Intelligent fertilizer box arch-breaking anti-blocking device and control method thereof

Abstract

The invention provides an intelligent fertilizer box arch-breaking anti-blocking device which comprises a fertilizer box and a motor, the fertilizer box comprises a fertilizer box cover, and the motor is installed on the fertilizer box cover; the monitoring device is installed at the output end of the motor, and the monitoring device comprises a torque sensor; the control device is mounted on the fertilizer box cover and is connected with the motor and the torque sensor; the planetary transmission device is mounted at the bottom of the fertilizer box cover; the fertilizer cutting device is connected and mounted below the planetary transmission device to complete arch breaking and fertilizer cutting operations; wherein the planetary transmission device transmits power to the fertilizer cutting device to realize rotation and revolution of the fertilizer cutting device; the planetary transmission device comprises a sun gear and a planetary gear train, an output shaft of the motor is connected with the sun gear of the planetary transmission device through a coupler, driving torque is provided for the planetary gear train and the fertilizer cutting device, and the device is high in arch breaking capacity, free of dead corners and intelligent in control.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to an intelligent fertilizer box anti-bridging and anti-blocking device and its control method. Specifically, it relates to an intelligent fertilizer box anti-bridging and anti-blocking device and its control method based on planetary transmission and anti-gravity eagle claw cutting. Background Technology

[0002] In southern my country, particularly in the wheat and rapeseed growing areas of the middle and lower reaches of the Yangtze River, the subtropical monsoon climate results in high air humidity and persistently moist or highly adhesive soil. In these regions, the continuity and uniformity of fertilization during mechanized sowing and fertilization operations are crucial for crop growth and final yield.

[0003] However, the fertilizer bins commonly used in current fertilizer applicators have a serious technical bottleneck: the fertilizer is extremely prone to absorbing moisture and clumping. During operation, these clumped fertilizers, under the influence of gravity and mechanical vibration, easily form "bridging" or "rat holes" at the conical outlet of the fertilizer bin, or directly block the discharge port, resulting in interrupted fertilizer discharge or inconsistent and severely uneven fertilizer discharge, which greatly affects the accuracy of fertilization and the quality of operation.

[0004] Existing simple stirring rods or vibrators suffer from problems such as dead zones in stirring, weak arch-breaking ability, and rough control, failing to fundamentally solve the problem of fertilizer clumping and clogging in humid environments. Therefore, there is an urgent need to develop a fertilizer tank arch-breaking and anti-clogging device with strong arch-breaking ability, no dead zones, and intelligent control. Summary of the Invention

[0005] To address the shortcomings of the existing technology, this invention provides an intelligent fertilizer box anti-bridging and anti-blocking device, comprising:

[0006] A fertilizer tank and a motor, wherein the fertilizer tank includes a fertilizer tank cover and the motor is mounted on the fertilizer tank cover;

[0007] A monitoring device is installed at the output end of the motor, and the monitoring device includes a torque sensor;

[0008] A control device is installed on the fertilizer tank cover and connected to the motor and the torque sensor;

[0009] A planetary transmission device and a fertilizer cutting device are provided. The planetary transmission device is installed at the bottom of the fertilizer tank cover. The fertilizer cutting device is connected and installed below the planetary transmission device to complete the arch breaking and fertilizer cutting operations.

[0010] The planetary transmission device transmits power to the fertilizer cutting device, enabling the fertilizer cutting device to rotate and revolve. The planetary transmission device includes a sun gear and a planetary gear train. The output shaft of the motor is connected to the sun gear of the planetary transmission device via a coupling, providing driving torque to the planetary gear train and the fertilizer cutting device.

[0011] In some embodiments, the planetary transmission device further includes:

[0012] The drive shaft is connected to the motor via a coupling;

[0013] A planetary gear train mounting base is installed at the bottom of the bulkhead cover, the planetary gear train is mounted on the planetary gear train mounting base, and the sun gear is connected to the transmission main shaft;

[0014] The internal gear and planetary gears are connected to the lower part of the fat box via a fixed seat. The planetary gears mesh with the sun gear and the internal gear simultaneously and are supported by the planet carrier.

[0015] In some embodiments, the planetary transmission device further includes a double-layer movable sealing cover, which is mounted above the planetary gear train;

[0016] The lower end of the double-layer movable sealing cover is fixed to the fertilizer tank cover, and the middle and side of the upper end are provided with a first ring and a second ring that can pass through the transmission main shaft and the stirring shaft of the planetary gear. The second ring rotates with the rotation of the stirring shaft of the planetary gear.

[0017] In some embodiments, the fertilizer cutting device includes:

[0018] The cutting shaft is supported on the planetary carrier by paired diagonal contact bearings and connected to the planetary carrier by a key connection;

[0019] A biomimetic eagle claw cutter head is fixed on the cutting shaft, and the cutting shaft carries the biomimetic eagle claw cutter head and realizes the rotation and revolution of the biomimetic eagle claw cutter head.

[0020] In some embodiments, multiple sets of the biomimetic eagle claw blades are arranged along the axial direction of the cutting axis, with adjacent sets staggered by 60 degrees in the circumferential direction. Each set of the biomimetic eagle claw blades has a sweep angle and a downward gripping angle, and the windward blade is provided with serrations.

[0021] In some embodiments, the sweep angle of the biomimetic eagle claw blade is taken as... The center line of the cutter arm is tilted 30 degrees backward relative to the radial line of rotation in order to reduce tangential forces and transmission resistance.

[0022] The impact force F of the material on the cutter head is decomposed into a radial component. With tangential component F t Under the swept-back condition, the tangential component is approximately calculated as shown in formula (1):

[0023] Formula (1)

[0024] The corresponding cutting resistance torque is calculated using formula (2).

