of the walking system (A) and is connected by welding. The soil covering element (D) is fixed to the rear of the vehicle body (B) by bolts.

[0018] See Figure 3 , is a walking device (A), including an off-road engineering wheel system (1) and a chassis (2); The off-road engineering wheel system (1) is used to provide power for the movement and steering of the whole machine; The chassis (2) is made of steel plate, which provides mounting points and positions for the relevant parts of the machine, and at the same time provides the necessary rigidity for the machine; See Figure 4 The off-road engineering wheel system (1) of this machine is located at the bottom of the chassis (2) and includes off-road engineering tires (3), wheel hubs (4), direct drive motor connection port (5), fixing buckle bolts (6), wheel system fixing plate (7), fixing buckle (8), and direct drive motor (9). The off-road engineering tire (3) is made of rubber, and its deep tread pattern and large tread block design can effectively embed itself into soft ground and provide strong driving force.

[0019] The wheel hub (4) supports the off-road engineering tire (3) and transmits power and torque to the whole machine; The direct drive motor connection port (5) is used to connect the wheel hub (4) and the direct drive motor (9), which is convenient for maintenance; The fixing bolt (6) is used to lock the fixing buckle to ensure the fixation of the wheel system (1); The wheel system fixing plate (7) is welded to the lower part of the chassis (2) to provide space for the installation of the wheel system (1); The fixing buckle (8) is used to fix the entire wheel system (1) to the bottom of the chassis (2); The direct drive motor (9) is the power output source for the machine's movement, providing power for the machine's movement.

[0020] See Figure 5 , is a schematic diagram of the chassis (2) of the machine, including chassis fixing plate (10), chassis connecting beam (11), beam fixing component (12), and reinforcing rib plate (13). The chassis fixing plate (10) is divided into two parts, left and right. The bottom is connected to the wheel system (1) by welding, which expands the space of the chassis (2) and provides installation positions for related components; The chassis connecting beam (11) is used to connect the two chassis fixing plates (10). The beam fastener (12) is used to fix the chassis connecting beam (11) to the chassis fixing plate (10), and is connected to the chassis connecting beam (11) by bolts and welded to the inside of the chassis fixing plate (10); The reinforcing rib (13) is used to reinforce the connection of the chassis fixing plate (10), expand the chassis (2) space, and provide installation positions for related components.

