Intelligentized crawler-type ridging, furrowing, fertilizing and covering machine

Abstract

This utility model discloses an intelligent tracked ridging, ditching, fertilizing, and covering machine, belonging to the field of agricultural machinery and equipment technology. The machine includes a tracked chassis, a spiral feeding and discharging device, and an intelligent control system. The spiral feeding and discharging device consists of a stepper motor directly driving a spiral shaft with a pitch of 50-80mm and a gap of ≤1mm between the outer edge of the spiral blades and the inner wall of the discharging pipe. The intelligent control system includes a PLC controller, a speed sensor, a photoelectric sensor, and a material level sensor, realizing dynamic matching of walking speed and fertilizer application rate, detection of fertilizer outlet blockage, and material level monitoring functions. This integrated machine, through a combination of intelligent control and optimized mechanical structure, solves the technical problems of low precision, poor efficiency, and weak adaptability in traditional agricultural machinery operations, thus improving the level of automation in agricultural production.

Description

Technical Field

[0001] This utility model relates to the field of tracked integrated machines, and in particular to an intelligent tracked integrated machine for ridging, ditching, fertilizing and covering soil. Background Technology

[0002] Existing fertilizer application machinery suffers from the following main problems: First, its level of intelligence is low, making it difficult to achieve precise control of fertilizer application based on walking speed; second, uneven fertilizer application leads to nutrient imbalance, affecting crop yield and quality; third, wheeled fertilizer applicators have poor adaptability in hilly areas and special fields; and fourth, existing fertilizer applicators are difficult to accurately control the amount of fertilizer applied, resulting in low fertilization precision. Therefore, there is an urgent need for an intelligent tracked integrated machine for ridging, ditching, fertilizing, and covering the soil to solve the problems existing in the above-mentioned fertilizer application machinery. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide an intelligent tracked ridging, ditching, fertilizing and covering machine that solves the problem of poor adaptability of wheeled fertilizer applicators, ensures accurate control of fertilizer application, and improves the level of intelligence.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is: an intelligent tracked ridging, ditching, fertilizing and covering machine, comprising;

[0005] Tracked chassis;

[0006] The machine frame is connected to a tracked chassis. The frame houses a screw feeding and discharging device, an intelligent control system, a rotary trenching device, and a soil covering device. The screw feeding and discharging device includes a fertilizer bin, a screw shaft, and a stepper motor. The fertilizer bin is connected to the frame, and the screw shaft is rotatably connected inside the fertilizer bin. The screw shaft has a first and a second screw blade with opposite spiral directions. The bottom of the fertilizer bin has a discharge port located below the ends of the first and second screw blades, connected to a discharge outlet. The intelligent control system includes a PLC controller, a speed sensor, a photoelectric sensor, and a level sensor. The speed sensor monitors the walking speed in real time and feeds it back to the PLC controller to dynamically adjust the stepper motor speed. The photoelectric sensor is located at the discharge outlet to detect material interruption or blockage and trigger an audible and visual alarm. The level sensor is located inside the fertilizer bin; a low level triggers an alarm. The rotary trenching device is located on both sides of the discharge outlet, and the soil covering device is located behind it.

[0007] Furthermore, the pitch of the spiral shafts of the first and second spiral blades is 50-80mm, and the gap between the outer edge of the spiral blade and the inner wall of the discharge port is ≤1mm.

[0008] Furthermore, the rotary trenching device includes a first disc, a second disc, a rotating shaft, a belt, a drive motor, and a soil-removing plate. The soil-removing plate is inclinedly connected to the frame. The first disc is rotatably connected to the soil-removing plate. Several soil-removing hooks are provided on the outer circumference of the first disc. The second disc is rotatably connected to the first disc through the rotating shaft. The second disc is located near the fertilizer discharge port. The structure of the second disc is the same as that of the first disc. The first and second discs are inclined, and the inclination angle is the same as that of the soil-removing plate. The drive motor is connected to the frame, and the conveyor shaft of the drive motor is connected to the rotating shaft through a belt.

[0009] Furthermore, the soil covering device includes a first soil covering plate and a second soil covering plate. Both the first soil covering plate and the second soil covering plate are connected to the frame at an incline. Both the first soil covering plate and the second soil covering plate are located outside the soil scraping plate. The first soil covering plate and the second soil covering plate are symmetrically arranged with respect to the discharge port. The openings of the first soil covering plate and the second soil covering plate gradually decrease in size along the X direction.

