CN110915333B - Intelligent rotary tillage, seeding, fertilizing and pesticide spraying composite operation machine - Google Patents

Abstract

The invention provides an intelligent rotary tillage, sowing, fertilizing and spraying composite operation machine in the technical field of agricultural machinery, comprising a frame, a rotary tillage blade shaft is rotatably connected to the front part of the frame, a fertilizer box is connected to the frame behind the rotary tillage blade shaft, a seed box is connected to the frame behind the fertilizer box, a plurality of fertilizer outlets are arranged at the bottom of the fertilizer box, a plurality of seed outlets are arranged at the bottom of the seed box, a plurality of fertilizer dischargers corresponding to the fertilizer outlets are arranged at the lower side of the fertilizer box, a plurality of seed dischargers corresponding to the seed outlets are arranged at the lower side of the seed box, the fertilizer box and the seed box can both move up and down, a plurality of fertilizer box weight sensors corresponding to the fertilizer dischargers are fixedly connected to the lower side of the fertilizer box, the fertilizer dischargers are fixedly connected to the lower side of the fertilizer box weight sensor, a plurality of seed box weight sensors corresponding to the seed dischargers are fixedly connected to the lower side of the seed box, a liftable pressing wheel is connected to the frame behind the seed box, and a height-adjustable nozzle is connected to the frame behind the pressing wheel. The invention ensures the uniformity of sowing and fertilization.

Description

An intelligent rotary tillage, sowing, fertilizing and spraying compound machine

Technical Field

The invention belongs to the technical field of agricultural control, and in particular relates to an intelligent rotary tillage, sowing, fertilizing and spraying compound operation machine.

Background technique

China is a big agricultural country. Agricultural mechanization plays a vital role in the development of my country's modern agriculture. Rice, one of my country's three major grain crops, plays an important role in my country's food security. In the planting process, seeding machinery is widely used. Mechanical direct seeding has the advantages of saving labor, time, and effort, saving seeds and fertilizers, and high production efficiency.

In order to further improve the efficiency of agricultural planting, in the prior art, a composite operating machine integrating rotary tillage, sowing and fertilization is used for planting. The composite operating machine includes a frame, the front part of the frame is rotatably connected to a rotary tillage blade shaft, a plurality of rotary tillage blades are arranged on the rotary tillage blade shaft, a seed box and a fertilizer box are connected to the frame behind the rotary tillage blade shaft, and the front and rear positions of the seed box and the fertilizer box can be set according to actual needs. A plurality of fertilizer outlets are arranged on the fertilizer box, a plurality of seed outlets are arranged on the seed box, a plurality of seed dischargers corresponding to the seed outlets are arranged on the lower side of the seed box, and a plurality of fertilizer dischargers corresponding to the fertilizer outlets are arranged on the lower side of the fertilizer box. The seeds and fertilizers are respectively discharged into the soil by the seed discharger and the fertilizer discharger. In this design, although automatic seed and fertilizer discharge can be realized, the seed and fertilizer discharge amounts cannot be detected during the operation, and the uniformity of sowing and fertilization cannot be guaranteed.

Summary of the invention

In view of the defects in the prior art, the purpose of the present invention is to solve the technical problem that the prior art cannot ensure the uniformity of sowing and fertilization. The present invention proposes an intelligent rotary tillage, sowing, fertilization and spraying compound operation machine. The present invention can detect the seeding amount and fertilizer amount during the operation of the agricultural machinery, realize the adjustment of the seeding amount and fertilizer amount, and ensure the uniformity of sowing and fertilization.

The objective of the present invention is achieved in this way: an intelligent rotary tillage, sowing, fertilizing and spraying compound operation machine comprises a frame, the front part of the frame is rotatably connected with a rotary tillage blade shaft, a plurality of rotary tillage blades are arranged on the rotary tillage blade shaft, a fertilizer box is connected to the frame behind the rotary tillage blade shaft, a seed box is connected to the frame behind the fertilizer box, a plurality of fertilizer outlets are arranged at the bottom of the fertilizer box, a plurality of seed outlets are arranged at the bottom of the seed box, a plurality of fertilizer dischargers corresponding to the fertilizer outlets are arranged on the lower side of the fertilizer box, a plurality of seed dischargers corresponding to the seed outlets are arranged on the lower side of the seed box, the fertilizer box and the seed box can both move up and down, a plurality of fertilizer box weight sensors corresponding to the fertilizer dischargers are fixedly connected to the lower side of the fertilizer box weight sensor, a plurality of seed box weight sensors corresponding to the seed dischargers are fixedly connected to the lower side of the seed box, a liftable pressing wheel is connected to the frame behind the seed box, and a height-adjustable nozzle is connected to the frame behind the pressing wheel.

In the present invention, the rotation speed of the seeding shaft is controlled by the seeding motor. The faster the rotation speed of the seeding shaft is, the greater the amount of seeds discharged per unit time. The rotation speed of the fertilizer discharge shaft is controlled by the fertilizer discharge motor. The faster the rotation speed of the fertilizer discharge shaft is, the greater the amount of fertilizer discharged per unit time. The fertilizer box weight sensor detects the weight of the fertilizer box in real time, and the seed box weight sensor detects the weight of the seed box in real time. The amount of fertilizer discharged per unit time can be calculated through the weight change of the fertilizer box, and the amount of seeds discharged per unit time can be calculated through the weight change of the seed box. When the amount of fertilizer discharged exceeds the set fertilizer discharge threshold range, the seeding motor is controlled to reduce the rotation speed, and the amount of fertilizer discharged is lower than the set fertilizer discharge threshold When the amount of fertilizer discharged is within the threshold range of the amount of fertilizer discharged, the motor of fertilizer discharged continues to operate at the original speed; when the amount of seed discharged exceeds the set threshold range of the amount of seed discharged, the motor of seed discharged is controlled to reduce the speed; when the amount of seed discharged is lower than the set threshold range of the amount of seed discharged, the motor of seed discharged is controlled to increase the speed; when the amount of seed discharged is within the set threshold range of the amount of seed discharged, the motor of seed discharged continues to operate at the original speed; the present invention can realize the detection of the amount of seed discharged and the amount of fertilizer discharged, so as to keep the amount of seed discharged and the amount of fertilizer discharged stable and ensure the uniformity of the amount of fertilizer discharged and the amount of seed discharged; it can be applied to the composite operation of rotary tillage, fertilization, sowing and spraying.

In order to further achieve the height adjustment of the pressing wheel, a plurality of linear drives are fixedly connected to the frame, and the linear drive is connected to a lifting rod that extends upward and can make reciprocating linear movements, and the lifting rod is connected to a liftable connecting rod, and a pressing wheel pressure sensor is fixedly connected to the lower side of the connecting rod, and a connecting frame is fixedly connected to the lower side of the pressing wheel pressure sensor, and the lower part of the connecting frame is rotatably connected to the pressing wheel; in this design, the pressing wheel pressure sensor detects the pressure of the pressing wheel exerted on the ground, and when the pressure exerted on the pressing wheel exceeds a set threshold value, the linear drive is actuated to make the lifting rod rise, and when the pressure exerted on the pressing wheel is less than the set threshold value, the linear drive is reversed to make the lifting rod descend, and when the pressure exerted on the pressing wheel is within the set threshold range, the linear drive stops.

