Straw smashing treatment and field returning device

Abstract

The invention relates to the technical field of agricultural machinery, and discloses a straw smashing and returning device which comprises a rack and smashing, fertilizing and soil turning mechanisms arranged in the feeding direction. The power transmission assembly drives the Y-shaped flail knife on the smashing roller to be in shearing fit with the movable knife set driven in an auxiliary mode, and straw is secondarily smashed. The soil turning mechanism is connected with the rack through a depth adjusting assembly and is provided with an electric push rod structure with spring buffering; a soil moisture content sensor is embedded in the soil turning shovel, and a visual sensor is arranged in the smashing cavity. The control system adjusts the power rotating speed according to the straw size fed back visually and judges the tillage resistance according to the rheological parameters calculated based on the soil moisture content; and when the resistance exceeds the limit, the depth adjusting assembly is controlled to reduce the soil penetration depth of the soil turning shovel and reduce the power output speed. In addition, the airflow generating assembly is used for purging the visual sensor. According to the invention, straw fine crushing and tillage load self-adaptive adjustment are realized, and equipment overload is avoided.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to a straw crushing and returning device. Background Technology

[0002] Returning crop straw to the field is an important agronomic measure to increase soil organic matter and improve soil structure. Currently, straw return operations typically rely on combined tillage machines, which integrate multiple functions such as straw crushing, fertilization, and rotary tillage. Most existing straw crushing mechanisms use a single-shaft, high-speed rotating blade structure, relying primarily on the impact and tearing of the straw by the blades to achieve crushing. However, this single-shaft structure has limited shearing effect when processing highly tough or damp straw, easily resulting in incomplete straw cutting and long straw entanglement on the blade shaft. This leads to uneven straw length after return to the field, affecting subsequent burial coverage and decomposition speed.

[0003] Furthermore, traditional straw-returning devices typically operate at fixed tillage depths and power output speeds, lacking the ability to perceive and respond to real-time changes in the field soil environment. When soil resistance increases due to compaction or changes in moisture content, continued deep tillage can easily lead to engine overload, stalling, or damage to mechanical components if the equipment continues its predetermined deep tillage. Although some devices have begun to incorporate sensors for monitoring, the lenses of optical sensors are easily covered by dust in the high-concentration dust environment generated during straw crushing operations, resulting in distorted monitoring data and making it difficult to maintain long-term stable intelligent control. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a straw crushing and returning device, which solves the technical problems of incomplete straw crushing, inability to adaptively adjust tillage depth according to soil resistance, and sensor susceptibility to dust interference leading to monitoring failure in existing straw returning devices.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution: a straw crushing and returning device, comprising a frame, a shell and a carrying frame, wherein a straw crushing mechanism, a fertilization mechanism and a soil turning mechanism are arranged sequentially on the frame along the feeding direction; The front end of the frame is equipped with a power transmission component, and the output end of the power transmission component drives the straw crushing mechanism to operate. The fertilizer applicator is equipped with an airflow generating component, having a first air outlet channel pointing to the fertilizer application path and a second air outlet channel pointing to a preset monitoring area inside the frame. The first air outlet channel is used to output airflow to assist fertilizer diffusion, and the second air outlet channel is used to blow away the preset monitoring area to prevent dust from adhering. The power transmission component and the soil turning mechanism are signal-connected to a control system. The control system is signal-connected to sensing components arranged at different working parts of the frame. The control system is used to adjust the output speed of the power transmission component and the working depth of the soil turning mechanism according to the monitoring data fed back by the sensing components.

[0006] Preferably, the power transmission assembly includes a gearbox fixedly mounted on the housing, the gearbox driving a first drive assembly via a drive shaft; the first drive assembly includes a drive wheel fixed to the drive shaft, the drive wheel being connected via a belt to a driven wheel fixed to the shaft end of the straw crushing mechanism.

[0007] Preferably, the straw crushing mechanism includes a straw crushing roller rotatably connected to the frame, and a plurality of Y-shaped sawtooth blades are spirally distributed along the axial direction on the outer circumferential surface of the straw crushing roller; a rotating shaft is provided on the inner side of the outer shell, and a sawtooth moving blade assembly is installed through the rotating shaft, the teeth of the sawtooth moving blade assembly extending into the gap formed by the Y-shaped bifurcated structure of the Y-shaped sawtooth blades, forming a shearing engagement with the Y-shaped sawtooth blades.