[0025] Formula (2)

[0026] In the formula: 𝐿 represents the length of the lever arm of the cutter arm, in mm;

[0027] The bionic eagle claw blade grips the tilt angle. The blade plane is inclined downward relative to the horizontal plane to generate an axial pressing force, which promotes the forced downward feeding of the upper material towards the discharge port. Its axial force is calculated as shown in formula (3):

[0028] Formula (3)

[0029] In the formula: The downward pressing force exerted by the cutter head on the material, in N;

[0030] The biomimetic eagle claw-shaped cutter head has serrated edges arranged on the windward cutting surface, with a tooth depth of... Tooth pitch p = 20mm, tooth tip angle The sharp tooth tips concentrate stress and improve tearing efficiency against wet, sticky agglomerates; under the total cutting force F t Under certain conditions, the local contact area A of the serrated edge t Much smaller than the effective contact area A of the flat blade f The local pressure is calculated as shown in formula (4):

[0031] Formula (4)

[0032] In the formula: and These are the nominal pressures of the serrated edge and the flat edge, respectively.

[0033] In some embodiments, the monitoring device further includes a photoelectric flow sensor installed at the end of the discharge port for real-time monitoring of the continuity and instantaneous volume of the discharge; the torque sensor is installed at the output end of the motor for measuring the drive torque and providing load criteria for the control system.

[0034] In some embodiments, the fertilizer box includes:

[0035] Fertilizer box outer shell;

[0036] The fertilizer tank inner liner is assembled inside the fertilizer tank outer shell and is fixed to the fertilizer tank outer shell by positioning ribs and fasteners.

[0037] The annular sealing plate of the fertilizer tank is fixed at the annular interlayer between the outer shell of the fertilizer tank and the inner liner of the fertilizer tank, and is connected by circumferential welding or bolt ring assembly.

[0038] In some embodiments, the fertilizer tank cover is hinged to the upper opening of the fertilizer tank shell, and a reinforcing mounting plate and a sealing ring are provided on the cover surface of the fertilizer tank cover, with the motor mounted on the reinforcing mounting plate;

[0039] The control device and the motor are also equipped with protective covers on their outer sides.

[0040] This invention also provides a method for controlling the arching and blockage prevention of intelligent fertilizer bins, employing the intelligent fertilizer bin arching and blockage prevention device described above. The control method includes:

[0041] S1. Before operation, based on the current fertilizer moisture content, particle size distribution, and expected operating conditions, set the motor's preventative operating speed n1, standard operating speed n2, reverse unblocking speed n3, and strong sweeping forward speed n4 in the control device; set the sampling period Δ. t Smoothing coefficient α T α Q Thresholds θ1, θ2, θ3, φ min φ zero Set the duration τ for the blockage and empty position criteria. j τ e and torque rise slope threshold κ T The above parameters are written to the control device and saved via the bus;

[0042] S2. Start the motor. The motor drives the sun gear in the fat box transmission device through the cover coupling. The planetary gear system drives the rotating shaft and the bionic eagle claw cutter head to enter low-speed intermittent operation (n = n1). The cutter head performs three-dimensional cutting and pressing on the material pile under the combined trajectory of revolution and rotation, forming the initial channel for continuous feeding.

[0043] S3. The fertilizer cutting device starts, and the reference flow rate Q is obtained and calculated through the monitoring device. r and real-time traffic Q(t);

[0044] The reference flow rate is calculated as shown in formula (5):

[0045] Formula (5)

[0046] In the formula, The reference volumetric flow rate at time t, in m³ / s; s m Displacement per unit speed, m³ / rpm; n m (t) represents the rotational speed of the metering fertilizer applicator at time t, in r / min; N r This represents the number of parallel manure rows; 60 is the unit conversion factor.

[0047] The real-time flow rate Q(t) is calculated as shown in formula (6):

[0048] Formula (6)

[0049] In the formula, Q(t) is the volumetric flow rate at time t, m³ / s; These are conversion factors; The count rate is 1 / s; ξ is the equivalent particle volume, m³ / particle; ξ is the correction factor.

[0050] S4. The control device synchronously acquires the output T(t) of the torque sensor and the output Q(t) of the photoelectric flow sensor, and obtains the result after first-order exponential smoothing. , The normalized torque-to-flow ratio was calculated, and the smoothed absolute volumetric flow rate (m³ / s) was used as the flow criterion.

[0051] The sensor outputs smoothness. , The calculation is shown in formulas (7) and (8):

[0052] Formula (7)

[0053] Formula (8)

[0054] The normalized torque-to-flow ratio is calculated as shown in formulas (9) and (10):

[0055] Formula (9)

[0056] Formula (10)

[0057] In the formula, , For smoothing coefficients; The rated torque is θ(t) and φ(t) are the normalized torque and normalized flow rate ratio, respectively; Δt is the sampling period.

[0058] S5. The control device determines the working status based on torque and flow rate values, defining four working conditions for the fertilizer tank. This is a normal, unobstructed state; It is in a lightly clumped state; The system is in a state of severe congestion. Currently in a cash position

[0059] The criteria for the four operating conditions are shown in formula (11):

[0060] Formula (11)

[0061] In the formula: The threshold for "blocking" The threshold for "stuck"; The absolute volumetric flow rate (m³ / s) is the smoothed value. The near-zero flow threshold; and Same unit; , For duration window; for no-load tolerance;

[0062] S6. The speed of the fertilizer cutting device is adjusted according to the working conditions of the fertilizer box;

[0063] The speed adjustment method is shown in formula (12):

[0064] Formula (12)

[0065] In the formula: For low-speed prevention gear, r / min, Standard stirring setting, r / min Reverse gear, r / min Strong sweep forward gear, r / min ( (n3 is the reverse gear, and its absolute value is not less than n2).

[0066] S7. When the control device receives a signal that the fertilizer box is in a certain state... When the current forward rotation is stopped, a "two-stage unblocking" process is executed, and a closed-loop condition is used to determine whether a loop is needed. The two-stage unblocking method is shown in formula (13):

[0067] Formula (13)

[0068] In the formula, Indicates reversal, r / min; For strong sweep forward rotation, r / min; , The duration is two phases, in seconds.