In order to further adjust the spraying amount of the nozzle, a pressure pump is connected to the frame facing outward of the fertilizer box, and a medicine pipe is connected to the pressure pump. The medicine pipe is a hose, which extends backward and is connected to the frame. The rear part of the medicine pipe is connected to the nozzle, and the left and right sides of the rear part of the frame are rotatably connected to the nozzle support plate, and the nozzle is fixedly connected to the nozzle support plate. The frame is also connected to a second linear drive, and the second linear drive is connected to a push-pull rod that extends upward and can move back and forth in a straight line. The push-pull rod is hinged to the pressure regulating rod of the pressure pump, and the left and right sides of the frame behind the second linear drive are respectively connected to a third linear drive, and the third linear drive is connected to a telescopic rod that extends backward and upward, and the telescopic rod can move back and forth in a straight line, and the end of the telescopic rod that extends upward is hinged to the nozzle support plate; the outer side of each of the nozzle support plates is connected to a nozzle height detection assembly, and n nozzles are provided and are all fixed on the rear side of the nozzle support plate. The nozzle height detection assembly includes a second distance sensor and a fixed plate fixedly connected to the outer side of the nozzle support plate. The outward side of the fixing plate is fixedly connected with an infrared emitting fixing seat 2 and a lower supporting seat 2 which are spaced apart in the height direction, the infrared emitting fixing seat 2 is above the lower supporting seat 2, and movable rods 2 are slidably connected to the infrared emitting fixing seat 2 and the lower supporting seat 2, and a drag plate 2 is arranged at the lower side of the movable rod 2, and a buffer spring 2 is mounted on the movable rod 2, and the buffer spring 2 is between the infrared emitting fixing seat 2 and the lower supporting seat 2, and the distance sensor 2 is an infrared ranging sensor, and the infrared light emitted by the infrared ranging sensor is irradiated on the upper side of the drag plate 2; in this design, a medicine box is fixedly installed on the frame of the tractor, and a medicine box weight sensor is fixedly connected to the lower side of the medicine box The medicine box weight sensor is fixedly connected to the frame, and the medicine box weight sensor detects the weight of the medicine box. If the reduction value of the water volume in the medicine box per unit time exceeds the set reduction threshold, the linear drive 2 will be actuated to extend the push-pull rod upward, pull the pressure regulating rod outward, reduce the flow rate of the medicine liquid in the medicine tube, and reduce the spraying amount of the nozzle; if the reduction value of the water volume in the medicine box per unit time is less than the set reduction threshold, the linear drive 2 will reversely act, the push-pull rod will retract downward, and the pressure regulating rod will be pressed inward to increase the flow rate of the medicine liquid in the medicine tube and increase the spraying amount of the nozzle; when the reduction value of the water volume in the medicine box per unit time is within the set reduction threshold, the linear drive 2 will stop acting.

In order to realize tillage depth detection, the left and right sides of the front of the frame are fixedly connected with frame side panels, the rotary tiller shaft is rotatably connected to the two frame side panels, and the outer side of the frame side panels is connected with a tillage depth detection component, and the tillage depth detection component includes an infrared transmitter fixing seat fixed to the outer side of the frame side panel, a lower support seat is fixedly provided on the outer side of the frame side panel below the infrared transmitter fixing seat, a movable rod is slidably connected to the infrared transmitter fixing seat and the lower support seat, and a limit step is provided on the upper side of the movable rod, and the limit step can abut against the infrared transmitter fixing seat On the upper side, a movable rod is fixedly connected to an infrared transmitting fixing seat which is away from the side plate of the frame and faces outward, a drag plate is arranged on the lower side of the movable rod, the distance sensor is arranged opposite to the drag plate, a buffer spring is mounted on the movable rod, and the buffer spring is between the infrared transmitting fixing seat and the lower supporting seat; in this design, the drag plate senses the height change of the ground, the distance sensor detects the distance change between it and the drag plate, and controls the action of the lifting actuator between the tractor and the frame to make the tillage depth within the set tillage depth range.

In order to further adjust the amount of fertilizer charged, the fertilizer discharger comprises a fertilizer discharge shell with an opening, a plurality of fertilizer outlets are arranged on the fertilizer box, each opening corresponds to the fertilizer outlet one by one, the opening is connected with the inner cavity of the fertilizer box through the fertilizer outlet, a fertilizer discharge shaft is rotatably connected to the fertilizer discharge shell, a socket wheel is connected to the fertilizer discharge shaft in the fertilizer discharge shell, a plurality of sliding grooves are arranged on the circumference of the socket wheel, a push plate is installed in the sliding groove, one end of the push plate extends into the socket of the socket wheel, the other end of the push plate can slide along the outer side of the circumference of the socket wheel at the sliding groove, the other end of the push plate can contact the socket wheel, a material trough connected to the socket is opened at one end of the push plate, the socket and the material trough form a space for accommodating fertilizer, the outer side of the push plate is flush with the outer side of the socket wheel, and after the position of the push plate is adjusted, the push plate is fixedly connected to the socket wheel Then, a feed port is provided on the upper side of the fertilizer discharge shell; an adjusting disk is connected to the outward side of the socket wheel in the axial direction, and a plurality of connecting and adjusting parts are arranged on the adjusting disk; a connecting groove corresponding to the position of the connecting and adjusting part is arranged on the outward side of the socket wheel, and the connecting and adjusting part can slide along the connecting groove, and a plurality of adjusting grooves corresponding to the position of the sliding groove are provided on the adjusting disk, and a push plate simultaneously abuts against the adjusting disk, and after the position of the push plate is adjusted, the end of the push plate extending out of the socket wheel is fixedly connected to the adjusting disk; a soft brush is fixedly connected to the downward side of the fertilizer discharge shell, and the soft brush faces the socket wheel and is tangent to the wheel surface of the socket wheel; an isolation ring is connected to the outer side of the socket wheel, and an isolation groove corresponding to the position of the space is provided on the isolation ring; in this design, the fertilizer sliding out of the space falls into the isolation groove, thereby improving the adequacy of fertilizer filling in the space.

To facilitate disassembly and assembly, a cover plate is connected to the outside of the fertilizer discharge shell corresponding to the opening, and a flange is fixedly connected to the outside side of the isolation ring in the axial direction. The fertilizer discharge shaft is rotatably connected to the flange, one end of the fertilizer discharge shaft extends out of the fertilizer discharge shell, and the other end of the fertilizer discharge shaft extends out of the flange.

In order to further improve the fertilizer discharge effect, a fertilizer protection belt is also connected to the fertilizer discharge shell. The belt surface of the fertilizer protection belt is tightly attached to the outer side of the circumference of the socket wheel, and the lower part of the fertilizer protection belt extends toward the fertilizer discharge port. In this design, the soft-bristle brush brushes the fertilizer outside the space into the space.