[0021] See Figure 6 , is a schematic diagram of the vehicle body (B) of the machine, including the vehicle body shell (14), the electronic control device (15), and the trencher (16). See Figures 7 to 8 The vehicle body shell (14) includes an earthworm hopper cover plate (17), a camera support plate (18), a trencher mounting hole (19), an antenna mounting hole (20), a straw mixture hopper cover plate (21), a straw mixture hopper mounting port (22), a vehicle body (23), an earthworm hopper mounting port (24), an electrical control box (25), a soil covering system mounting hole (26), a rear chassis extension plate (27), and a front chassis extension plate (28). The earthworm feeding hopper cover plate (17) is used to protect the relevant components and keep the inside of the device clean; The camera support plate (18) is located on the front side of the vehicle body (23), and the camera support plate (18) is fixed to the vehicle body (B) by welding; The trencher mounting hole (19) is located on the front chassis extension plate (28) and is used to install the trencher (16). The antenna mounting hole (20) is located on the left side of the vehicle body (23) and is used to connect the vehicle body (23) and the antenna (31). The vehicle body (23) and the antenna (31) are connected by threads. The straw mixture hopper cover plate (21) is used to protect the relevant components and keep the inside of the device clean; The straw mixture hopper installation port (22) is used for positioning and installing related components; The vehicle body (23) is the main frame of the vehicle body shell (14), which is used for structural support and safety protection and is composed of steel beams and iron sheets; The earthworm feeding hopper mounting port (24) is used for positioning and installing related components; The electrical control box (25) is welded to the inner front end of the vehicle body (23) to support the internal signal board (30). The soil covering system mounting hole (26) is located on the rear chassis extension plate (27) and is used to install the soil covering system (D). The rear chassis extension plate (27) provides space for the installation of the soil covering system (B) and is connected to the vehicle body (23) and chassis fixing plate (10) by welding respectively; The aforementioned front chassis extension plate (28) provides space for the installation of the trencher (16) and is connected to the vehicle body (23) and chassis fixing plate (10) respectively by welding; See Figure 9 The electronic control system (15) includes a depth camera (29), a signal board (30), an antenna (31), and a battery (32). The depth camera (29) is a binocular recognition system, which is connected to the signal board (30) for path recognition. The signal board (30) is located inside the electrical control box (25) and is connected to the depth camera (29) and each motor via circuitry; The antenna (31) is a component of the signal board (30) inside the electrical control box (25) that transmits or receives signals; The battery (32) provides power to the power system, electronic control system, and actuators, and drives the motor. See Figure 10 The trencher (16) includes a trencher fixing hole (33) and a hoe-type trenching component (34). The trencher fixing hole (33) and the trencher mounting hole (19) are connected by high-strength bolts to fix the trencher to the lower end of the front chassis extension plate (28); The hoe-type trenching component (34) is used for trenching and material feeding of the device; See Figure 11 , is an isometric view of the earthworm and straw mixture quantitative seeding control system (C) of this device, including the earthworm quantitative seeding control system (35) and the straw mixture quantitative seeding control system (36). See Figure 12 The earthworm quantitative seeding control system (35) consists of an earthworm feeding hopper motor (37), an earthworm quantitative seeding control system support base plate (38), an earthworm quantitative seeding control system fixing block (39), and an earthworm feeding hopper (40). The earthworm feeding hopper motor (37) is a speed-regulating DC motor that provides power to the earthworm feeding hopper material conveying device (43); The earthworm quantitative seeding control system support base plate (38) is used to support the earthworm quantitative seeding control system (35), and is connected to the front end of the reinforcing rib plate (13) and the inner end of the chassis fixing plate (10) by welding. The earthworm quantitative seeding control system fixing block (39) is used to fix the earthworm quantitative seeding control system (35), and is connected to the chassis fixing plate (10) and the earthworm quantitative seeding control system support base plate (38) by welding. Referring to Figure (13), which is an isometric view of the earthworm feeding hopper (40), the earthworm feeding hopper reducer (41), earthworm feeding hopper pulley (42), earthworm feeding hopper material conveying device (43), and earthworm feeding hopper material box (44). The earthworm feeder reducer (41) is used to reduce the rotational speed of the power source and increase the output torque, thereby matching the working requirements of the equipment.

[0022] The earthworm feeding hopper pulley (42) is used to transmit power; The earthworm feeding hopper material conveying device (43) is used to transport materials; See Figure 14 The earthworm feeding hopper (44) includes an earthworm material box (45), an earthworm material box connecting side plate (46), an earthworm material box baffle (47), and an earthworm material box outlet (48). The earthworm material box (45) consists of two symmetrical parts, with an overall shape that is wider at the top and narrower at the bottom. It is made of non-stick material to prevent material from clogging the equipment. The earthworm material box connecting side plate (46) is used to tightly connect the earthworm material box (45) with the earthworm feeding hopper material conveying device (43) to ensure that the material will not leak out of the feeding mechanism; The earthworm material box baffle (47) is used to control the output of material. It is connected to the front end of the earthworm material box (45) by bolts and forms a closed space with the earthworm material box (45). The earthworm material box outlet (48) is used to guide the release of material; See Figure 15 The isometric view of the straw mixture quantitative seeding control system (36) includes a spraying device (49), a straw mixture feeding hopper (50), a straw mixture output guide plate (51), a straw mixture quantitative seeding control system fixing block (52), and a straw mixture quantitative seeding control system support base plate (53). The straw mixture output guide plate (51) is welded to the discharge port of the straw mixture hopper box (63) to guide the flexible release of the material to a designated position; The fixing block (52) of the straw mixture quantitative sowing control system is used to fix the straw mixture quantitative sowing control system (36), and is connected to the chassis fixing plate (10) and the straw mixture quantitative sowing control system support plate (53) by welding; The supporting base plate (53) of the straw mixture quantitative sowing control system is used to support the straw mixture quantitative sowing control system (36), and is connected to the rear end of the reinforcing rib plate (13) and the inner end of the chassis fixing plate (10) by welding. See Figure 16 The spray device (49) includes a spray device fixing plate (55), a telescopic bracket (56), and a spray element (57). The spray device fixing plate (55) is used to connect the straw mixture hopper box (63) and the telescopic bracket (56); The retractable bracket (56) is used to support the spray element (57) and control the spray position of the spray element (57); See Figure 17 The spray element (57) includes a water tank cover (58), a water tank (59), a spray pipe (60), a water tank switch (61), and a water outlet pipe (62). The water tank cover (58) is used for filling liquid; The water tank (59) is used to store liquid; The spray pipe (60) is used for spraying liquid; The water tank switch (61) is used to control the speed of liquid spraying; The outlet pipe (62) is used to output liquid; See Figure 18 The straw mixture hopper (50) includes a straw mixture hopper box (63), a straw mixture hopper material conveying device (64), a straw mixture hopper motor (65), and a straw mixture hopper reducer (66). The straw mixture feeding hopper (63) is used to store straw mixture materials, and the implementation method is the same as that of the earthworm feeding hopper (44); The straw mixture feeding hopper material conveying device (64) is used to convey straw mixture, and the implementation method is the same as that of the earthworm feeding hopper material conveying device (43); The straw mixture hopper motor (65) is a speed-regulating DC motor, which provides power to the straw mixture hopper material conveying device (64); The straw mixture feed hopper reducer (66) is used to reduce the speed of the power source and increase the output torque, thereby matching the working requirements of the equipment.