[0008] Preferably, the fertilization mechanism includes a support frame fixed on the machine frame and a fertilizer storage tank mounted on the support frame. The discharge port at the bottom of the fertilizer storage tank is provided with an opening and closing assembly. An electric push rod in the opening and closing assembly is connected to a movable plate through a pull head. The movable plate slides and covers the surface of the discharge port.

[0009] Preferably, the airflow generating component includes a centrifugal fan, with an installation pipe at the side air inlet of the centrifugal fan, a sealing mesh installed inside the installation pipe, and a duct serving as the second air outlet connected to the side air outlet of the centrifugal fan via a connector; the sensing component includes a vision sensor fixed to the inner wall of the housing, with the duct opening directly facing the lens end face of the vision sensor.

[0010] Preferably, the soil turning mechanism includes a connecting frame fixed on the machine frame and a soil turning shovel hinged to the connecting frame via a movable support rod. A depth adjustment component is connected between the connecting frame and the movable support rod. The depth adjustment component includes an electric push rod II, a spherical connector, a spring, and a connecting seat. The electric push rod II is coaxially fitted with the spring, and the two ends of the spring abut against the spherical connector and the connecting seat, respectively.

[0011] Preferably, the sensing component further includes a speed sensor and a soil moisture sensor disposed on the power transmission component, the soil turning mechanism includes a soil turning shovel, the soil moisture sensor is embedded in the surface of the soil turning shovel, and the vision sensor is located in the crushing chamber enclosed by the housing.

[0012] Preferably, the control system includes: an image processing module for receiving image signals acquired by the vision sensor and calculating the geometric dimensions of the straw fragments; and a soil parameter calculation module for receiving signals acquired by the soil moisture sensor and generating soil rheological parameters.

[0013] Preferably, the soil turning mechanism is connected to a depth adjustment component; the control system is further configured to: send an instruction to increase the rotation speed to the power transmission component when the geometric size of the received straw fragments is greater than a preset value; and send an instruction to shorten the stroke to the depth adjustment component and an instruction to reduce the power output speed to the power transmission component when the resistance value displayed by the received soil rheological parameters is greater than a preset value.

[0014] Preferably, the power transmission component is further connected to a second drive component; the second drive component is connected to a drive device, the drive device drives an auxiliary rotating shaft; the first drive component and the second drive component are covered with a protective shell fixed to the side of the frame.

[0015] This invention provides a straw crushing and returning device for use in the field. It has the following beneficial effects: 1. This invention forms a dual-axis staggered shearing structure by cooperating the Y-shaped sawtooth blades on the straw crushing roller with the sawtooth moving blade group driven by the second drive component; the sawtooth moving blade group rotates into the gap of the Y-shaped sawtooth blades to perform secondary cutting on the passing straw, avoiding the straw incomplete cutting and entanglement phenomenon that exists in the traditional single-axis crushing method, so that the discharged straw fragments are more uniform in size, which is convenient for subsequent plowing and returning to the field.

[0016] 2. This invention utilizes a visual sensor and a soil moisture sensor to construct a feedback adjustment system; the control system adjusts the power transmission speed according to the straw size identified by the image to ensure the crushing effect; at the same time, it judges the tillage resistance based on the rheological parameters calculated based on the soil moisture content, and controls the depth adjustment component to shorten the stroke and reduce the power output speed when the resistance exceeds the limit; this adjustment method ensures the quality of operation while preventing equipment overload damage caused by a sudden increase in soil load.