In order to further prevent the fertilizer from sliding down from the accommodating cavity along the outer side of the socket wheel, a closing plate is provided at the lower part of the inner wall of the fertilizer discharge shell, a groove is provided on the closing plate, a sealing belt is connected in the groove, the sealing belt extending out of the closing plate is inclined downward, the upward side of the sealing belt is flush with the upward side of the closing plate, the inclination of the lower part of the sealing belt on the downward inclined sealing belt is greater than the inclination of the upper part of the sealing belt, and the inclination is relative to the vertical direction, the upper part of the sealing belt fits against the outer side of the socket wheel, and at least one positioning groove 1 is provided on the downward side of the upper part of the sealing belt, and an inclined panel which is inclined downward and extends in the direction of the socket wheel discharge port is provided on the inner wall of the fertilizer discharge shell below the closing plate, a positioning groove 2 corresponding to the positioning groove 1 is provided on the inclined panel, and the sealing belt is connected to the sealing shell through the positioning groove 1. A compression spring is provided, and the end portion of the compression spring extending obliquely downward extends into the corresponding positioning groove 2 and is connected to the inclined plate. The compression spring is in a compressed state, and a accommodating chamber for accommodating fertilizer is formed between the socket wheel on one side in the left and right directions, the closing plate, the sealing belt, the inner wall of the fertilizer discharge shell and the feed port, and an installation chamber for installing a fertilizer protection belt is formed between the socket wheel and the inner wall of the fertilizer discharge shell on the other side in the left and right directions; in this design, the upper part of the sealing belt is tightly fitted to the outer side of the socket wheel under the action of the compression spring, and the lower part of the sealing belt will not be attached to the socket wheel. When the sliding groove rotates to the position of the sealing belt, the sealing belt will not extend into the sliding groove, so that the sealing belt is always attached to the outer side of the socket wheel, ensuring that the fertilizer in the accommodating chamber will not be discharged outward, further improving the uniformity of fertilization.

In order to further realize the detection of seeding amount, a fixed crossbeam is fixedly provided on the frame, and a plurality of support plates are arranged on one side of the fixed crossbeam in the front-to-back direction. Two connecting screws are provided on the side of the seeding shell of the seeding device facing the fixed crossbeam. The two connecting screws are symmetrically arranged about the center of the support plate in the height direction. The connecting screw passes through the support plate and is screwed on the connecting screw with a connecting nut so that the connecting nut is pressed against the support plate to fix the seeding shell of the seeding device relative to the frame. This design can not only limit the up and down movement of the seed box, but also realize the detection of the weight of the seed box, and can also realize the limitation of the seed box in the left and right directions to prevent the seed box from moving left and right.

In order to further realize the detection of fertilizer discharge amount, a fertilizer discharge bracket is fixedly connected to the frame, and a plurality of ball bearings are arranged in the fertilizer discharge bracket. The fertilizer box is placed in the fertilizer discharge bracket, and the fertilizer box can just move up and down along the ball bearings. A fertilizer pipe is connected to the lower side of the fertilizer discharge shell of the fertilizer discharger, and a connecting screw rod 2 is provided on one side of the fertilizer discharge shell in the front-to-back direction. A fixed crossbeam 2 is fixedly provided in the fertilizer discharge bracket, and a plurality of support plates 2 are arranged on the side of the fixed crossbeam 2 away from the fertilizer discharge shell. Two connecting screw rods 2 are provided on the side of the fertilizer discharge shell facing the fixed crossbeam 2, and the two connecting screw rods 2 are symmetrically arranged about the center of the support plate 2 in the height direction. The connecting screw rod 2 passes through the support plate 2, and a connecting nut 2 is screwed on the connecting screw rod 2 so that the connecting nut 2 is pressed against the support plate 2, so that the fertilizer discharge shell is further fixed relative to the frame; this design can not only limit the up and down movement of the fertilizer box, but also realize the detection of the weight of the fertilizer box, and can also realize the limitation of the fertilizer box in the left and right directions to prevent the fertilizer box from moving left and right.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a side view of the present invention.

FIG. 2 is a side view of the internal structure of the present invention.

FIG. 3 is a structural diagram of a tillage depth detection assembly of the present invention.

FIG. 4 is a structural diagram showing the connection between the seed box and the fixed crossbeam 1 in the present invention.

FIG. 5 is a partial enlarged view of point A in FIG. 4 .

FIG. 6 is a structural diagram showing the connection between the fertilizer box and the second fixed crossbeam in the present invention.

FIG. 7 is a structural diagram showing the nozzle support plate, the nozzle and the height detection assembly connected together in the present invention.

FIG8 is a partial enlarged view of point B in FIG1 .

FIG. 9 is a front view of the fertilizer dispensing device of the present invention.

FIG. 10 is a three-dimensional structural diagram of the fertilizer dispensing device of the present invention.

FIG. 11 is a three-dimensional structural diagram of the fertilizer discharger before the flange is installed in the present invention.

FIG. 12 is a partial enlarged view of point C in FIG. 11 .

FIG. 13 is a three-dimensional structural diagram of the fertilizer dispensing device before the cover plate is installed in the present invention.

FIG. 14 is a second three-dimensional structural diagram of the fertilizer dispensing device before the cover plate is installed in the present invention.

FIG. 15 is a partial enlarged view of point D in FIG. 14 .

FIG. 16 is a front view of the fertilizer discharger before the cover plate is installed and after the fertilizer discharge shaft is hidden in the present invention.

FIG. 17 is a three-dimensional structural diagram of the fertilizer discharger before the cover plate is installed and after the fertilizer discharge shaft is hidden in the present invention.

FIG. 18 is a three-dimensional structural diagram of the socket wheel of the present invention.

FIG. 19 is a three-dimensional structural diagram of the push plate in the present invention.

FIG. 20 is a partial enlarged view of point E in FIG. 17 .

Figure 21 is a schematic diagram of the positions of the fertilization furrow opener and the sowing furrow opener in the present invention.

Figure 22 is a schematic diagram of the positional relationship between the seed fertilizer ditch group and the pressing wheel in the present invention.

In the figure: 1 nozzle, 2 nozzle height detection component, 201 drag plate 2, 202 buffer spring 2, 203 fixed plate, 204 limit step 2, 205 movable rod 2, 206 infrared emission fixing seat 2, 207 distance sensor 2, 208 lower support seat 2, 3 nozzle support plate, 4 pressing wheel lifting actuator, 401 connecting rod, 402 lifting rod, 403 linear drive 1, 404 connecting frame, 5 pressing wheel lifting electromagnetic control valve, 6 oil return tank, 7 frame, 8 fertilizer box, 9 frame side plate, 10 gearbox, 11 frame lifting electromagnetic control valve, 12 oil pipe, 13 suspension frame, 14 tillage depth detection component, 1401 infrared emission fixing seat 1, 1402 buffer spring 1, 1403 lower support seat 1, 1404 drag plate 1, 1405 infrared distance sensor, 1406 limit step 1, 1407 movable rod 1, 15 rotary tillage speed sensor, 16 rotary tillage knife, 17 fertilizer furrowing wheel, 18 sowing furrow opener, 19 linear drive 3, 20 pressing wheel speed sensor, 21 pressing wheel pressure sensor, 22 seed box, 23 seeding motor, 24 pressure pump, 25 fertilizer box weight sensor, 26 push-pull rod, 27 pressure adjustment rod, 28 fertilizer motor, 29 fertilizer device, 2901 fertilizer shaft, 2902 fertilizer shell, 2903 flange, 2904 cover plate, 2095 sealing belt, 2 906 closing plate, 2907 feeding port, 2908 isolating ring, 2910 connecting adjustment member, 2911 pushing plate, 2912 sliding groove, 2913 adjusting plate, 2914 socket wheel, 2915 accommodating chamber, 2916 compression spring, 2917 soft brush, 2918 fertilizer protection belt, 2919 space, 2920 isolating groove, 2921 feeding trough, 2922 socket, 2923 fertilizer outlet, 2924 inclined plate, 2925 adjusting groove, 2926 connecting hole, 2927 connecting bolt, 2928 positioning groove 2, 30 fertilizer motor speed regulator, 31 seeding motor speed regulator, 32 seeding device, 33 seed box weight sensor, 34 linear drive Actuator two, 35 fertilizer box bracket, 36 connecting screw one, 37 fixed crossbeam one, 38 ball, 39 driving sprocket two, 40 output shaft two, 41 driven sprocket two, 42 seeding shaft, 43 fertilizer pipe, 44 transmission chain one, 45 transmission chain two, 46 moving groove, 47 output shaft one, 48 driven sprocket one, 49 driving sprocket one, 50 support plate one, 51 screw, 52 limiting nut, 53 connecting nut one, 54 seeding port, 55 seeding shell, 56 fixed crossbeam two, 57 connecting screw two, 58 fertilizer outlet, 59 support plate two, 60 connecting nut two, 61 telescopic rod, 62 ditching bracket, 63 pressing wheel, 64 seed ditch, 65 fertilizer ditch.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