[0069] S8. The monitoring device monitors the changes in the fertilizer tank flow rate in real time, and when the requirements are met... At this time, the fertilizer box resumes low-speed intermittent fertilizer cutting.

[0070] S9. If the fat box operating condition obtained in step five is If this is the case, it means the fertilizer tank is empty, and the machine should be stopped immediately and refilled with fertilizer.

[0071] S10. After completing the fertilization, start the operation again from step two.

[0072] Compared with the prior art, the present invention has the following advantages:

[0073] The intelligent fertilizer box anti-bridging and anti-blocking device provided by this invention is suitable for high humidity environments and working conditions such as organic fertilizer and compound fertilizer with obvious agglomeration tendency. It solves the problems existing in the fertilizer boxes of existing fertilizer applicators, such as fertilizer easy to absorb moisture and clump, bridging and blockage, dead corners in stirring, unintelligent control, easy corrosion of transmission mechanism, and difficult maintenance.

[0074] The intelligent fertilizer box anti-bridging and anti-blocking device provided by this invention is an intelligent fertilizer box anti-bridging and anti-blocking device based on planetary transmission and anti-gravity eagle claw cutting. It addresses the problems of bridging, jamming and intermittent feeding caused by fertilizer moisture, uneven particle size distribution and box geometry. It realizes active prevention and on-demand clearing of blockage, significantly improving the continuity and uniformity of feeding and the overall operating efficiency of the machine.

[0075] The intelligent fertilizer box anti-bridging and anti-clogging device provided by this invention utilizes planetary gear transmission to drive the stirring shaft to generate a composite motion of revolution and rotation, expanding the effective volume of the cutter head in the material pile and forming continuous downward pressure to suppress initial bridging from the source; it adopts anti-bridging claws with sweeping and downward gripping features and is equipped with serrated blade clips, achieving a synergistic effect of grasping, shearing and pressing under low-speed prevention, medium-speed standard and high-speed strong sweeping conditions, which can quickly loosen wet and sticky agglomerates and force the upper layer of material into the discharge channel; at the monitoring level, torque and flow dual sensing fusion is introduced, and the control device uses normalized torque and normalized flow ratio to distinguish normal, light agglomeration, blockage and empty bin conditions, which has higher robustness and accuracy compared with single current or speed criteria.

[0076] The intelligent fertilizer tank anti-blocking device provided by this invention constructs a graded speed and forward / reverse deblocking strategy at the execution level. When blocked, it first reverses to break up the bridge and then strongly sweeps and pressurizes the material to feed. It also adaptively fine-tunes the duration and intensity of blockage according to the load increment and flow gap. After returning to normal, it automatically returns to low-speed intermittent prevention. When the tank is empty, it automatically stops, alarms, and replenishes material, forming a closed-loop adaptive control to avoid unnecessary energy consumption and mechanical impact. At the structural level, it adopts a combination of a square outer shell and a cylindrical inner liner and sets an annular sealing plate to eliminate dead corners of accumulation and improve the rigidity of the tank. At the same time, it is equipped with a double-layer movable sealing cover and a protective cover to isolate fertilizer and dust from entering the transmission and electrical components. The motor and controller are fixed to the fertilizer tank cover with bolts, and the fertilizer tank cover is opened by a hinge, which facilitates quick inspection and maintenance and reduces downtime. The overall modular design makes it easy to match and modify with different fertilizer discharge units. Thus, it can achieve continuous and stable material supply under complex working conditions, reduce manual intervention and maintenance costs, extend the life of key components, and achieve comprehensive improvement in energy consumption, reliability, and intelligence level. Attached Figure Description

[0077] Figure 1 This is a schematic diagram of the structure of the intelligent fertilizer box anti-bridging and anti-blocking device shown in an embodiment of the present invention. Figure 1 ;

[0078] Figure 2This is a schematic diagram of the structure of the intelligent fertilizer box anti-bridging and anti-blocking device shown in an embodiment of the present invention. Figure 2 ;

[0079] Figure 3 This is a schematic diagram of the fertilizer box structure shown in an embodiment of the present invention;

[0080] Figure 4 This is a schematic diagram of the planetary transmission device shown in an embodiment of the present invention;

[0081] Figure 5 This is a front view of the fertilizer cutting device shown in an embodiment of the present invention;

[0082] Figure 6 This is a top view of the fertilizer cutting device shown in an embodiment of the present invention;

[0083] Figure 7 This is a schematic diagram of the biomimetic eagle claw blade structure parameters shown in an embodiment of the present invention. Figure 1 ;

[0084] Figure 8 This is a schematic diagram of the biomimetic eagle claw blade structure parameters shown in an embodiment of the present invention. Figure 2 ;

[0085] Figure 9 This is a flowchart illustrating the intelligent fertilizer box anti-arching and anti-blocking control method according to an embodiment of the present invention.

[0086] In the attached figures, the following labels are used:

[0087] 1-Fertilizer box;

[0088] 11-Fertilizer box lid;

[0089] 12-Fertilizer box outer shell;

[0090] 13-Fat box inner liner;

[0091] 14- Circular sealing plate for fertilizer box;

[0092] 2-Motor;

[0093] 3-Monitoring device;

[0094] 31-Torque sensor;

[0095] 32-Photoelectric flow sensor;

[0096] 4-Control device;

[0097] 5- Planetary transmission device;

[0098] 51-Sun Gear;

[0099] 52-Planetary Gear Train;

[0100] 53-Drive spindle;

[0101] 54 - Planetary gear train mounting base;

[0102] 55 - Internal gear;

[0103] 56 - Planetary Gear;

[0104] 561 - Stirring shaft;

[0105] 57-Planet Carrier;

[0106] 58 - Double-layer movable sealing cap;

[0107] 581 - First Ring;

[0108] 582 - Second Ring;