[0023] See Figure 19The following is an isometric view of the soil covering system (D) of the present invention, including a soil covering device fixing hole (67), a double-disc soil covering device (68), a soil covering device mounting hole (69), a soil covering device support fixing hole (70), and a soil covering device support (71). The soil cover fixing hole (67) and the soil cover mounting hole (69) are connected by high-strength bolts to fix the double disc soil cover (68) to the tail end of the soil cover bracket (71); The double-disc cover device (68) consists of two discs facing each other at a certain angle, which are fixed in the cover device mounting hole (69) on the cover device bracket (71) by bolt connection. The cover installation hole (69) and the cover fixing hole (67) are connected by high-strength bolts to fix the double disc cover (68) to the end of the cover support (71).

[0024] The soil cover bracket fixing hole (70) and the soil cover system mounting hole (26) on the rear chassis extension plate (27) are connected by high-strength bolts to fix the soil cover bracket (71) to the rear chassis extension plate (27) at the tail end; The cover support (71) is a double-disc cover support, located at the tail end of the rear chassis extension plate (27).

[0025] Working principle of the invention: See Figures 1 to 2 The working principle of a new high-efficiency biological tillage equipment for black soil based on earthworm-driven inoculation is as follows. The electronic control device (15) in the vehicle body (B) sends a signal, and the direct drive motor (9) on the chassis starts to work through the power supply of the battery (32). The wheel hub (4) is driven by the direct drive motor (9), which drives the whole machine to start moving. The furrow opener (16) is inserted into the soil to start the furrow opening operation. At the same time, the quantitative seeding control system (C) of earthworm and straw mixture starts to work. The earthworm-straw microbial mixture is put into the furrow, and the soil covering system (D) restores the furrow.

[0026] See Figures 3 to 18The disassembly and assembly principles of the machine's walking system (A), vehicle body (B), and earthworm and straw mixture quantitative seeding control system (C) are as follows. The walking system (A) consists of four off-road engineering wheel systems (1) and a chassis (2). The off-road engineering wheel systems (1) and the chassis (2) are welded together by fixing bolts (6), fixing clips (8), wheel system fixing plates (7), and chassis fixing plates (10) on the chassis; the chassis (2) provides mounting points and support for related working parts. The vehicle body (B) consists of a vehicle body shell (14), an electronic control device (15), and a furrow opener (16). The vehicle body shell (14) is welded to the chassis fixing plate (10) on the chassis via the front chassis extension plate (28) and the rear chassis extension plate (27), providing mounting points and support for related working parts and protecting the earthworm and straw mixture quantitative seeding control system (C); the electronic control device (15) controls the signal input and output of the control device; the furrow opener (16) adopts a hoe-type furrow opener, which opens the seed furrow as the machine moves. The earthworm and straw mixture quantitative seeding control system (C) is installed in the middle of the chassis. It is connected to the chassis fixing plate (10) and reinforcing rib plate (13) by welding the earthworm quantitative seeding control system support base plate (38), earthworm quantitative seeding control system fixing block (39), straw mixture quantitative seeding control system support base plate (53), and straw mixture quantitative seeding control system fixing block (52) on the chassis. It includes two independent parts: earthworm quantitative seeding control system (35) and straw mixture quantitative seeding control system (36). Each part has a hopper motor (37) and (65), a hopper reducer (41) and (66), a hopper material conveying device (43) and (64), and a hopper material box (44) and (63). By adjusting the feeding hopper motors (37) and (65), and the hopper reducers (41) and (66), the conveying speed of the feeding hopper material conveying devices (43) and (64) is controlled, thereby changing the discharge speed of the feeding hopper boxes (44) and (63), so that the feeding amount can be adjusted according to the actual required sowing amount; the spraying device (49) is welded to the inner front end of the straw mixture quantitative sowing control system (36) for spraying the material, lubricating the material, and preventing the material from clogging the device; the straw mixture output guide plate (51) is welded to the discharge port of the straw mixture feeding hopper box (63) for guiding the flexible release of the material to the designated position.