[0017] 3. The present invention incorporates a spring coaxially sleeved outside the electric push rod in the soil turning mechanism and an airflow generating component in the fertilization mechanism; the spring structure can compress and buffer when the soil turning shovel hits a hard object, protecting the rigid connecting parts; the airflow generating component continuously blows air to the vision sensor lens through the air duct to prevent dust generated during the crushing operation from obscuring the lens; this combination of mechanical buffering and air path cleaning extends the service life of mechanical parts and maintains the detection stability of the sensing system. Attached Figure Description

[0018] Figure 1This is a three-dimensional schematic diagram of the overall structure of the present invention; Figure 2 This is a three-dimensional schematic diagram of the overall rear structure of the present invention; Figure 3 This is a schematic diagram of the straw picking and crushing mechanism of the present invention; Figure 4 This is a schematic diagram of the internal structure of the outer shell of the present invention; Figure 5 for Figure 2 Enlarged view of point A in the image; Figure 6 This is a magnified view of point B in Figure 2; Figure 7 This is a schematic diagram showing the disassembled depth adjustment component of the present invention; Figure 8 This is a schematic diagram of the connector disassembly of the present invention; Figure 9 This is a system architecture diagram of the present invention.

[0019] The components include: 1. Frame; 2. Outer shell; 3. Back frame; 4. Gearbox; 5. Drive shaft; 6. First drive assembly; 601. Drive wheel; 602. Belt; 603. Driven wheel; 7. Straw crushing roller; 8. Y-shaped sawtooth blade; 9. Drive unit; 10. Second drive assembly; 11. Rotating shaft; 12. Sawtooth moving blade assembly; 13. Support frame; 14. Fertilizer storage tank; 15. Opening and closing assembly; 1501. Electric push rod one; 1502. Pulling head; 15 03. Movable plate; 16. Centrifugal fan; 1601. Air duct; 1602. Connector; 1603. Mounting pipe; 1604. Sealing net; 17. Movable support rod; 18. Soil turning shovel; 19. Connecting frame; 20. Depth adjustment assembly; 2001. Electric actuator II; 2002. Ball joint; 2003. Spring; 2004. Connecting seat; 21. Speed ​​sensor; 22. Vision sensor; 23. Soil moisture sensor; 24. Protective shell. Detailed Implementation

[0020] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see the appendix Figure 1 - Appendix Figure 4This invention provides a straw crushing and returning device, including a frame 1, a shell 2, and a carrying frame 3. A straw crushing mechanism, a fertilizing mechanism, and a soil turning mechanism are arranged sequentially along the feeding direction on the frame 1. A power transmission component is connected to the front end of the frame 1, and its output drives the straw crushing mechanism. An airflow generating component is located at the fertilizing mechanism, having a first air outlet channel pointing towards the material falling path of the fertilizing mechanism and a second air outlet channel pointing towards a specific area inside the frame 1. A control system is signal-connected to the power transmission component and the soil turning mechanism. Sensing components are arranged at different working parts of the frame 1 and signal-connected to the control system.

[0022] The main body of the device is frame 1, which provides a stable mounting base for each working mechanism, ensuring the rigidity and stability of the overall structure. The outer shell 2 is wrapped around the frame and works with the frame 1 to block stones and straw fragments that are splashed during the operation of the internal high-speed rotating parts, thus ensuring operational safety and environmental cleanliness. The back frame 3 is used to connect with the suspension device of the traction locomotive, enabling the device to be quickly mounted and moved in the field.

[0023] In the operation chain, the power transmission component is connected to the front end of the frame 1 to receive and stably transmit the torque input from the external power source, thereby driving the straw crushing mechanism to continuously and powerfully cut and tear the straw in the field to reduce the straw volume; then, the fertilization mechanism is used to evenly spread base fertilizer on the straw cover layer, and this mechanism is equipped with an airflow generating component, which uses the airflow generated by its first air outlet channel to accelerate the diffusion of fertilizer in conjunction with the material drop port of the fertilization mechanism, thereby improving the uniformity of fertilization; finally, the soil turning mechanism is used to carry out deep turning operations in conjunction with traction force, turning and burying the crushed straw and fertilizer below the soil tillage layer, thereby improving the soil structure.

[0024] To ensure intelligent and stable operation, the second air outlet of the airflow generation component is used to continuously blow away the sensor lenses inside the frame 1, thereby preventing dust from adhering and causing detection failure. The sensing components are arranged in each working part to collect key parameters such as rotation speed, image and soil resistance in real time and transmit them to the control system. The control system is used to coordinate power output and tillage depth based on feedback data, thereby achieving dynamic balance of the working load, preventing mechanical overload and improving the overall operation quality of the machine.