[0109] 6-Fertilizer cutting device;

[0110] 61-Cut the fat shaft;

[0111] 62-Bionic eagle claw blade;

[0112] 7- Protective cover. Detailed Implementation

[0113] See Figure 1-9 One embodiment of the present invention provides an intelligent fertilizer box anti-bridging and anti-blocking device, see reference. Figure 1-2 The system includes: a fertilizer tank 1 and a motor 2, wherein the fertilizer tank 1 includes a fertilizer tank cover 11, and the motor 2 is mounted on the fertilizer tank cover 11; a monitoring device 3, specifically, installed at the end of the discharge port or guide port and the output end of the motor 2, used to monitor the blockage status of the fertilizer tank 1, the monitoring device 3 including a torque sensor 31; a control device 4, installed on the fertilizer tank cover 11 and fixed with bolts, used to collect sensor signals and regulate the motor speed and direction, and electrically connected to the motor 2 and the torque sensor 31, used to collect signals and execute preset closed-loop control logic to realize graded speed regulation, reverse unblocking and fault protection; a planetary transmission device 5 and a fertilizer cutting device 6, wherein the planetary transmission device 5 is installed at the bottom of the fertilizer tank cover 11, used to transmit power to the fertilizer cutting device 6 to realize the rotation and revolution of the fertilizer cutting device 6; the fertilizer cutting device 6 is connected and installed below the planetary transmission device 5, and the fertilizer cutting device 6 is connected to the bearing and the planetary transmission device 5 through a key, used to complete the arch breaking and fertilizer cutting operations;

[0114] See Figure 4The planetary transmission device 5 transmits power to the fertilizer cutting device 6, enabling the fertilizer cutting device 6 to rotate and revolve. The planetary transmission device 5 includes a sun gear 51 and a planetary gear train 52. The output shaft of the motor 2 is connected to the sun gear 51 of the planetary transmission device 5 via a coupling through the combined seal of the cover, providing driving torque for the planetary gear train 52 and the fertilizer cutting device 6.

[0115] The planetary transmission device 5 in this embodiment further includes: a transmission main shaft 53, connected to the motor 2 via a coupling, for providing power to the entire device; a planetary gear train mounting base 54, installed at the bottom of the fat box cover 11, for providing a rigid mounting interface for the planetary gear train 52, the planetary gear train 52 being mounted on the planetary gear train mounting base 54 located in the lower region of the fat box inner liner, the sun gear 51 being connected to the transmission main shaft 53; an internal gear 55 and planetary gears 56, the internal gear 55 being connected to the fat box 1 via a fixed base. The lower inner connection is specifically connected to the lower flange of the fertilizer tank inner liner. The planetary gear 56 meshes with the sun gear 51 and the internal gear 55 simultaneously and is supported by the planetary carrier 57. This connection method transforms the single rotation of the motor into a compound motion of revolution and rotation of the fertilizer cutting shaft, which is used to expand the stirring coverage, eliminate dead corners, and provide a compound trajectory for the fertilizer cutting device. Specifically, it significantly expands the stirring and cutting coverage volume, forms a uniform three-dimensional disturbance and downward flow field, eliminates material dead corners in the lower part and corner areas of the tank, continuously breaks up arches, and promotes stable feeding.

[0116] In this embodiment, the planetary transmission device 5 further includes a double-layer movable sealing cover 58, which is installed above the planetary gear train 52. The lower end of the double-layer movable sealing cover 58 is fixed to the fertilizer tank cover 11 by bolts, providing a rigid support plane for fixing the planetary gear train 52. The middle and side of the upper end are provided with a first ring 581 and a second ring 582 that can pass through the transmission main shaft 53 and the stirring shaft 561 of the planetary gear 56. The second ring 582 rotates with the rotation of the stirring shaft 561 of the planetary gear 56 to achieve full enclosure of the planetary gear train.

[0117] See Figure 5-6 In this embodiment, the fertilizer cutting device 6 includes: a fertilizer cutting shaft 61, which is supported on the planetary carrier 57 by paired diagonal contact bearings and connected to the planetary carrier 57 by a key connection, for carrying the bionic eagle claw cutter head and realizing the rotation and revolution of the bionic eagle claw cutter head; and a bionic eagle claw cutter head 62, which is fixed to the fertilizer cutting shaft 61 by a key connection and bolts, and the fertilizer cutting shaft 61 carries the bionic eagle claw cutter head 62 and realizes the rotation and revolution of the bionic eagle claw cutter head 62.

[0118] See Figure 7-8The biomimetic eagle claw cutter head 62 is used to achieve the synergistic effect of tearing, cutting, and compacting fertilizer through a combined trajectory of revolution and rotation, breaking up fertilizer bridging and promoting continuous feeding. Multiple sets of the biomimetic eagle claw cutter heads 62 are arranged along the axial direction of the fertilizer cutting axis 61, for example, four sets. Adjacent sets are staggered by 60 degrees in the circumferential direction, ensuring that the cutting edge participates in cutting at any angular displacement and reducing torque pulsation. Each set of the biomimetic eagle claw cutter heads 62 has a sweep angle and a downward gripping angle, and the windward blade is equipped with serrations. Specifically, each set of biomimetic eagle claw cutter heads adopts a biomimetic geometry of sweep and downward gripping. A serrated blade is installed on the windward side, and the sweep angle causes the center line of the cutter arm to tilt backward relative to the radial line of rotation, guiding the material to detach smoothly from the blade tip along the cutter arm, reducing tangential resistance and torque requirements, and inhibiting the entanglement and coating of wet and sticky fertilizer on the cutter arm; the downward gripping angle generates a continuous axial pressure in the feeding direction, forcing the upper layer of material to be pressed towards the discharge port and establishing a three-dimensional mixing and feeding channel in conjunction with the revolution circulation, eliminating "mouse holes" and early bridging from the source; the serrated blade concentrates the contact pressure through the tooth tip, quickly tearing apart the clumps and promoting the crack penetration under the drive of the revolution trajectory, significantly improving the fertilizer cutting effect.