[0010] Furthermore, the surface of the digging hook is provided with a tungsten carbide wear-resistant layer with a thickness of 0.3-0.5mm.

[0011] The beneficial effects of this utility model are as follows: By adopting a tracked structure instead of a wheeled structure, the adaptability in hilly tobacco-growing areas and special tobacco fields (such as deep-ridged fields and muddy fields) is significantly improved; the improved screw feeding structure is directly connected to the stepper motor, and precise control of the screw speed enables precise control of fertilizer output, ensuring the technical requirements of fertilizer application uniformity, continuity, and quantitative application per plant, thereby improving the uniformity of tobacco plant growth and the quality of tobacco leaves; the introduced intelligent control system monitors the travel speed in real time through a speed sensor, and the controller automatically calculates the stepper motor speed based on the travel speed, matching the travel speed with the fertilizer output, improving the fertilization accuracy to over 98%, and enhancing fertilizer utilization; the combination of photoelectric sensors and material level sensors... The system effectively monitors the fertilizer status in the hopper, automatically alarming when fertilizer levels decrease or become clogged, thus improving operational reliability. The optimized design of the ridging roller structure and parameters enhances soil breaking and ridge stability, achieving a soil breaking rate of over 80%, a fertilizer breakage rate of ≤1%, a uniformity coefficient of variation in fertilizer application across rows of ≤9%, and a stability coefficient of variation in total fertilizer application of ≤5.5%. All these indicators are superior to conventional production methods. Compared to existing technologies, this invention increases production efficiency by over 50%, effectively reduces labor intensity, lowers production costs by over 40%, and saves an average of 37.2 yuan / mu in labor costs. Simultaneously, it improves ridge quality and fertilization precision, better adapting to the complex terrain of hilly and mountainous areas and the agronomic requirements of ridge planting for tobacco. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of an intelligent tracked ridging, ditching, fertilizing and covering machine according to a specific embodiment of the present invention.

[0013] Figure 2 A top view of an intelligent tracked ridging, ditching, fertilizing, and soil-covering integrated machine according to a specific embodiment of this utility model.

[0014] Figure 3 A side view of an intelligent tracked ridging, ditching, fertilizing, and soil-covering integrated machine according to a specific embodiment of this utility model.

[0015] Figure 4 This is a schematic diagram of the electrical connections for a PLC controller.

[0016] Label Explanation

[0017] 1. Tracked chassis;

[0018] 2. Rack;

[0019] 3. Screw feeder and fertilizer discharge device; 31. Fertilizer box; 311. Discharge port; 3111. Fertilizer discharge port; 32. Screw shaft; 321. First screw blade; 322. Second screw blade; 33. Stepper motor;

[0020] 4. PLC controller; 41. Speed ​​sensor; 42. Photoelectric sensor; 43. Material level sensor;

[0021] 5. Rotary trenching device; 51. First disc; 511. Soil-digging hook; 52. Second disc; 53. Rotating shaft; 54. Belt; 55. Drive motor; 56. Soil-digging plate;

[0022] 6. Soil covering device; 61. First soil covering plate; 62. Second soil covering plate. Detailed Implementation

[0023] To explain in detail the technical content, objectives, and effects of this utility model, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0024] Please refer to Figures 1 to 4 An intelligent tracked ridging, ditching, fertilizing, and covering machine, comprising:

[0025] Tracked chassis 1;

[0026] Frame 2 is connected to tracked chassis 1. Frame 2 is equipped with a screw feeding and discharging device 3, an intelligent control system, a rotary trenching device 5, and a soil covering device 6. The screw feeding and discharging device 3 includes a fertilizer box 31, a screw shaft 32, and a stepper motor 33. The fertilizer box 31 is connected to the frame 2, and the screw shaft 32 is rotatably connected inside the fertilizer box 31. The screw shaft 32 has a first screw blade 321 and a second screw blade 322, with opposite screw directions. The bottom of the fertilizer box 31 has a discharge port 311, located between the first screw blade 321 and the second screw blade 322. Below the end of the spiral blade 322, the discharge port 311 is connected to the fertilizer outlet 3111. The intelligent control system includes a PLC controller 4, a speed sensor 41, a photoelectric sensor 42, and a material level sensor 43. The speed sensor 41 monitors the walking speed in real time and feeds it back to the PLC controller 4 to dynamically adjust the speed of the stepper motor 33. The photoelectric sensor 42 is located at the fertilizer outlet 3111 to detect material interruption or blockage and trigger an audible and visual alarm. The material level sensor 43 is located inside the fertilizer box 31 and triggers an alarm when the material level is low. The rotary trenching device 5 is located on both sides of the fertilizer outlet 3111, and the soil covering device 6 is located behind the rotary trenching device 5.