[0025] Please see the appendix Figure 1 - Appendix Figure 3 The power transmission component includes a gearbox 4 fixedly mounted on the housing 2, which drives the first drive component 6 through a drive shaft 5. The first drive component 6 includes a drive wheel 601 fixed on the drive shaft 5, which is connected to a driven wheel 603 fixed to the end of the straw crushing mechanism shaft via a belt 602.

[0026] The gearbox 4 is used to adjust the input speed and torque to adapt to the crushing requirements under different straw densities, ensuring the matching of power output. The regulated power is output from the gearbox 4 and transmitted to the first drive assembly 6 through the drive shaft 5. The drive shaft 5 is used to smoothly guide the power to the side of the machine body, thus realizing long-distance power transmission. In the first drive assembly 6, the drive wheel 601, fixed on the drive shaft 5, is used to receive rotational power and drive the belt 602 to rotate, serving as the input end of power transmission. The belt 602, in conjunction with the drive wheel 601 and the driven wheel 603, performs flexible transmission, driving the driven wheel 603 to rotate and buffering vibration and impact during operation. Thus, when the load is too large, slippage provides overload protection, preventing damage to core components. Finally, the driven wheel 603 is used to directly transmit the received power to the shaft end of the straw crushing mechanism, thereby driving the cutter to perform high-speed cutting, achieving the effect of crushing straw.

[0027] Please see the appendix Figure 3 and attached Figure 4 The straw crushing mechanism includes a straw crushing roller 7 rotatably mounted on the frame 1, and a plurality of Y-shaped sawtooth blades 8 spirally distributed along the axial direction on the outer circumference of the straw crushing roller 7; a rotating shaft 11 is provided on the inner side of the outer shell 2, and a sawtooth moving blade assembly 12 is installed through the rotating shaft 11; the teeth of the sawtooth moving blade assembly 12 extend into the gap formed by the Y-shaped bifurcated structure of the Y-shaped sawtooth blades 8, and form a shearing engagement with the Y-shaped sawtooth blades 8.

[0028] The straw crushing roller 7 is rotatably mounted on the frame 1 and rotates at high speed under power, generating sufficient centrifugal force and cutting kinetic energy to perform the main physical crushing of straw. On the outer circumference of the roller, Y-shaped sawtooth blades 8 are spirally distributed along the axial direction. This arrangement allows the blades to cut continuously and intermittently when in contact with the crop, avoiding the instantaneous impact load caused by multiple blades hitting the ground simultaneously, thus ensuring the stability of the entire machine. During operation, the Y-shaped sawtooth blades 8 move in a circular motion with the roller, utilizing their sawtooth structure to increase the gripping force on the straw surface, achieving effective hammering, picking up, tearing, and throwing of straw on the ground.

[0029] Inside the outer casing 2, the serrated moving blade assembly 12 is securely mounted via a rotating shaft 11 to withstand shearing reaction force and provide static resistance. The teeth of the serrated moving blade assembly 12 extend and insert into the bifurcated gap of the Y-shaped serrated sling cutter 8, forming an interlaced shearing engagement. When the Y-shaped serrated sling cutter 8 passes through the gap between the serrated moving blade assemblies 12 at high speed, the straw flowing through this area is forced to undergo secondary fine crushing, thereby ensuring that the final discharged straw fragments are of uniform length and meet the agronomic standards for subsequent return to the field for decomposition.

[0030] Please see the appendix Figure 1 Appendix Figure 2 and attached Figure 5The fertilization mechanism includes a support frame 13 fixed on the frame 1 and a fertilizer storage tank 14 mounted on the support frame 13; an opening and closing assembly 15 is provided at the discharge port at the bottom of the fertilizer storage tank 14; an electric push rod 1501 in the opening and closing assembly 15 is connected to a movable plate 1503 through a pull head 1502, and the movable plate 1503 slides and covers the surface of the discharge port.

[0031] The support frame 13 is fixedly installed on the frame 1 to stabilize and support the fertilizer storage tank 14 above, and lift it to a predetermined height, thereby using gravitational potential energy to assist the fertilizer to fall naturally; the fertilizer storage tank 14 is used to hold a sufficient amount of granular fertilizer to meet the needs of continuous operation.