[0119] In this embodiment, the biomimetic eagle claw blade sweep angle is taken as follows: The center line of the cutter arm is tilted 30 degrees backward relative to the radial line of rotation in order to reduce tangential forces and transmission resistance.

[0120] The impact force F of the material on the cutter head is decomposed into a radial component. With tangential component F t Under the swept-back condition, the tangential component is approximately calculated as shown in formula (1):

[0121] Formula (1)

[0122] The corresponding cutting resistance torque is calculated using formula (2).

[0123] Formula (2)

[0124] In the formula: 𝐿 represents the lever arm length of the cutter arm, mm; Formulas (1) and (2) show that compared with a straight cutter ( Compared to 0), a 30-degree sweepback can theoretically reduce the tangential resistance torque by about 13.4%, thereby reducing motor energy consumption and guiding the material to smoothly detach from the blade arm towards the blade tip, suppressing entanglement and encapsulation.

[0125] The bionic eagle claw blade grips the tilt angle. The blade plane is inclined downward relative to the horizontal plane to generate an axial pressing force, which promotes the forced downward feeding of the upper material towards the discharge port. Its axial force is calculated as shown in formula (3):

[0126] Formula (3)

[0127] In the formula: N is the downward pressing force of the cutter head on the material; Formula (3) shows that when the cutter head rotates, it can form a significant axial downward pressure at the same time as the tangential disturbance, which superimposes with the horizontal circulation induced by the planetary revolution to form a three-dimensional mixing and arch-breaking flow field, quickly eliminating "mouse holes" and bridging.

[0128] The biomimetic eagle claw-shaped cutter head has serrated edges arranged on the windward cutting surface, with a tooth depth of... Tooth pitch p = 20mm, tooth tip angle The sharp tooth tips concentrate stress and improve tearing efficiency against wet, sticky agglomerates; under the total cutting force F t Under certain conditions, the local contact area A of the serrated edge t Much smaller than the effective contact area A of the flat blade f The local pressure is calculated as shown in formula (4):

[0129] Formula (4)

[0130] In the formula: and The nominal pressures of the serrated edge and the flat edge are respectively; Formula (4) shows that the serrations significantly increase the load per unit area, thereby efficiently tearing apart agglomerated plates and increasing the crushing rate.

[0131] In this embodiment, the monitoring device 3 further includes a photoelectric flow sensor 32, which is installed at the end of the discharge port and connected by a clamp. It is used to monitor the continuity of discharge and instantaneous volume in real time, and to provide flow criteria for the control system. The torque sensor 31 is installed at the output end of the motor 2 and fixed by a connecting sleeve. It is used to measure the driving torque and to provide load criteria for the control system.

[0132] See Figure 3 In this embodiment, the fertilizer box 1 includes: a fertilizer box outer shell 12, which provides structural support and external protection, and serves as the mounting base for the fertilizer box inner liner and the fertilizer box cover. It is welded from Q235 steel plate for easy installation on agricultural machinery frames; a fertilizer box inner liner 13, assembled inside the fertilizer box outer shell 12, fixed to the outer shell 12 by positioning ribs and fasteners, used to hold fertilizer and reduce accumulation and retention. Accumulation is reduced through polishing and a tapered bottom. The fertilizer box inner liner 13 is integrally stamped from 304 stainless steel with a smooth inner wall; and a fertilizer box annular sealing plate 14, fixed at the annular interlayer between the fertilizer box outer shell 12 and the fertilizer box inner liner 13, connected by circumferential welding or bolt ring connection, used to seal the interlayer, prevent fertilizer intrusion, and significantly improve the overall rigidity of the box. In this embodiment, the fertilizer box 1 adopts a double-layer structure of a square outer shell and a cylindrical inner liner. The fertilizer box outer shell 12 is used for support and installation, and the fertilizer box inner liner 13 is used to hold fertilizer.

[0133] The fertilizer tank cover 11 is connected to the upper opening of the fertilizer tank outer shell 12 by a hinge. A reinforcing mounting plate and a sealing ring are provided on the cover surface of the fertilizer tank cover 11 and tightened by bolts to seal the tank body and facilitate opening and maintenance. At the same time, it provides a rigid mounting interface for the motor 2 and the control device 4. The motor 2 is mounted on the reinforcing mounting plate to provide power for the planetary transmission and fertilizer cutting device. A protective cover 7 is also installed on the outside of the control device 4 and the motor 2 to protect the motor 2 and the control device 4 and other components, achieving dust and water protection.

[0134] The intelligent fertilizer tank anti-bridging and anti-clogging control device provided in this embodiment improves the system's integration and protection by placing the motor and controller on top and adding a protective cover. Through planetary gear transmission, the stirring shaft on the planetary gears achieves a combined revolution and rotation motion, which, combined with the cylindrical inner liner, enables thorough scraping of the fertilizer tank's inner wall. By adding a biomimetic eagle claw fertilizer cutter head to the stirring shaft, its sweep angle, downward gripping design, and serrated edge enable active and efficient cutting of hard, agglomerated fertilizer. Through real-time load feedback from a torque sensor, the control device executes multi-level intelligent speed regulation and automatic reverse anti-clogging strategies, aiming to fundamentally solve the problems of agglomeration, bridging, and clogging of high-moisture fertilizers, significantly improving the continuity, uniformity, and intelligence of fertilization operations, while ensuring the device's corrosion resistance, durability, and ease of maintenance.