[0027] See Figure 19 The disassembly and assembly principle of the soil covering system (D) of this machine is as follows. The soil covering system (D) is fixed to the rear of the vehicle body (B) by high-strength bolts through the soil covering system mounting hole (26) and the soil covering device bracket fixing hole (70). It includes a soil covering device bracket (71) and a double disc soil covering device (68); the double disc soil covering device (68) is installed at the end of the soil covering device bracket (71) by bolts through the soil covering device mounting hole (69) and the soil covering device fixing hole (67), and merges the soil ridges as the whole machine moves.

Claims

1. A new equipment for efficient biological tillage in black soil based on earthworm-driven inoculation, comprising a walking system (A), a vehicle body (B), a quantitative seeding control system for earthworm and straw mixture (C), and a soil covering system (D). The walking system (A) is a system based on an off-road engineering wheeled chassis. The vehicle body (B) is located on the upper part of the walking system (A) and is welded to the chassis via the rear chassis extension plate (27) and the front chassis extension plate (28). The earthworm and straw mixture quantitative seeding control system (C) is located in the middle of the walking system (A) and is connected to the chassis chassis connecting beam (11) and reinforcing rib plate (13) via the earthworm quantitative seeding control system support plate (38) and the straw mixture quantitative seeding control system support plate (53). The soil covering element (D) is fixedly connected by bolts through the reserved soil covering system mounting holes (26).

2. The new equipment for efficient biological tillage in black soil based on earthworm-driven inoculation according to claim 1, characterized in that, The aforementioned walking system (A) includes an off-road engineering wheel system (1) and a chassis (2); The off-road engineering wheel system (1) includes an off-road engineering tire (3), a wheel hub (4), a direct drive motor connection port (5), a fixing buckle bolt (6), a wheel system fixing plate (7), a fixing buckle (8), and a direct drive motor (9); The off-road engineering tire (3) is made of rubber. The wheel hub (4) supports the off-road engineering tire (3) and transmits power and torque to the whole machine; The direct drive motor connection port (5) is used to connect the wheel hub (4) and the direct drive motor (9); The fixing bolt (6) is used to lock the fixing buckle to ensure the fixation of the wheel system (1); The wheel system fixing plate (7) is welded to the lower part of the chassis (2) to provide space for the installation of the wheel system (1); The fixing buckle (8) is used to fix the entire wheel system (1) to the bottom of the chassis (2); The direct drive motor (9) is the power output source for the machine's movement, providing power for the machine's movement. The chassis (2) includes a chassis fixing plate (10), a chassis connecting beam (11), a beam fixing member (12), and a reinforcing rib plate (13). The chassis fixing plate (10) is used to weld and fix the rear chassis extension plate (27), the front chassis extension plate (28), the earthworm quantitative seeding control system support plate (38), the straw mixture quantitative seeding control system support plate (53), the earthworm quantitative seeding control system fixing block (39), and the straw mixture quantitative seeding control system fixing block (52). The chassis connecting beam (11) is used to connect the chassis fixing plate (10) and fix the supporting reinforcing rib plate (13). The beam fastener (12) is used to fix the chassis connecting beam (11) to the chassis fixing plate (10), and is connected to the chassis connecting beam (11) by bolts and welded to the inside of the chassis fixing plate (10); The reinforcing rib (13) is used to reinforce the connection of the chassis fixing plate (10) and to fix the earthworm quantitative sowing control system support base plate (38), the straw mixture quantitative sowing control system support base plate (53) and the vehicle body (23) by positioning welding with the chassis fixing plate (10).