[0032] In terms of flow control, an opening and closing assembly 15 is provided at the discharge port at the bottom of the fertilizer storage tank 14. Among them, the electric actuator 1501 acts as a linear drive device, which drives the movable plate 1503 to slide linearly along the surface of the discharge port through the pull head 1502. The movable plate 1503 cooperates with the discharge port, and adjusts the opening size by changing the area it covers the discharge port, thereby achieving precise control of fertilizer flow and completely closing the discharge port to prevent fertilizer leakage when not in operation.

[0033] Please see the appendix Figure 1 Appendix Figure 2 Appendix Figure 4 and attached Figure 8 The airflow generating component includes a centrifugal fan 16, with an installation pipe 1603 at the side air inlet of the centrifugal fan 16, and a sealing mesh 1604 installed inside the installation pipe 1603; the side air outlet of the centrifugal fan 16 is connected to a duct 1601, which serves as a second air outlet channel, via a connector 1602; the sensing component includes a vision sensor 22 fixed to the inner wall of the housing 2; the opening of the duct 1601 faces directly toward the lens end face of the vision sensor 22.

[0034] Centrifugal fan 16 serves as the aerodynamic core, generating high-speed airflow to support the auxiliary functions of the equipment. To ensure the stable operation of centrifugal fan 16, a sealing mesh 1604 is installed inside the mounting pipe 1603 at the air inlet on its side. This mesh is used to filter the intake air and prevent straw fragments, fertilizer, and large dust particles from the external environment from entering the fan and causing impeller damage or pipe blockage.

[0035] At the airflow output end, the fan connects to the air duct 1601 via connector 1602 to guide the purified airflow in a specific direction. The vision sensor 22 is used to capture and monitor the crushing quality of the straw inside in real time; the opening of the air duct 1601 is directly pointed to the lens end face of the vision sensor 22, and the high-speed airflow continuously sweeps the lens surface, thereby forming an air curtain in front of the lens to prevent dust and dirt raised during the crushing operation from adhering and causing image blurring, thus ensuring the accuracy of data acquisition by the control system.

[0036] Please see the appendix Figure 1 Appendix Figure 2 and attached Figure 7 The soil turning mechanism includes a connecting frame 19 fixed on the frame 1, and a soil turning shovel 18 hinged to the connecting frame 19 via a movable support rod 17. A depth adjustment component 20 is connected between the connecting frame 19 and the movable support rod 17. The depth adjustment component 20 includes an electric actuator 2001, a ball joint 2002, a spring 2003, and a connecting seat 2004. The electric actuator 2001 is coaxially fitted with the spring 2003, and the two ends of the spring 2003 abut against the ball joint 2002 and the connecting seat 2004, respectively.

[0037] The connecting frame 19, which is fixedly installed on the frame 1, bears the soil reaction force during the soil turning operation; the soil turning shovel 18 is hinged to the connecting frame 19 through the movable support rod 17, and uses the lever principle to cut into the soil layer and turn the soil, thereby burying the surface straw and fertilizer.

[0038] To control the tillage depth, a depth adjustment component 20 is connected between the connecting frame 19 and the movable support rod 17. The electric actuator 2001 serves as a power source, driving the movable support rod 17 to swing around the hinge point via telescopic movement, thereby adjusting the soil penetration depth of the tillage shovel 18. Considering the difference in motion trajectory during the driving process, a spherical connector 2002 is used to connect the electric actuator 2001 to the force-bearing component, eliminating the jamming force caused by the mismatch between linear drive and arc-shaped trajectory motion. Furthermore, a spring 2003 is coaxially sleeved on the outside of the electric actuator 2001, with both ends of the spring 2003 abutting between the spherical connector 2002 and the connecting seat 2004. The spring 2003, together with the electric actuator 2001, forms an elastic buffer structure. When the tillage shovel 18 encounters impacts from hard objects such as stones underground, the spring 2003 is compressed to absorb the instantaneous impact energy, thus providing overload protection for the electric actuator and mechanical structure.

[0039] Please see the appendix Figure 1 - Appendix Figure 4 The power transmission component is also connected to a second drive component 10; the second drive component 10 is connected to a drive device 9, which drives an auxiliary rotating shaft 11; the first drive component 6 and the second drive component 10 are covered by a protective shell 24 fixed to the side of the frame 1.