As shown in Figures 1 to 22, an intelligent rotary tillage, sowing, fertilizing and spraying compound operation machine includes a frame 7, the front part of the frame 7 is rotatably connected to a rotary tillage blade shaft, a plurality of rotary tillage blades 16 are arranged on the rotary tillage blade shaft, a fertilizer box 8 is connected to the frame 7 behind the rotary tillage blade shaft, a seed box 22 is connected to the frame 7 behind the fertilizer box 8, a plurality of fertilizer outlets 58 are arranged at the bottom of the fertilizer box 8, a plurality of seed outlets are arranged at the bottom of the seed box 22, a plurality of fertilizer dischargers 29 corresponding to the fertilizer outlets 58 are arranged on the lower side of the fertilizer box 8, and a plurality of fertilizer dischargers 29 corresponding to the fertilizer outlets 58 are arranged on the lower side of the seed box 22. There are a number of seed dischargers 32 corresponding to the seed drop ports one by one, the fertilizer box 8 and the seed box 22 can both move up and down, a number of fertilizer box weight sensors 25 corresponding to the fertilizer dischargers 29 are fixedly connected to the lower side of the fertilizer box 8, the fertilizer discharger 29 is fixedly connected to the lower side of the fertilizer box weight sensor 25, a number of seed box 22 weight sensors corresponding to the seed dischargers 32 are fixedly connected to the lower side of the seed box 22, a liftable pressing wheel 63 is connected to the frame 7 behind the seed box 22, and a height-adjustable nozzle 1 is connected to the frame 7 behind the pressing wheel 63.

In order to further realize the height adjustment of the pressing wheel 63, it also includes a pressing wheel 63 lifting actuator 4, which includes a plurality of linear drivers 403 fixedly connected to the frame 7, and the linear driver 403 is connected with a lifting rod 402 that extends upward and can make reciprocating linear movements, and the lifting rod 402 is connected with a lifting connecting rod 401 that can be lifted and lowered, and the lower side of the connecting rod 401 is fixedly connected with a pressing wheel 63 pressure sensor 21, and the lower side of the pressing wheel 63 pressure sensor 21 is fixedly connected with a connecting frame 404, and the lower part of the connecting frame 404 is rotatably connected with the pressing wheel 63, and the frame 7 is connected with a pressing wheel 63 lifting solenoid control valve 5 and a return oil tank 6, and the pressing wheel 63 lifting solenoid control valve 5 is connected to the return oil tank 6, and the action of the linear driver 403 is controlled through the pressing wheel 63 lifting solenoid control valve 5 to adjust the height of the pressing wheel 63.

In order to further adjust the spraying amount of the nozzle 1, a pressure pump 24 is connected to the frame 7 facing outward from the fertilizer box 8, and a medicine pipe is connected to the pressure pump 24. The medicine pipe is a hose, which extends backward and is connected to the frame 7. The rear of the medicine pipe is connected to the nozzle 1, and the left and right sides of the rear of the frame 7 are rotatably connected to the nozzle support plate 3. The nozzle 1 is fixedly connected to the nozzle support plate 3. The frame 7 is also connected to a linear drive 24, and the linear drive 24 is connected to a push-pull rod 26 that extends upward and can move back and forth in a straight line. The push-pull rod 26 and the pressure adjustment rod of the pressure pump 24 27 is hinged, the left and right sides of the rear frame 7 of the linear drive 2 34 are respectively connected with the linear drive 3 19, the linear drive 3 19 is connected with a telescopic rod 61 extending backward and upward, the telescopic rod 61 can make reciprocating linear movements, and the end of the telescopic rod 61 extending upward is hinged with the nozzle support plate 3; the outer side of each nozzle support plate 3 is connected with a nozzle height detection component 2, the nozzle 1 is provided with n and is fixed on the rear side of the nozzle support plate 3, the nozzle height detection component 2 includes a distance sensor 2 207 and a fixed plate 203 fixedly connected to the outer side of the nozzle support plate 3, The outward side of the fixed plate 203 is fixedly connected with an infrared emitting fixed seat 206 and a lower support seat 208 which are spaced apart in the height direction. The infrared emitting fixed seat 206 is above the lower support seat 208. The infrared emitting fixed seat 206 and the lower support seat 208 are slidably connected with a movable rod 205. A limit step 204 is provided on the upper side of the movable rod 205. The limit step 204 can abut against the upper side of the infrared emitting fixed seat 206. A drag plate 201 is provided on the lower side of the movable rod 205. A buffer spring 202 is mounted on the movable rod 205. The buffer spring 202 is between the infrared emitting fixed seat 206 and the lower support seat 208. The distance sensor 207 is an infrared ranging sensor 1405. The infrared light emitted by the infrared ranging sensor 1405 is irradiated on the upper side of the drag plate 201.

In order to further realize the detection of seeding amount, a fixed crossbeam 37 is fixed on the frame 7, and a plurality of support plates 50 are arranged on one side of the fixed crossbeam 37 in the front-to-back direction. Two connecting screws 36 are arranged on the side of the seeding shell 55 of the seeding device 32 facing the fixed crossbeam 37. The two connecting screws 36 are symmetrically arranged about the center of the support plate 50 in the height direction. The connecting screw 36 passes through the support plate 50, and a connecting nut 53 is screwed on the connecting screw 36 so that the connecting nut 53 is pressed against the support plate 50. The seeding shell 55 of the seeding device 32 is fixed relative to the frame 7; the left and right sides of the seed box 22 are respectively connected with screws 51 extending out of the movable groove 46, and the limit nuts 52 are threadedly connected to the screws 51 so that the limit nuts 52 are in contact with the frame 7. A plurality of seeding ports 54 are arranged at the bottom of the seed box 22, and the seeding ports 54 are connected to the seed inlet of the seeding device 32; this design can not only limit the up and down movement of the seed box 22, but also realize the detection of the weight of the seed box 22, and can also realize the limitation of the seed box 22 in the left and right directions to prevent the seed box 22 from moving left and right, front and back.