3. The new equipment for efficient biological tillage in black soil based on earthworm-driven inoculation according to claim 1, characterized in that, The vehicle body (B) includes the vehicle body shell (14), the electronic control device (15), and the trencher (16); The vehicle body shell (14) includes an earthworm hopper cover plate (17), a camera support plate (18), a trencher mounting hole (19), an antenna mounting hole (20), a straw mixture hopper cover plate (21), a straw mixture hopper mounting port (22), a vehicle body (23), an earthworm hopper mounting port (24), an electrical control box (25), a soil covering system mounting hole (26), a rear chassis extension plate (27), and a front chassis extension plate (28). The earthworm feeding hopper cover plate (17) is used to protect the relevant components and keep the inside of the device clean; The camera support plate (18) is located on the front side of the vehicle body (23), and the camera support plate (18) is fixed to the vehicle body (B) by welding; The trencher mounting hole (19) is located on the front chassis extension plate (28) for installing the trencher (16). The antenna mounting hole (20) is located on the left side of the vehicle body (23), connecting the vehicle body (23) and the antenna (31), and the vehicle body (23) and the antenna (31) are connected by threads; The cover plate (21) of the straw mixture hopper protects the relevant components and keeps the inside of the device clean; The straw mixture hopper installation port (22) is used for positioning and installing related components; The vehicle body (23) is the main frame of the vehicle body shell (14), which is used for structural support and safety protection and is composed of steel beams and iron sheets; The earthworm feeding hopper installation port (24) is used to position and install related components; The electrical control box (25) is welded to the inner front end of the vehicle body (23) and carries the internal signal board (30). The soil covering system mounting hole (26) is located on the rear chassis extension plate (27) for installing the soil covering system (D); The rear chassis extension plate (27) provides space for the installation of the soil covering system (B) and is connected to the vehicle body (23) and chassis fixing plate (10) by welding respectively; The aforementioned front chassis extension plate (28) provides space for the installation of the trencher (16) and is connected to the vehicle body (23) and chassis fixing plate (10) respectively by welding; The electronic control system (15) includes a depth camera (29), a signal board (30), an antenna (31), and a battery (32). The depth camera (29) is a binocular recognition system, which is connected to the signal board (30) for path recognition. The signal board (30) is located inside the electrical control box (25) and is connected to the depth camera (29) and each motor via circuitry; The antenna (31) is a component of the signal board (30) inside the electrical control box (25) for transmitting and receiving signals; The battery (32) provides power to the power system, electronic control system, and actuators, and drives the motor. The trencher (16) includes a trencher fixing hole (33) and a hoe-type trenching component (34). The trencher fixing hole (33) and the trencher mounting hole (19) are connected by high-strength bolts to fix the trencher to the lower end of the front chassis extension plate (28); The hoe-type trenching component (34) is used for trenching and material feeding of the device.