[0135] Another embodiment of the present invention provides a method for controlling the arch breaking and anti-blocking of intelligent fertilizer boxes, employing the intelligent fertilizer box arch breaking and anti-blocking device as described in the foregoing embodiments. The control method includes:

[0136] S1. Before operation, based on the current fertilizer moisture content, particle size distribution, and expected operating conditions, set the motor's preventative operating speed n1, standard operating speed n2, reverse unblocking speed n3, and strong sweeping forward speed n4 in the control device; set the sampling period Δ. t Smoothing coefficient α T α Q Thresholds θ1, θ2, θ3, φ min φ zero Set the duration τ for the blockage and empty position criteria. j τ e and torque rise slope threshold κ T The above parameters are written to the control device and saved via the bus;

[0137] S2. Start the motor. The motor drives the sun gear in the fat box transmission device through the cover coupling. The planetary gear system drives the rotating shaft and the bionic eagle claw cutter head to enter low-speed intermittent operation (n = n1). The cutter head performs three-dimensional cutting and pressing on the material pile under the combined trajectory of revolution and rotation, forming the initial channel for continuous feeding.

[0138] S3. The fertilizer cutting device starts, and the reference flow rate Q is obtained and calculated through the monitoring device. r and real-time traffic Q(t);

[0139] The reference flow rate is calculated as shown in formula (5):

[0140] Formula (5)

[0141] In the formula, The reference volumetric flow rate at time t, in m³ / s; s m Displacement per unit speed, m³ / rpm; n m (t) represents the rotational speed of the metering fertilizer applicator at time t, in r / min; N r This represents the number of parallel manure rows; 60 is the unit conversion factor.

[0142] The real-time flow rate Q(t) is calculated as shown in formula (6):

[0143] Formula (6)

[0144] In the formula, Q(t) is the volumetric flow rate at time t, m³ / s; These are conversion factors; The count rate is 1 / s; ξ is the equivalent particle volume, m³ / particle; ξ is the correction factor.

[0145] S4. The control device synchronously acquires the output T(t) of the torque sensor and the output Q(t) of the photoelectric flow sensor, and obtains the result after first-order exponential smoothing. , The normalized torque-to-flow ratio was calculated, and the smoothed absolute volumetric flow rate (m³ / s) was used as the flow criterion.

[0146] The sensor outputs smoothness. , The calculation is shown in formulas (7) and (8):

[0147] Formula (7)

[0148] Formula (8)

[0149] The normalized torque-to-flow ratio is calculated as shown in formulas (9) and (10):

[0150] Formula (9)

[0151] Formula (10)

[0152] In the formula, , For smoothing coefficients; The rated torque is θ(t) and φ(t) are the normalized torque and normalized flow rate ratio, respectively; Δt is the sampling period.

[0153] S5. The control device determines the working status based on torque and flow rate values, defining four working conditions for the fertilizer tank. This is a normal, unobstructed state; It is in a lightly clumped state; The system is in a state of severe congestion. Currently in a cash position

[0154] The criteria for the four operating conditions are shown in formula (11):

[0155] Formula (11)

[0156] In the formula: The threshold for "blocking" The threshold for "stuck"; The absolute volumetric flow rate (m³ / s) is the smoothed value. The near-zero flow threshold; and Same unit; , For duration window; for no-load tolerance;

[0157] S6. The speed of the fertilizer cutting device is adjusted according to the working conditions of the fertilizer box;

[0158] The speed adjustment method is shown in formula (12):

[0159] Formula (12)

[0160] In the formula: For low-speed prevention gear, r / min, Standard stirring setting, r / min Reverse gear, r / min Strong sweep forward gear, r / min ( (n3 is the reverse gear, and its absolute value is not less than n2).

[0161] S7. When the control device receives a signal that the fertilizer box is in a certain state... When the current forward rotation is stopped, a "two-stage unblocking" process is executed, and a closed-loop condition is used to determine whether a loop is needed. The two-stage unblocking method is shown in formula (13):

[0162] Formula (13)

[0163] In the formula, Indicates reversal, r / min; For strong sweep forward rotation, r / min; , The duration is two phases, in seconds.

[0164] S8. The monitoring device monitors the changes in the fertilizer tank flow rate in real time, and when the requirements are met... At this time, the fertilizer box resumes low-speed intermittent fertilizer cutting.

[0165] S9. If the fat box operating condition obtained in step five is If this is the case, it means the fertilizer tank is empty, and the machine should be stopped immediately and refilled with fertilizer.

[0166] S10. After completing the fertilization, start the operation again from step two.

[0167] See Figure 9 , Figure 9 This is a flowchart of the control device according to an embodiment of the present invention. In this embodiment, a photoelectric flow sensor is installed in the transparent flow detection section of the discharge channel to output a particle blockage count signal to characterize the volumetric flow rate; a torque sensor is installed at the motor end to sense changes in the load of the fertilizer cutting mechanism. The control system receives two signals and executes closed-loop control according to preset logic: before operation, the preventive speed n1, standard speed n2, reverse speed n3, strong sweep speed n4, as well as parameters such as sampling period and smoothing coefficient are preset on the cab interface; after the operation starts, the fertilizer cutting device runs intermittently at a low speed of n1, and the system continuously collects torque and flow rate and performs smoothing and normalization; when it is determined to be empty, the drive is immediately stopped and a feeding prompt is given, and after feeding is completed, it returns to n1; when it is determined to be severely blocked, a two-stage unblocking process of "reverse unblocking stage" and "strong sweep forward rotation stage" is executed, and the recovery criteria are checked. If it is not recovered, the cycle strategy is repeated until it is resolved; when it is determined to be slightly agglomerated, it switches to n2 for continuous stirring to enhance arch breaking and downward conveying, and returns to monitoring after the state is resolved; in other cases, the low-speed intermittent operation of n1 is maintained to prevent re-bridging. This enables adaptive prevention and on-demand removal under different working conditions, ensuring continuous and uniform material feeding and improving the overall reliability and energy efficiency of the machine.