[0027] The method for controlling the stepper motor speed using a speed sensor is as follows:

[0028] The target fertilizer application rate per unit area is d = 0.1 kg / m² (equivalent to 1000 kg / hectare).

[0029] Working width w = 0.5 meters (determined by the rotary trenching device, fertilizer covering width).

[0030] Characteristics of the screw feeder: The amount of fertilizer discharged per screw shaft revolution k = 0.01 kg / revolution (determined by the design of the screw blades and the type of fertilizer).

[0031] Constant calculation: C = dw / k = 0.1 × 0.5 / 0.01 = 5 revolutions / meter

[0032] This means that for every meter the machine travels, the auger needs to rotate 5 times to maintain a consistent amount of fertilizer.

[0033] When walking at a low speed (e.g., v = 10 meters / minute):

[0034] PLC calculates the stepper motor speed: n = C × v = 5 × 10 = 50 revolutions per minute

[0035] At this point, the fertilization rate r = k × n = 0.01 × 50 = 0.5 kg / min. The coverage rate = v × w = 10 × 0.5 = 5 square meters / min.

[0036] The fertilizer application rate per unit area is d = r / (v × w) = 0.5 / 5 = 0.1 kg / m² (which meets the set value).

[0037] In the above embodiments, the tracked chassis 1 serves as the mobile foundation of the entire integrated machine. Made of high-strength steel, it possesses strong passability and stability, enabling it to adapt to operational needs under various complex terrain conditions. The tracked design increases the ground contact area, effectively reducing ground pressure and soil compaction, thus protecting the soil structure. The fertilizer bin 31 utilizes the first and second helical blades 321 and 322 within its casing to deliver the fertilizer to the outlet 311. The stepper motor 33 employs high-precision control, enabling precise speed adjustment to ensure accurate fertilizer application. The PLC controller 4, using an industrial-grade processor, boasts high reliability and anti-interference capabilities. It receives signals from various sensors, performs intelligent processing, and outputs control commands. A speed sensor 41, installed on the tracked drive system, monitors the walking speed in real time and feeds the data back to the PLC controller 4. The PLC controller 4 dynamically adjusts the stepper motor 33's speed based on speed changes, achieving automatic matching between fertilizer application rate and walking speed, ensuring consistent fertilizer application per unit area. Photoelectric sensors 42 are located on both sides of the fertilizer discharge port 3111, employing through-beam infrared sensor technology. When fertilizer flow is interrupted or the fertilizer discharge port 3111 becomes blocked, the photoelectric beam is interrupted or abnormally reflected. The sensor immediately sends a signal to the PLC controller 4, triggering an audible and visual alarm to remind the operator to handle the situation promptly. The material level sensor 43 is located inside the material hopper, employing ultrasonic probe technology with a detection blind zone of no more than 5cm. When the fertilizer level falls below the preset warning line, a low-level alarm is triggered, reminding the operator to add fertilizer in time to avoid uneven fertilization caused by idling. Through the rear rotary trenching device 5 and the soil covering device 6, fertilization, trenching, and soil covering are integrated.

[0038] As an optional implementation, the pitch of the spiral shaft 32 of the first spiral blade 321 and the second spiral blade 322 is 50-80mm, and the gap between the outer edge of the spiral blade and the inner wall of the discharge port 311 is ≤1mm.

[0039] In the above embodiments, fertilizer delivery is made more uniform and stable, avoiding fertilizer clumping and blockage. The gap between the outer edge of the spiral blade and the inner wall of the discharge port 311 is controlled to be no more than 1mm. This tight fit design effectively prevents the jamming and accumulation of fine fertilizer particles, improving the smoothness and accuracy of fertilizer discharge. The discharge port 311 connects to the fertilizer discharge port 3111, forming a complete fertilizer delivery channel.

[0040] As an optional implementation, the rotary trenching device 5 includes a first disc 51, a second disc 52, a rotating shaft 53, a belt 54, a drive motor 55, and a soil-removing plate 56. The soil-removing plate 56 is inclinedly connected to the frame 2. The first disc 51 is rotatably connected to the soil-removing plate 56. Several soil-removing hooks 511 are provided on the outer circumference of the first disc 51. The second disc 52 is rotatably connected to the first disc 51 through the rotating shaft 53. The second disc 52 is located near the fertilizer discharge port 3111. The structure of the second disc 52 is the same as that of the first disc 51. The first disc 51 and the second disc 52 are inclined, and the inclination angle is the same as that of the soil-removing plate 56. The drive motor 55 is connected to the frame 2, and the conveying shaft of the drive motor 55 is connected to the rotating shaft 53 through the belt 54.