In order to further realize the detection of the amount of fertilizer discharged, a fertilizer discharge bracket is fixedly connected to the frame 7, and a plurality of balls 38 are arranged in the fertilizer discharge bracket. The fertilizer box 8 is placed in the fertilizer discharge bracket, and the fertilizer box 8 can just move up and down along the balls 38. A fertilizer pipe 43 is connected to the lower side of the fertilizer discharge shell 2902 of the fertilizer discharger 29, and a connecting screw 2 57 is provided on one side of the fertilizer discharge shell 2902 in the front and rear directions. A fixed crossbeam 2 56 is fixed in the fertilizer discharge bracket, and a plurality of support plates 2 59 are arranged on the side of the fixed crossbeam 2 56 away from the fertilizer discharge shell 2902. The fertilizer discharge shell 2902 faces the fixed crossbeam 2 56. Two connecting screws 57 are provided on one side of the fixed crossbeam 56. The two connecting screws 57 are symmetrically arranged about the center of the support plate 59 in the height direction. The connecting screws 57 pass through the support plate 59 and are screwed on the connecting screws 57 using connecting nuts 60, so that the connecting nuts 60 are pressed against the support plate 59, so that the fertilizer discharge shell 2902 is further fixed relative to the frame 7. This design can not only limit the up and down movement of the fertilizer box 8, but also realize the detection of the weight of the fertilizer box 8, and can also realize the limitation of the fertilizer box 8 in the left and right directions to prevent the fertilizer box 8 from moving left and right.

In order to realize the tillage depth detection, the left and right sides of the front of the frame 7 are fixedly connected with the frame side plates 9, the rotary tiller shaft is rotatably connected to the two frame side plates 9, a gearbox 10 is installed on the frame 7, and the power output shaft is the power input of the gearbox 10. The front side of the frame 7 is provided with a suspension frame 13 for connecting with the tractor, and the frame 7 is connected to the tractor in a liftable manner via the suspension frame 13 (this is the prior art), and a frame lifting solenoid control valve 11 is connected to the frame 7, and the frame lifting solenoid control valve 11 is controlled to control the lifting of the frame 7; the outer side of the frame side plate 9 is connected with a tillage depth detection component 14, and the tillage depth detection component 14 includes an infrared emitting fixed seat 1401 fixed on the outer side of the frame side plate 9, and a lower support seat 1403 is fixed on the outer side of the frame side plate 9 below the infrared emitting fixed seat 1401, and the infrared emitting fixed seat 1401 and the lower support seat 1403 can be A movable rod 1407 is slidably connected, and a limit step 1406 is provided on the upper side of the movable rod 1407. The limit step 1406 can abut against the upper side of the infrared emission fixing seat 1401. A distance sensor is fixedly connected to the infrared emission fixing seat 1401 which is away from the frame side plate 9 and faces outward. A drag plate 1404 is provided on the lower side of the movable rod 1407. The distance sensor is arranged relative to the drag plate 1404. A buffer spring 1402 is mounted on the movable rod 1407, and the buffer spring 1402 is between the infrared emission fixing seat 1401 and the lower support seat 1403. In this design, the drag plate 1404 senses the height change of the ground, and the distance sensor detects the distance change between it and the drag plate 1404, so as to control the action of the lifting actuator between the tractor and the frame 7, so that the tillage depth is within the set tillage depth range.

The structure for realizing the rotation of the seeding shaft 42 and the fertilizer discharging shaft 2901 is specifically as follows: the outer side of the fertilizer discharging bracket is fixedly connected with a fertilizer discharging motor 28, the output shaft 47 of the fertilizer discharging motor 28 is connected with a driving sprocket 49, the driving sprocket 49 is connected with a driven sprocket 48 via a transmission chain 44, the driven sprocket 48 is rotatably connected to the fertilizer discharging shaft 2901, a fertilizer discharging shaft 2901 passes through all the fertilizer discharging housings 2902, and serves as a driving force for driving all the socket wheels 2914 to rotate. The outer side of the fertilizer discharging bracket is also connected with a fertilizer discharging motor speed regulator 3 0, the speed of the fertilizer discharge motor 28 is adjusted by controlling the fertilizer discharge motor speed regulator 30; the seed discharge motor 23 is fixedly connected to the frame 7 behind the fertilization and furrowing wheel 17, and the output shaft 40 of the seed discharge motor 23 is connected to the driving sprocket 2 39, and the seed discharge shaft 42 extending out of the outermost seed discharge housing 55 is connected to the driven sprocket 2 41, and the driving sprocket 2 39 is connected to the driven sprocket 2 41 through the transmission chain 2 45. The frame 7 is also connected to the fertilizer discharge motor speed regulator 30, and the speed of the seed discharge motor 23 is adjusted by controlling the fertilizer discharge motor speed regulator 30.

In order to realize the action of opening seed furrows and fertilizer furrows, a plurality of furrowing brackets 62 are arranged on the frame 7 behind the fertilizer discharge bracket, and the lower part of the furrowing bracket 62 is rotatably connected to the fertilizer furrowing wheel 17, in the left and right directions, the position of each fertilizer furrowing wheel 17 corresponds to the position of the fertilizer discharge shell 2902, and each fertilizer furrowing wheel 17 covers the position of the fertilizer discharge port 2923 of the corresponding fertilizer discharger 29, and the end of the fertilizer pipe 43 extending backward is behind the center of the fertilizer furrowing wheel 17; the fertilizer box 8 is in front of the seed box 22, and a plurality of seeding furrow openers 18 (the seeding furrow openers 18 are the prior art) are arranged on the frame 7 between the fertilizer furrowing wheel 17 and the seed box 22, in the left and right directions, each seeding furrow opener 18 corresponds to the position of the seeding device 32 one by one, and each seeding furrow opener 18 covers the position of the seeding port 54 of the corresponding seeding device 32, wherein two adjacent seeding furrows A fertilizer furrowing wheel 17 is arranged between the sowing furrow opener 18, and the side of the fertilizer furrowing wheel 17 that is adjacent to the sowing furrow opener 18 and faces the sowing furrow opener 18 is flush with the side of the sowing furrow opener 18 facing the fertilizer furrowing wheel 17 (as shown in Figure 21). This is the prior art, and it is only necessary to make the positions of the sowing furrow opener 18 and the fertilizer furrowing wheel 17 in the left and right directions cover the corresponding positions of the seed discharge port 54 and the fertilizer discharge port 2923 respectively; the furrow opened by the fertilizer furrowing wheel 17 is the fertilizer furrow 65, and the furrow opened by the sowing furrow opener 18 is the seed furrow 64, and the seed furrow 64 is adjacent to the fertilizer furrow 65. The adjacent seed furrow 64 and fertilizer furrow 65 are called a seed-fertilizer furrow group. In a group of seed-fertilizer furrow groups, in the left and right directions, the pressing wheel 63 is away from the fertilizer furrow 65 and is arranged relative to the seed furrow 64, and the side of the pressing wheel 63 arranged relative to the seed furrow 64 is flush with the edge of the seed furrow 64 (as shown in Figure 22).