[0168] In the intelligent fertilizer box anti-bridging and anti-blocking control method based on planetary transmission and anti-fouling eagle claw cutting provided by the present invention, the control device intelligently adjusts the speed and direction of the drive device according to the signal of the torque sensor, realizing multi-level fertilizer cutting strategies such as "prevention", "standard" and "reverse blockage breaking", solving the problems of bridging, rat holes and blockage caused by fertilizer absorbing moisture and clumping, improving the stability and consistency of continuous fertilizer discharge, reducing energy consumption and extending the maintenance cycle.

[0169] The intelligent fertilizer box anti-blocking control device provided by this invention solves the problems of fertilizer easy to absorb moisture and clump, bridging and blockage, dead corners in mixing, unintelligent control, easy corrosion of transmission mechanism and difficult maintenance in the fertilizer box of existing fertilizer applicators. It realizes the proactive prevention and on-demand removal of blockage risk, ensures continuous, uniform and stable fertilizer feeding and significantly reduces manual intervention and operating energy consumption.

[0170] The intelligent fertilizer box anti-bridging and anti-clogging control device provided by this invention adopts a top-mounted motor and controller with a protective cover, and a double-layer movable sealing cover for the transmission cavity. The fertilizer box structure, with its outer square and inner circle shape and annular sealing plate, eliminates dead corners of accumulation and improves overall rigidity. Planetary gear transmission converts the single rotation of the motor into a composite motion of revolution and rotation of the fertilizer cutting shaft. Combined with biomimetic eagle claw cutters arranged axially and interlaced around the circumference, the device achieves a synergistic effect of grabbing, shearing, and pressing through sweeping, downward grabbing, and serrated wind-facing blades, efficiently breaking up bridging and forcibly feeding the fertilizer. At the monitoring level, a torque sensor and a photoelectric flow sensor are integrated. The control device uses a closed-loop speed regulation strategy with prevention, standard, reverse unblocking, and strong sweeping forward rotation. The empty bin automatically stops and replenishes material, and the blockage is cyclically unblocked according to the recovery criteria. At the maintenance level, a hinged box cover and bolt quick connection are used for easy inspection and replacement. Through the synergy of the above structure and control, this invention achieves long-term stable feeding under complex wet and sticky conditions, improves fertilizer application efficiency, system reliability, and intelligence level, and takes into account corrosion resistance and ease of maintenance.

[0171] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. An intelligent fertilizer box anti-bridging and anti-blocking device, characterized in that: include: A fertilizer tank and a motor, wherein the fertilizer tank includes a fertilizer tank cover and the motor is mounted on the fertilizer tank cover; A monitoring device is installed at the output end of the motor, and the monitoring device includes a torque sensor; A control device is installed on the fertilizer tank cover and connected to the motor and the torque sensor; A planetary transmission device and a fertilizer cutting device are provided. The planetary transmission device is installed at the bottom of the fertilizer tank cover. The fertilizer cutting device is connected and installed below the planetary transmission device to complete the arch breaking and fertilizer cutting operations. The planetary transmission device transmits power to the fertilizer cutting device, enabling the fertilizer cutting device to rotate and revolve. The planetary transmission device includes a sun gear and a planetary gear train. The output shaft of the motor is connected to the sun gear of the planetary transmission device via a coupling, providing driving torque to the planetary gear train and the fertilizer cutting device.

2. The intelligent fertilizer box anti-bridging and anti-blocking device according to claim 1, characterized in that: The planetary transmission device also includes: The drive shaft is connected to the motor via a coupling; A planetary gear train mounting base is installed at the bottom of the bulkhead cover, the planetary gear train is mounted on the planetary gear train mounting base, and the sun gear is connected to the transmission main shaft; The internal gear and planetary gears are connected to the lower part of the fat box via a fixed seat. The planetary gears mesh with the sun gear and the internal gear simultaneously and are supported by the planet carrier.

3. The intelligent fertilizer box anti-bridging and anti-blocking device according to claim 2, characterized in that: The planetary transmission device also includes a double-layer movable sealing cover, which is installed above the planetary gear train; The lower end of the double-layer movable sealing cover is fixed to the fertilizer tank cover, and the middle and side of the upper end are provided with a first ring and a second ring that can pass through the transmission main shaft and the stirring shaft of the planetary gear. The second ring rotates with the rotation of the stirring shaft of the planetary gear.

4. The intelligent fertilizer box anti-bridging and anti-blocking device according to claim 2, characterized in that: The fertilizer cutting device includes: The cutting shaft is supported on the planetary carrier by paired diagonal contact bearings and connected to the planetary carrier by a key connection; A biomimetic eagle claw cutter head is fixed on the cutting shaft, and the cutting shaft carries the biomimetic eagle claw cutter head and realizes the rotation and revolution of the biomimetic eagle claw cutter head.

5. The intelligent fertilizer box anti-bridging and anti-blocking device according to claim 4, characterized in that: Multiple sets of the biomimetic eagle claw blades are arranged along the axial direction of the cutting axis, with adjacent sets staggered by 60 degrees in the circumferential direction. Each set of biomimetic eagle claw blades has a sweep angle and a downward gripping angle, and the windward blade is equipped with serrations.

6. The intelligent fertilizer box anti-bridging and anti-blocking device according to claim 5, characterized in that: The sweep angle of the biomimetic eagle claw blade is taken as follows: The center line of the cutter arm is tilted 30 degrees backward relative to the radial line of rotation in order to reduce tangential forces and transmission resistance. The impact force F of the material on the cutter head is decomposed into a radial component. With tangential component F t Under the swept-back condition, the tangential component is approximately calculated as shown in formula (1): Official (1) The corresponding cutting resistance torque is calculated using formula (2). Official (2) In the formula: 𝐿 represents the length of the lever arm of the cutter arm, in mm; The bionic eagle claw blade grips the tilt angle. The blade plane is inclined downward relative to the horizontal plane to generate an axial pressing force, which promotes the forced downward feeding of the upper material towards the discharge port. Its axial force is calculated as shown in formula (3): Official (3) In the formula: The downward pressing force exerted by the cutter head on the material, in N; The biomimetic eagle claw-shaped cutter head has serrated edges arranged on the windward cutting surface, with a tooth depth of... Tooth pitch p = 20mm, tooth tip angle The sharp tooth tips concentrate stress and improve tearing efficiency against wet, sticky agglomerates; under the total cutting force F t Under certain conditions, the local contact area A of the serrated edge t Much smaller than the effective contact area A of the flat blade f The local pressure is calculated as shown in formula (4): Official (4) In the formula: and These are the nominal pressures of the serrated edge and the flat edge, respectively.