[0040] In addition to driving the main system, the power transmission component is also connected to a second drive component 10. The second drive component 10 transmits power to the sawtooth moving blade assembly 12, thereby achieving multi-path power distribution without the need for an additional power source. The second drive component 10 connects to and drives the drive device 9, which, as a transmission execution unit, directly drives the auxiliary rotating shaft 11 to rotate, thereby driving the working parts mounted on the rotating shaft 11 to operate in coordination. For safety protection, the first drive component 6 and the second drive component 10 are covered by a protective shell 24, which is fixed to the side of the frame 1. The protective shell 24 physically isolates the high-speed rotating transmission components from the external environment, preventing accidental contact and mechanical injury by operators, and also preventing straw and debris from the field from getting caught in the transmission system and causing jamming.

[0041] Please see the appendix Figure 2 Appendix Figure 4 Appendix Figure 6 and attached Figure 9 For the intelligent control of this device, the sensing components also include a speed sensor 21 and a soil moisture sensor 23 mounted on the power transmission assembly. The speed sensor 21 is used to monitor the actual rotational speed of the power output shaft in real time. The soil moisture sensor 23 is embedded in the surface of the turning shovel 18, working in conjunction with the turning shovel 18 to penetrate deep into the ground, directly contacting the in-situ soil to collect soil moisture data (such as soil moisture content and electrical conductivity). A vision sensor 22 is installed inside the crushing chamber of the housing 2 to collect internal images during the crushing operation.

[0042] The control system includes an image processing module and a soil parameter calculation module, used to execute precise closed-loop control based on data fed back from the sensing components. Its specific data processing and control execution logic is as follows: S1: The image processing module receives the real-time image collected by the vision sensor 22, performs binarization and edge extraction processing on the image, and identifies the outline of straw fragments in the image.

[0043] S101: The image processing module calculates the geometric dimensions of the straw fragments based on the extracted contours (denoted as...). The calculation formula is as follows: ; in, This represents the total number of straw fragments identified in a single frame image; An index for the identified straw fragments; For the first The pixel width of each straw fragment in the image For the first The pixel height of each straw fragment in the image. This is a preset conversion factor between pixels and actual size.

[0044] S2: The soil parameter calculation module receives the signal collected by the soil moisture sensor 23 (referred to as soil volumetric water content). ), and calculates and generates soil rheological parameters reflecting tillage resistance based on a preset mapping model (denoted as ), Considering the nonlinear relationship between soil moisture content and viscous and shear resistance, this embodiment uses the following mapping model formula to calculate soil rheological parameters. : ; in, This refers to the soil volumetric water content. Soil bonding coefficient (Pa); is the attenuation factor (dimensionless). This is the plastic viscosity influence factor. This formula reflects the physical characteristic that at low moisture content, resistance decreases with increasing moisture (lubrication), while at high moisture content, resistance increases with increasing moisture (adhesion). The above... , , These are all constants pre-set in the control system based on different soil types (such as sandy soil and clay). For a specific work site, those skilled in the art can obtain them through routine calibration experiments.

[0045] S3: The control system will calculate the geometric dimensions of the straw fragments. and soil rheological parameters The values ​​are compared with the system's preset thresholds, and control commands are generated accordingly. When the received straw fragments have geometric dimensions Larger than the preset size threshold At this time, the control system sends a command to the power transmission component (specifically, the adjustable gearbox 4 or the adjustable tractor power output device (PTO)) to increase the rotational speed, thereby increasing the rotational speed and cutting frequency of the crushing roller and enhancing the crushing effect.

[0046] When the calculated soil rheological parameters Greater than the preset resistance threshold At this time, the control system executes overload protection and load reduction logic: On the one hand, a shortening stroke command is sent to the depth adjustment component 20 to control the electric actuator 2001 to retract and drive the soil turning blade 18 to swing upward to reduce the soil penetration depth; On the other hand, it simultaneously sends instructions to the power transmission components to reduce the power output speed (or sends a speed reduction signal to the traction locomotive), thereby actively reducing the mechanical load and preventing equipment overload damage.

[0047] Through the coordination of the above-described structure and control logic, this device achieves adaptive adjustment of straw crushing and returning operations, effectively improving the durability and safety of the equipment while ensuring operational quality. The general-purpose electronic components (such as processors and memory) and conventional mechanical connectors (such as bolts and bearings) involved in this invention are all prior art well-known to those skilled in the art, and will not be described in detail here.