In order to further adjust the amount of fertilizer, the fertilizer dispensing device 29 includes a fertilizer dispensing shell 2902 with an opening, and a plurality of fertilizer dispensing ports 58 are arranged on the fertilizer box 8, each opening corresponds to the fertilizer dispensing port 58, and the opening is connected to the inner cavity of the fertilizer box 8 through the fertilizer dispensing port 58. A fertilizer dispensing shaft 2901 is rotatably connected to the fertilizer dispensing shell 2902, and a socket wheel 2914 is connected to the fertilizer dispensing shaft 2901 in the fertilizer dispensing shell 2902. The socket wheel 2914 is arranged on the circumference of the socket wheel 2914. There are a plurality of sliding grooves 2912, in which a push plate 2911 is installed. One end of the push plate 2911 extends into the socket 2922 of the socket wheel 2914, and the other end of the push plate 2911 can slide along the outer circumference of the socket wheel 2914 at the sliding groove 2912. The other end of the push plate 2911 can abut against the socket wheel 2914. One end of the push plate 2911 is provided with a material groove 2921 connected to the socket 2922. The socket 292 2 forms a space 2919 for accommodating fertilizer with the material trough 2921, the outer side of the push plate 2911 is flush with the outer side of the socket wheel 2914, after the position of the push plate 2911 is adjusted, the push plate 2911 is fixedly connected to the socket wheel 2914, and a feed port 2907 is opened on the upper side of the fertilizer discharge housing 2902; the socket wheel 2914 is connected to an adjusting disk 2913 on the side facing outward in the axial direction, and a plurality of connecting and adjusting members 2910 are arranged on the adjusting disk 2913, and a connecting groove corresponding to the position of the connecting and adjusting member 2910 is arranged on the side facing outward of the socket wheel 2914, and the connecting and adjusting member 2910 can slide along the connecting groove, and a plurality of adjusting grooves 2925 corresponding to the position of the sliding groove 2912 are opened on the adjusting disk 2913, and the push plate 2911 is simultaneously in contact with the adjusting disk 2913, and after the position of the push plate 2911 is adjusted, the end of the push plate 2911 extending out of the socket wheel 2914 is in contact with the adjusting disk 2913 The outer side of the fertilizer discharge housing 2902 is fixedly connected with a soft brush 2917, which faces the socket wheel 2914 and is tangent to the wheel surface of the socket wheel 2914; the outer side of the socket wheel 2914 is connected with an isolation ring 2908, and the isolation ring 2908 is provided with an isolation groove 2920 corresponding to the position of the space 2919; the outer side of the fertilizer discharge housing 2902 corresponding to the opening is connected with a cover plate 2904, and the cover plate 2904 is connected to the isolation groove 2920. The outer side of the ring 2908 in the axial direction and the outer side of the cover plate 2904 are fixedly connected with a flange 2903, and the fertilizer discharge shaft 2901 is rotatably connected to the flange 2903. One end of the fertilizer discharge shaft 2901 extends out of the fertilizer discharge housing 2902, and the other end of the fertilizer discharge shaft 2901 extends out of the flange 2903. A fertilizer protection belt 2918 is also connected to the fertilizer discharge housing 2902, and the belt surface of the fertilizer protection belt 2918 is tightly attached to the circumference of the socket wheel 2914. On the outside, the lower part of the fertilizer protection belt 2918 extends toward the fertilizer discharge port 2923; in this design, the soft brush 2917 brushes the fertilizer outside the space 2919 into the space 2919; in order to further prevent the fertilizer from sliding down from the accommodating chamber 2915 along the outer side of the socket wheel 2914, a closing plate 2906 is provided at the lower part of the inner wall of the fertilizer discharge shell 2902, and a groove is provided on the closing plate 2906, and a sealing belt 2905 is connected in the groove, and the sealing belt 2905 extending out of the closing plate 2906 is tilted downward, and the upward side of the sealing belt 2905 is flush with the upward side of the closing plate 2906. On the downwardly tilted sealing belt 2905, the inclination of the lower part of the sealing belt 2905 is greater than the inclination of the upper part of the sealing belt 2905, and the inclination is relative to the vertical direction. The upper part of the sealing belt 2905 fits on the outer side of the socket wheel 2914, and at least one positioning groove is provided on the downward side of the upper part of the sealing belt 2905. The closing plate The inner wall of the fertilizer discharge shell 2902 below 2906 is provided with an inclined plate 2924 which is inclined downward and extends toward the direction of the discharge port of the socket wheel 2914. The inclined plate 2924 is provided with a second positioning groove 2928 corresponding to the first positioning groove. The sealing belt 2905 is connected with a compression spring 2916 through the first positioning groove. The end of the compression spring 2916 extending obliquely downward extends into the corresponding positioning groove 2 and is connected to the inclined plate 2924. The compression spring 2916 is in a compressed state. A accommodating chamber 2915 for accommodating fertilizer is formed between the socket wheel 2914 on one side in the left and right directions, the closing plate 2906, the sealing belt 2905, the inner wall of the fertilizer discharge shell 2902 and the feed port 2907. An installation cavity for installing a fertilizer protection belt 2918 is formed between the socket wheel 2914 and the inner wall of the fertilizer discharge shell 2902 on the other side in the left and right directions. In this design, when installing the fertilizer discharger 29, before covering the cover plate 2904, first install the fertilizer protection belt 2918 according to the actual situation. The size of each space 2919 is adjusted according to actual conditions. When the other end of the push plate 2911 contacts the socket wheel 2914, the space 2919 is the smallest at this time. Force is applied to one end of the connecting adjustment member 2910 extending out of the adjusting disk 2913, and the connecting adjustment member 2910 rotates in the connecting groove. The adjusting disk 2913 rotates around the rotating shaft, so that the push plate 2911 slides toward the outside of the socket wheel 2914 away from the socket 2922, and the space 2919 becomes larger. When the space 2919 is adjusted to the required size, the connecting adjustment member 2910 fixes the push plate 2911 and the socket wheel 2914 together to adjust the size of the space 2919, that is, to adjust the amount of fertilizer filled, and the adjustment is convenient. In addition, the space 2919 is always in the isolation groove 2920. After the fertilizer filling space 2919 is adjusted, the cover plate 2904 is fixedly connected to the outside of the shell, and the flange 2903 is pressed on the rotating shaft through the bearing. Finally, the flange 2903 is fixedly connected to the cover plate 2904; the upward end of the compression spring 2916 is glued together with the downward side of the sealing belt 2905, and the downward end of the compression spring 2916 is fixedly connected to the inclined plate 2924; when using the present invention to apply fertilizer, the fertilizer is continuously added to the accommodating chamber 2915, and the accommodating chamber 2915 is always full of fertilizer. The highest position of the filled fertilizer is lower than the position of the highest point of the socket wheel 2914. The highest position of the filled fertilizer is generally 2/3-4/5 of the position of the highest point of the socket wheel 2914. The fertilizer particles are squeezed against each other, and the rotation of the rotating shaft drives the rotation of the socket wheel 2914. The movement direction of the rotating shaft is controlled to make the socket wheel 2914 rotate from the accommodating chamber 2915 to the direction of the fertilizer protection belt 2918. When there is space 2919 entering the accommodating chamber 2915, the fertilizer is immediately filled into the space 2919, and the socket wheel 29 14 continues to rotate, when the space 2919 filled with fertilizer leaves the accommodating chamber 2915, the fertilizer is always in the isolation groove 2920 under the action of the isolation ring 2908, and when the space 2919 rotates to the position of the soft brush 2917, the soft brush 2917 brushes the fertilizer outside the space 2919 and in the isolation groove 2920 into the space 2919, and the socket 2922 is fully filled with fertilizer. The upper part of the sealing belt 2905 is tightly fitted to the outer side of the socket wheel 2914 under the action of the compression spring 2916, and the lower part of the sealing belt 2905 will not be attached to the socket wheel 2914. When the sliding groove 2912 rotates to the position of the sealing belt 2905, the sealing belt 2905 will not extend into the sliding groove 2912, so that the sealing belt 2905 is always attached to the outer side of the socket wheel 2914, ensuring that the fertilizer in the accommodating chamber 2915 will not be discharged outward, further improving the uniformity of fertilization, and the amount of fertilizer discharged is accurate and stable.