4. The new equipment for efficient biological tillage in black soil based on earthworm-driven inoculation according to claim 1, characterized in that, The earthworm and straw mixture quantitative seeding control system (C) includes an earthworm quantitative seeding control system (35) and a straw mixture quantitative seeding control system (36). The earthworm quantitative seeding control system (35) includes an earthworm feeding hopper motor (37), an earthworm quantitative seeding control system support base plate (38), an earthworm quantitative seeding control system fixing block (39), and an earthworm feeding hopper (40). The earthworm feeding hopper motor (37) is a speed-regulating DC motor that provides power to the earthworm feeding hopper material conveying device (43); The earthworm quantitative seeding control system support base plate (38) supports the earthworm quantitative seeding control system (35), and is connected to the front end of the reinforcing rib plate (13) and the inner end of the chassis fixing plate (10) by welding; The earthworm quantitative seeding control system fixing block (39) is used to fix the earthworm quantitative seeding control system (35), and is connected to the chassis fixing plate (10) and the earthworm quantitative seeding control system support base plate (38) by welding. The isometric view of the earthworm feeding hopper (40) includes an earthworm feeding hopper reducer (41), an earthworm feeding hopper pulley (42), an earthworm feeding hopper material conveying device (43), and an earthworm feeding hopper hopper (44). The earthworm feeding hopper reducer (41) is used to reduce the speed of the power source and increase the output torque to match the working requirements of the equipment; The earthworm feeding hopper pulley (42) is used to transmit power; The earthworm feeding hopper material conveying device (43) is used to transport materials; The earthworm feeding hopper (44) includes an earthworm material box (45), an earthworm material box connecting side plate (46), an earthworm material box baffle (47), and an earthworm material box outlet (48). The earthworm material box (45) consists of two symmetrical parts, with an overall shape that is wider at the top and narrower at the bottom. It is made of non-stick material to prevent material from clogging the equipment. The earthworm material box connecting side plate (46) is used to tightly connect the earthworm material box (45) with the earthworm feeding hopper material conveying device (43) to ensure that the material will not leak out of the feeding mechanism; The earthworm material box baffle (47) is used to control the output of material. It is connected to the front end of the earthworm material box (45) by bolts and forms a closed space with the earthworm material box (45). The earthworm material box outlet (48) is used to guide the release of material; The isometric view of the straw mixture quantitative seeding control system (36) includes a spraying device (49), a straw mixture feeding hopper (50), a straw mixture output guide plate (51), a straw mixture quantitative seeding control system fixing block (52), and a straw mixture quantitative seeding control system support base plate (53). The straw mixture output guide plate (51) is welded to the discharge port of the straw mixture hopper box (63) to guide the flexible release of the material to a designated position; The fixing block (52) of the straw mixture quantitative sowing control system is used to fix the straw mixture quantitative sowing control system (36), and is connected to the chassis fixing plate (10) and the straw mixture quantitative sowing control system support plate (53) by welding; The supporting base plate (53) of the straw mixture quantitative sowing control system is used to support the straw mixture quantitative sowing control system (36), and is connected to the rear end of the reinforcing rib plate (13) and the inner end of the chassis fixing plate (10) by welding. The spray device (49) includes a spray device fixing plate (55), a telescopic bracket (56), and a spray element (57). The spray device fixing plate (55) is used to connect the straw mixture hopper box (63) and the telescopic bracket (56); The retractable bracket (56) is used to support the spray element (57) and control the spray position of the spray element (57); The spray element (57) includes a water tank cover (58), a water tank (59), a spray pipe (60), a water tank switch (61), and a water outlet pipe (62). The water tank cover (58) is used for filling liquid; The water tank (59) is used to store liquid; The spray pipe (60) is used for spraying liquid; The water tank switch (61) is used to control the speed of liquid spraying; The outlet pipe (62) is used to output liquid; The straw mixture feeding hopper (50) includes a straw mixture feeding hopper box (63), a straw mixture feeding hopper material conveying device (64), a straw mixture feeding hopper motor (65), and a straw mixture feeding hopper reducer (66). The straw mixture feeding hopper (63) is used to store straw mixture materials, and the implementation method is the same as that of the earthworm feeding hopper (44); The straw mixture feeding hopper material conveying device (64) is used to convey straw mixture, and the implementation method is the same as that of the earthworm feeding hopper material conveying device (43); The straw mixture hopper motor (65) is a speed-regulating DC motor, which provides power to the straw mixture hopper material conveying device (64); The straw mixture feed hopper reducer (66) is used to reduce the speed of the power source and increase the output torque, thereby matching the working requirements of the equipment.

5. A new high-efficiency biological tillage equipment for black soil based on earthworm-driven inoculation according to claim 1, characterized in that, The soil covering system (D) includes a soil cover fixing hole (67), a double-disc soil cover (68), a soil cover mounting hole (69), a soil cover bracket fixing hole (70), and a soil cover bracket (71). The soil cover fixing hole (67) and the soil cover mounting hole (69) are connected by high-strength bolts to fix the double disc soil cover (68) to the tail end of the soil cover bracket (71); The double-disc cover device (68) consists of two discs facing each other at a certain angle, which are fixed in the cover device mounting hole (69) on the cover device bracket (71) by bolt connection. The cover installation hole (69) and the cover fixing hole (67) are connected by high-strength bolts to fix the double disc cover (68) to the end of the cover bracket (71); The soil cover bracket fixing hole (70) and the soil cover system installation hole (26) on the rear chassis extension plate (27) are connected by high-strength bolts to fix the soil cover bracket (71) to the rear chassis extension plate (27).

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