[0048] Working principle: The straw crushing mechanism is mounted on the rear of the tractor via a carrying frame 3. The power transmission component receives torque from an external power source, which is then regulated by the gearbox 4 and transmitted to the first drive component 6 via the drive shaft 5. This drives the driven wheel 603 and the straw crushing roller 7 of the straw crushing mechanism to rotate. The Y-shaped sawtooth blades 8 on the straw crushing roller 7 unfold using centrifugal force to hammer, pick up, and tear the straw in the field. Simultaneously, the power transmission component diverts power through the second drive component 10, which drives the auxiliary rotating shaft 11 and the sawtooth moving blade assembly 12 mounted on it to rotate via the drive device 9. The rotating Y-shaped sawtooth blades 8 and the sawtooth moving blade assembly 12 form a shearing engagement, further crushing the straw that has passed through the meshing gap.

[0049] During the movement of the device, the fertilizer in the fertilizer storage tank 14 falls through the discharge port at the bottom. The electric actuator 1501 in the opening and closing assembly 15 pushes the movable plate 1503 to slide according to the control command, and controls the fertilizer flow rate by adjusting the opening area of ​​the discharge port. At this time, the centrifugal fan 16 in the airflow generating assembly continues to operate, drawing in air through the mounting pipe 1603 and the sealing net 1604. The generated airflow is divided into two paths: the airflow in the first air outlet channel acts on the falling path of the fertilizer application mechanism, accelerating the diffusion of fertilizer; the airflow in the second air outlet channel (i.e., the air duct 1601) blows towards the lens end face of the vision sensor 22 in the crushing chamber, forming an air curtain in front of the lens to blow away the dust generated during operation.

[0050] The soil-turning mechanism located at the rear tills the surface. The tilling shovel 18 cuts into the soil, turning over surface straw debris and fertilizer to the topsoil. The depth of the tilling shovel 18 is controlled by the depth adjustment component 20 between the connecting frame 19 and the movable support rod 17. The electric actuator 2001 adjusts the working angle and depth of the shovel body through its telescopic movement. When the tilling shovel 18 encounters impact from hard objects such as underground rocks, the spring 2003, which is sleeved on the outside of the electric actuator 2001, is compressed, generating a buffer displacement to absorb the impact energy.

[0051] During operation, the control system monitors and adjusts the system through sensing components. A vision sensor 22 acquires images of the crushing chamber, and an image processing module processes these images and calculates the geometric dimensions of the straw fragments. A soil moisture sensor 23 collects soil moisture data, and a soil parameter calculation module generates soil rheological parameters based on a preset mapping model. The control system compares the calculation results with preset thresholds: when the geometric dimensions of the straw fragments exceed the preset value, the control system sends a command to the power transmission component to increase the output speed; when the resistance value reflected by the soil rheological parameters exceeds the preset value, the control system sends a command to the depth adjustment component 20 to shorten the stroke to reduce the depth of the turning blade 18 in the soil, and simultaneously sends a command to the power transmission component to reduce the power output speed to decrease the mechanical load.

Claims

1. A straw crushing and returning device, characterized in that, It includes a frame (1), a shell (2) and a back frame (3). The frame (1) is provided with a straw crushing mechanism, a fertilizer application mechanism and a soil turning mechanism arranged in sequence along the feeding direction. The front end of the frame (1) is provided with a power transmission component, and the output end of the power transmission component drives the straw crushing mechanism to operate; The fertilizer applicator is equipped with an airflow generating component, having a first air outlet channel pointing to the fertilizer applicator's material drop path and a second air outlet channel pointing to a preset monitoring area inside the frame (1). The first air outlet channel is used to output airflow to assist fertilizer diffusion, and the second air outlet channel is used to blow away the preset monitoring area to prevent dust from adhering. The power transmission component and the soil turning mechanism are signal-connected to a control system. The control system is signal-connected to sensing components arranged at different working parts of the frame (1). The control system is used to adjust the output speed of the power transmission component and the working depth of the soil turning mechanism according to the monitoring data fed back by the sensing components.