In the present invention, the rotation speed of the seeding shaft 42 is controlled by the seeding motor 23. The faster the rotation speed of the seeding shaft 42 is, the greater the amount of seeding per unit time is. The rotation speed of the fertilizer shaft 2901 is controlled by the fertilizer motor 28. The faster the rotation speed of the fertilizer shaft 2901 is, the greater the amount of fertilizer discharged per unit time is. The drag plate 1404 senses the height change of the ground, and the distance sensor 1 detects the distance change between it and the drag plate 1404, and controls the action of the lifting actuator between the tractor and the frame 7, so that the tillage depth is within the set tillage depth range. The fertilizer box weight sensor 25 detects the weight of the fertilizer box 8 in real time, and the weight of the seed box 22 is The amount sensor detects the weight of the seed box 22 in real time. The amount of fertilizer discharged per unit time can be calculated by the weight change of the fertilizer box 8. The amount of seed discharged per unit time can be calculated by the weight change of the seed box 22. When the amount of fertilizer discharged exceeds the set threshold range of the amount of fertilizer discharged, the speed of the seed discharge motor 23 is controlled to be reduced. When the amount of fertilizer discharged is lower than the set threshold range of the amount of fertilizer discharged, the speed of the fertilizer discharge motor 28 is controlled to be increased. When the amount of fertilizer discharged is within the threshold range of the amount of fertilizer discharged, the fertilizer discharge motor 28 continues to operate at the original speed. When the amount of fertilizer discharged exceeds the set threshold range of the amount of fertilizer discharged, the speed of the seed discharge motor 23 is controlled to be reduced. When the seeding amount is lower than the set seeding amount threshold range, the seeding motor 23 is controlled to increase the speed. When the seeding amount is within the seeding amount threshold range, the seeding motor 23 continues to operate at the original speed; the pressure sensor 21 of the pressing wheel 63 detects the pressure of the pressing wheel 63 on the ground. When the pressure on the pressing wheel 63 exceeds the set threshold, the linear drive 403 is actuated to make the lifting rod 402 rise. When the pressure on the pressing wheel 63 is less than the set threshold, the linear drive 403 is reversed to make the lifting rod 402 fall. When the pressure on the pressing wheel 63 is within the set threshold, The linear drive 1 403 stops moving; a medicine box is fixedly installed on the frame of the tractor, and a medicine box weight sensor is fixedly connected to the lower side of the medicine box. The medicine box weight sensor is fixedly connected to the frame. The medicine box weight sensor detects the seed box 22 of the medicine box. If the reduction value of the water volume in the medicine box per unit time exceeds the set reduction threshold, the linear drive 2 34 is actuated to extend the push-pull rod 26 upward and pull the pressure regulating rod 27 outward to reduce the flow rate of the medicine liquid in the medicine tube and reduce the spraying amount of the nozzle 1. If the reduction value of the water volume in the medicine box per unit time is less than the set reduction threshold, the linear drive 2 34 is reversed. The push-pull rod 26 is moved downward, and the pressure regulating rod 27 is pressed inward, thereby increasing the flow rate of the medicine liquid in the medicine tube and the spraying amount of the nozzle 1. When the reduction value of the water volume in the medicine box per unit time is within the set reduction threshold range, the linear driver 2 34 stops moving; the distance sensor 207 detects the height change of the carriage 201, and calculates the height H between the nozzle 1 and the ground according to the _detected distance between the distance sensor 207 and the carriage 201. When H _exceeds the set nozzle 1 height threshold, the linear driver 3 19 is controlled to move, so that the telescopic rod 61 is retracted downward, and the spraying amount of the nozzle 1 is increased. The nozzle support plate 3 swings downward, and the nozzle 1 descends. If H _is less than the set nozzle 1 height threshold, the linear driver 3 19 is controlled to move in the opposite direction to extend the telescopic rod 61 upward, the nozzle support plate 3 swings upward, and the nozzle 1 rises. When H _is within the set nozzle 1 height threshold, the linear driver 3 19 is controlled to stop moving. In the present invention, the fertilizer box weight sensor 25 and the structural design between the fertilizer box 8 and the frame 7 are used to realize the real-time detection of the fertilizer application amount. The seed box 22 weight sensor and the structural design between the seed box 22 and the frame 7 are used to realize the real-time detection of the seeding amount, and the detection is carried out according to the detected amount. The rotation speed of the seeding motor 23 and the fertilizer motor 28 are adjusted according to the amount of fertilizer and the amount of seeding, so as to adjust the amount of fertilizer and the amount of seeding, keep the amount of fertilizer and the amount of seeding stable, and ensure the uniformity of fertilization and sowing; detect the pressure of the pressing wheel 63 on the ground, control the lifting and lowering of the pressing wheel 63, so that the pressure of the pressing wheel 63 on the ground is balanced; at the same time, the spraying amount is adjusted by the joint setting of the pressure pump 24 and the linear drive 234, so that the spraying is more uniform. At the same time, the nozzle height detection component 2, the nozzle support plate 3, the nozzle 1, and the linear drive The structural design between the three devices 19 can detect the height of the nozzle 1 from the ground in real time, control the action of the linear driver three 19, and realize the height adjustment of the nozzle 1, so that the distance between the nozzle 1 and the ground remains constant, thereby improving the spraying effect; in addition, in the structure of the fertilizer discharger 29, the size of the fertilizer filling space 2919 is adjustable, and the adjustment is convenient; the space 2919 is fully filled with fertilizer, and the fertilizer in the accommodating chamber 2915 will not be discharged outward, only the space 2919 is filled with fertilizer and discharged outward, and the fertilizer discharge is accurate and stable, reducing the fertilizer discharge error; the present invention can be applied to the composite operation of rotary tillage, sowing, fertilizing and spraying.

The forward direction of the present invention is the front direction, and the direction opposite to the forward direction is the rear direction. As shown in FIGS. 1 and 2 , the direction perpendicular to the paper surface is the left-right direction.