[0041] In the above embodiments, the drive motor 55 is turned on, and the belt 54 pulley rotates, driving the first disc 51 and the second disc 52 to rotate, thereby opening a trench in the soil. Since the first disc 51 and the second disc 52 are set at an angle, the soil can be discharged outward from the soil-removing plate 56, and the fertilizer in the discharge port 311 falls into the trench.

[0042] As an optional implementation, the soil covering device 6 includes a first soil covering plate 61 and a second soil covering plate 62. The first soil covering plate 61 and the second soil covering plate 62 are both connected to the frame 2 at an incline. The first soil covering plate 61 and the second soil covering plate 62 are both located outside the soil scraping plate 56. The first soil covering plate 61 and the second soil covering plate 62 are symmetrically arranged with respect to the discharge port 311. The openings of the first soil covering plate 61 and the second soil covering plate 62 gradually decrease in size along the X direction.

[0043] In the above embodiments, the first covering plate 61 and the second covering plate 62 cover the soil discharged by the excavation plate 56 back into the trench.

[0044] As an optional implementation, the surface of the digging hook 511 is provided with a tungsten carbide wear-resistant layer with a thickness of 0.3-0.5mm.

[0045] The above implementation significantly improves the service life of the digging hook 511, reduces the replacement frequency, and lowers maintenance costs.

[0046] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent modifications made based on the content of this utility model specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. An intelligent tracked machine for ridging, ditching, fertilizing, and covering soil, characterized in that, include; Tracked chassis; The machine frame is connected to a tracked chassis. The frame houses a screw feeding and discharging device, an intelligent control system, a rotary trenching device, and a soil covering device. The screw feeding and discharging device includes a fertilizer bin, a screw shaft, and a stepper motor. The fertilizer bin is connected to the frame, and the screw shaft is rotatably connected inside the fertilizer bin. The screw shaft has a first and a second screw blade with opposite spiral directions. The bottom of the fertilizer bin has a discharge port located below the ends of the first and second screw blades, connected to a discharge outlet. The intelligent control system includes a PLC controller, a speed sensor, a photoelectric sensor, and a level sensor. The speed sensor monitors the walking speed in real time and feeds it back to the PLC controller to dynamically adjust the stepper motor speed. The photoelectric sensor is located at the discharge outlet to detect material interruption or blockage and trigger an audible and visual alarm. The level sensor is located inside the fertilizer bin; a low level triggers an alarm. The rotary trenching device is located on both sides of the discharge outlet, and the soil covering device is located behind it.

2. The tracked ridging, ditching, fertilizing, and covering machine according to claim 1, characterized in that, The pitch of the spiral shafts of the first and second spiral blades is 50-80mm, and the gap between the outer edge of the spiral blade and the inner wall of the discharge port is ≤1mm.

3. The tracked ridging, ditching, fertilizing, and covering machine according to claim 1, characterized in that, The rotary trenching device includes a first disc, a second disc, a rotating shaft, a belt, a drive motor, and a soil-removing plate. The soil-removing plate is inclinedly connected to the frame. The first disc is rotatably connected to the soil-removing plate. Several soil-removing hooks are provided on the outer circumference of the first disc. The second disc is rotatably connected to the first disc through the rotating shaft. The second disc is located near the fertilizer discharge port. The structure of the second disc is the same as that of the first disc. The first and second discs are inclined, and the inclination angle is the same as that of the soil-removing plate. The drive motor is connected to the frame, and the conveyor shaft of the drive motor is connected to the rotating shaft through a belt.

4. The tracked ridging, ditching, fertilizing, and covering machine according to claim 1, characterized in that, The soil covering device includes a first soil covering plate and a second soil covering plate. Both the first soil covering plate and the second soil covering plate are connected to the frame at an incline. Both the first soil covering plate and the second soil covering plate are located outside the soil scraping plate. The first soil covering plate and the second soil covering plate are symmetrically arranged with respect to the discharge port. The openings of the first soil covering plate and the second soil covering plate gradually decrease in size along the X direction.

5. The tracked ridging, ditching, fertilizing, and covering machine according to claim 3, characterized in that, The surface of the digging hook is covered with a tungsten carbide wear-resistant layer with a thickness of 0.3-0.5mm.

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