2. The straw crushing and returning device according to claim 1, characterized in that, The power transmission assembly includes a gearbox (4) fixedly mounted on the housing (2), and the gearbox (4) drives the first drive assembly (6) via a drive shaft (5). The first drive assembly (6) includes a drive wheel (601) fixed on the transmission shaft (5), and the drive wheel (601) is connected to a driven wheel (603) fixed to the end of the straw crushing mechanism shaft via a belt (602).

3. The straw crushing and returning device according to claim 1, characterized in that, The straw crushing mechanism includes a straw crushing roller (7) rotatably connected to the frame (1), and the outer circumferential surface of the straw crushing roller (7) is spirally distributed with several Y-shaped sawtooth blades (8) along the axial direction. The inner side of the outer shell (2) is provided with a rotating shaft (11), and a sawtooth moving blade assembly (12) is installed through the rotating shaft (11). The teeth of the sawtooth moving blade assembly (12) extend into the gap formed by the Y-shaped bifurcated structure of the Y-shaped sawtooth sling (8) and form a shearing engagement with the Y-shaped sawtooth sling (8).

4. The straw crushing and returning device according to claim 1, characterized in that, The fertilization mechanism includes a support frame (13) fixed on the frame (1) and a fertilizer storage tank (14) mounted on the support frame (13). An opening and closing assembly (15) is provided at the discharge port at the bottom of the fertilizer storage tank (14). An electric push rod (1501) in the opening and closing assembly (15) is connected to a movable plate (1503) through a pull head (1502). The movable plate (1503) slides and covers the surface of the discharge port.

5. The straw crushing and returning device according to claim 1, characterized in that, The airflow generating component includes a centrifugal fan (16), with an installation pipe (1603) at the side air inlet of the centrifugal fan (16), a sealing mesh (1604) installed inside the installation pipe (1603), and a duct (1601) serving as the second air outlet connected to the side air outlet of the centrifugal fan (16) via a connector (1602). The sensing component includes a vision sensor (22) fixed to the inner wall of the housing (2), and the opening of the duct (1601) faces directly toward the lens end face of the vision sensor (22).

6. The straw crushing and returning device according to claim 1, characterized in that, The soil turning mechanism includes a connecting frame (19) fixed on the frame (1) and a soil turning shovel (18) hinged to the connecting frame (19) via a movable support rod (17). A depth adjustment component (20) is connected between the connecting frame (19) and the movable support rod (17). The depth adjustment assembly (20) includes an electric actuator (2001), a ball joint (2002), a spring (2003), and a connecting seat (2004). The electric actuator (2001) is coaxially fitted with the spring (2003), and the two ends of the spring (2003) abut against the ball joint (2002) and the connecting seat (2004), respectively.

7. The straw crushing and returning-to-field device according to claim 5, characterized in that, The sensing components also include a rotation speed sensor (21) and a soil moisture sensor (23) disposed on the power transmission components. The soil turning mechanism includes a soil turning shovel (18). The soil moisture sensor (23) is embedded in the surface of the soil turning shovel (18). The vision sensor (22) is located in the crushing chamber enclosed by the outer shell (2).

8. The straw crushing and returning device according to claim 7, characterized in that, The control system includes: An image processing module is used to receive image signals acquired by the vision sensor (22) and calculate the geometric dimensions of the straw fragments; The soil parameter calculation module is used to receive the signals collected by the soil moisture sensor (23) and generate soil rheological parameters.

9. A straw crushing and returning-to-field device according to claim 8, characterized in that, The soil turning mechanism is connected to a depth adjustment component (20). The control system is also used for: When the geometric size of the received straw fragments is greater than the size threshold, a command to increase the rotation speed is sent to the power transmission component; When the resistance value shown by the received soil rheological parameters is greater than the resistance threshold, a shortening stroke command is sent to the depth adjustment component (20) and a command to reduce the power output speed is sent to the power transmission component.

10. A straw crushing and returning-to-field device according to claim 2, characterized in that, The power transmission component is also connected to a second drive component (10). The second drive assembly (10) is connected to a drive device (9), which drives the auxiliary rotating shaft (11). The first drive assembly (6) and the second drive assembly (10) are covered with protective shells (24) fixed to the side of the frame (1).

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