7. The intelligent fertilizer box anti-bridging and anti-blocking device according to claim 1, characterized in that: The monitoring device also includes a photoelectric flow sensor installed at the end of the discharge port for real-time monitoring of the continuity and instantaneous volume of the discharge; the torque sensor is installed at the output end of the motor for measuring the drive torque and providing load criteria for the control system.

8. The intelligent fertilizer box anti-bridging and anti-blocking device according to claim 1, characterized in that: The fertilizer box includes: Fertilizer box outer shell; The fertilizer tank inner liner is assembled inside the fertilizer tank outer shell and is fixed to the fertilizer tank outer shell by positioning ribs and fasteners. The annular sealing plate of the fertilizer tank is fixed at the annular interlayer between the outer shell of the fertilizer tank and the inner liner of the fertilizer tank, and is connected by circumferential welding or bolt ring assembly.

9. The intelligent fertilizer box anti-bridging and anti-blocking device according to claim 8, characterized in that: The fertilizer tank cover is connected to the upper opening of the fertilizer tank shell by a hinge, and a reinforcing mounting plate and a sealing ring are provided on the cover surface of the fertilizer tank cover. The motor is mounted on the reinforcing mounting plate. The control device and the motor are also equipped with protective covers on their outer sides.

10. A method for controlling arch breaking and blockage prevention in intelligent fertilizer bins, characterized in that: The control method of the intelligent fertilizer box anti-bridging and anti-blocking device as described in any one of claims 1-9 includes: S1. Before operation, based on the current fertilizer moisture content, particle size distribution, and expected operating conditions, set the motor's preventative operating speed n1, standard operating speed n2, reverse unblocking speed n3, and strong sweeping forward speed n4 in the control device; set the sampling period Δ. t Smoothing coefficient α T α Q Thresholds θ1, θ2, θ3, φ min φ zero Set the duration τ for the blockage and empty position criteria. j τ e and torque rise slope threshold κ T The above parameters are written to the control device and saved via the bus; S2. Start the motor. The motor drives the sun gear in the fat box transmission device through the cover coupling. The planetary gear system drives the rotating shaft and the bionic eagle claw cutter head to enter low-speed intermittent operation (n = n1). The cutter head performs three-dimensional cutting and pressing on the material pile under the combined trajectory of revolution and rotation, forming the initial channel for continuous feeding. S3. The fertilizer cutting device starts, and the reference flow rate Q is obtained and calculated through the monitoring device. r and real-time traffic Q(t); The reference flow rate is calculated as shown in formula (5): Official (5) In the formula, The reference volumetric flow rate at time t, in m³ / s; s m Displacement per unit speed, m³ / rpm; n m (t) represents the rotational speed of the metering fertilizer applicator at time t, in r / min; N r This represents the number of parallel manure rows; 60 is the unit conversion factor. The real-time flow rate Q(t) is calculated as shown in formula (6): Official (6) In the formula, Q(t) is the volumetric flow rate at time t, m³ / s; These are conversion factors; The count rate is 1 / s; ξ is the equivalent particle volume, m³ / particle; ξ is the correction factor. S4. The control device synchronously acquires the output T(t) of the torque sensor and the output Q(t) of the photoelectric flow sensor, and obtains the result after first-order exponential smoothing. , The normalized torque-to-flow ratio was calculated, and the smoothed absolute volumetric flow rate (m³ / s) was used as the flow criterion. The sensor outputs smoothness. , The calculation is shown in formulas (7) and (8): Official (7) Official (8) The normalized torque-to-flow ratio is calculated as shown in formulas (9) and (10): Official (9) Official (10) In the formula, , For smoothing coefficients; The rated torque is θ(t) and φ(t) are the normalized torque and normalized flow rate ratio, respectively; Δt is the sampling period. S5. The control device determines the working status based on torque and flow rate values, defining four working conditions for the fertilizer tank. This is a normal, unobstructed state; It is in a lightly clumped state; The system is in a state of severe congestion. Currently in a cash position The criteria for the four operating conditions are shown in formula (11): Official (11) In the formula: The threshold for "clumping" The threshold for "stuck"; The absolute volumetric flow rate (m³ / s) is the smoothed value. The near-zero flow threshold; and Same unit; , For duration window; for no-load tolerance; S6. The speed of the fertilizer cutting device is adjusted according to the working conditions of the fertilizer box; The speed adjustment method is shown in formula (12): Official (12) In the formula: For low-speed prevention gear, r / min, Standard stirring setting, r / min Reverse gear, r / min Strong sweep forward gear, r / min ( (n3 is the reverse gear, and its absolute value is not less than n2). S7. When the control device receives a signal that the fertilizer box is in a certain state... When the current forward rotation is stopped, a "two-stage unblocking" process is executed, and a closed-loop condition is used to determine whether a loop is needed. The two-stage unblocking method is shown in formula (13): Official (13) In the formula, Indicates reversal, r / min; For strong sweep forward rotation, r / min; , The duration is two phases, in seconds. S8. The monitoring device monitors the changes in the fertilizer tank flow rate in real time, and when the requirements are met... At this time, the fertilizer box resumes low-speed intermittent fertilizer cutting. S9. If the fat box operating condition obtained in step five is If this is the case, it means the fertilizer tank is empty, and the machine should be stopped immediately and refilled with fertilizer. S10. After completing the fertilization, start the operation again from step two.

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