The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments. Those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims (8)

1. An intelligent rotary tillage sowing fertilization spraying compound operation machine, comprising a frame, a front portion of the frame is rotatably connected to a rotary tillage blade shaft, a plurality of rotary tillage blades are arranged on the rotary tillage blade shaft, a fertilizer box is connected to the frame behind the rotary tillage blade shaft, a seed box is connected to the frame behind the fertilizer box, a plurality of fertilizer outlets are arranged at the bottom of the fertilizer box, a plurality of seed outlets are arranged at the bottom of the seed box, a plurality of fertilizer dischargers corresponding to the fertilizer outlets are arranged at the lower side of the fertilizer box, a plurality of seed dischargers corresponding to the seed outlets are arranged at the lower side of the seed box, and the fertilizer box and the seed box are both movable up and down, a plurality of fertilizer box weight sensors corresponding to the fertilizer dischargers are fixedly connected to the lower side of the fertilizer box weight sensor, a plurality of seed box weight sensors corresponding to the seed dischargers are fixedly connected to the lower side of the seed box, a liftable pressing wheel is connected to the frame behind the seed box, a height-adjustable nozzle is connected to the frame behind the pressing wheel, and the fertilizer box faces A pressure pump is connected to the outer frame, and a medicine tube is connected to the pressure pump. The medicine tube is a hose, which extends backward and is connected to the frame. A nozzle is connected to the rear of the medicine tube. The left and right sides of the rear of the frame are rotatably connected to the nozzle support plate, and the nozzle is fixedly connected to the nozzle support plate. The frame is also connected to a second linear drive, and the second linear drive is connected to a push-pull rod that extends upward and can move back and forth in a straight line. The push-pull rod is hinged to the pressure regulating rod of the pressure pump. The left and right sides of the frame behind the second linear drive are respectively connected to a third linear drive, and the third linear drive is connected to a telescopic rod that extends backward and upward, and the telescopic rod can move back and forth in a straight line. The end of the telescopic rod that extends upward is hinged to the nozzle support plate; the outer side of each of the nozzle support plates is connected to a nozzle height detection component, and n nozzles are provided and are all fixed on the rear side of the nozzle support plate. The nozzle height detection component includes a second distance sensor and a fixed plate fixedly connected to the outer side of the nozzle support plate. The outward side of the fixing plate is fixedly connected with an infrared emitting fixing seat 2 and a lower supporting seat 2 which are spaced apart in the height direction, the infrared emitting fixing seat 2 is above the lower supporting seat 2, and the infrared emitting fixing seat 2 and the lower supporting seat 2 are slidably connected with a movable rod 2, a drag plate 2 is arranged on the lower side of the movable rod 2, and a buffer spring 2 is mounted on the movable rod 2, and the buffer spring 2 is between the infrared emitting fixing seat 2 and the lower supporting seat 2, the distance sensor 2 is an infrared ranging sensor, and the infrared light emitted by the infrared ranging sensor is irradiated on the upper side of the drag plate 2, the left and right sides of the front part of the frame are fixedly connected with the frame side panels, the rotary tiller shaft is rotatably connected to the two frame side panels, and the outer side of the frame side panels The side is connected with a tillage depth detection component, and the tillage depth detection component includes an infrared transmitting fixing seat fixed on the outer side of the frame side plate, a lower supporting seat is fixedly provided on the outer side of the frame side plate below the infrared transmitting fixing seat, a movable rod is slidably connected to the infrared transmitting fixing seat and the lower supporting seat, a limit step is provided on the upper side of the movable rod, and the limit step can abut against the upper side of the infrared transmitting fixing seat, a distance sensor is fixedly connected to the infrared transmitting fixing seat facing outward away from the side plate of the frame, a drag plate is provided on the lower side of the movable rod, the distance sensor is arranged relative to the drag plate, and a buffer spring is mounted on the movable rod, and the buffer spring is between the infrared transmitting fixing seat and the lower supporting seat. 2. An intelligent rotary tillage, sowing, fertilizing and spraying combined operation machine according to claim 1 is characterized in that a plurality of linear drives are fixedly connected to the frame, the linear drive is connected to a lifting rod that extends upward and can move back and forth linearly, the lifting rod is connected to a liftable connecting rod, the lower side of the connecting rod is fixedly connected to a pressure sensor of a pressing wheel, the lower side of the pressure sensor of the pressing wheel is fixedly connected to a connecting frame, and the lower part of the connecting frame is rotatably connected to the pressing wheel. 3. An intelligent rotary tillage, sowing, fertilizing and spraying combined operation machine according to claim 1 or 2, characterized in that the fertilizer discharger includes a fertilizer discharge shell with an opening, a plurality of fertilizer discharge ports are arranged on the fertilizer box, each opening corresponds to the fertilizer discharge port one by one, and the opening is connected to the inner cavity of the fertilizer box through the fertilizer discharge port, and a fertilizer discharge shaft is rotatably connected to the fertilizer discharge shell, and a socket wheel is connected to the fertilizer discharge shaft in the fertilizer discharge shell, and a plurality of sliding grooves are arranged on the circumference of the socket wheel, and a push plate is installed in the sliding groove, and one end of the push plate extends into the socket of the socket wheel, and the other end of the push plate can slide along the outer side of the circumference of the socket wheel at the sliding groove, and the other end of the push plate can contact the socket wheel, and one end of the push plate is provided with a material trough connected to the socket, and the socket and the material trough form a space for accommodating fertilizer, and the outer The side is flush with the outer side of the socket wheel. After the position of the push plate is adjusted, the push plate is fixedly connected to the socket wheel, and a feed port is provided on the upper side of the fertilizer discharge shell; an adjusting disk is connected to the side of the socket wheel facing outward in the axial direction, and a plurality of connecting and adjusting parts are arranged on the adjusting disk. A connecting groove corresponding to the position of the connecting and adjusting part is arranged on the side of the socket wheel facing outward, and the connecting and adjusting part can slide along the connecting groove, and a plurality of adjusting grooves corresponding to the position of the sliding groove are provided on the adjusting disk, and the push plate simultaneously contacts the adjusting disk. After the position of the push plate is adjusted, the end of the push plate extending out of the socket wheel is fixedly connected to the adjusting disk; a soft brush is fixedly connected to the downward side of the fertilizer discharge shell, and the soft brush faces the socket wheel and is tangent to the wheel surface of the socket wheel; an isolation ring is connected to the outer side of the socket wheel, and an isolation groove corresponding to the spatial position is provided on the isolation ring. 4. An intelligent rotary tillage, sowing, fertilizing and spraying combined operation machine according to claim 3 is characterized in that a cover plate is connected to the outside of the fertilizer discharge shell corresponding to the opening, and the cover plate is fixedly connected to a flange on the side of the isolation ring facing outward in the axial direction, and the fertilizer discharge shaft is rotatably connected to the flange, one end of the fertilizer discharge shaft extends out of the fertilizer discharge shell, and the other end of the fertilizer discharge shaft extends out of the flange. 5. An intelligent rotary tillage, sowing, fertilizing and spraying combined operation machine according to claim 3, characterized in that a fertilizer protection belt is also connected to the fertilizer discharge shell, the belt surface of the fertilizer protection belt is tightly attached to the circumferential outer side of the socket wheel, and the lower part of the fertilizer protection belt extends toward the fertilizer discharge port. 6. An intelligent rotary tillage, sowing, fertilizing and spraying compound operation machine according to claim 5, characterized in that a closing plate is provided at the lower part of the inner wall of the fertilizer discharge shell, a groove is provided on the closing plate, a sealing belt is connected in the groove, the sealing belt extending out of the closing plate is inclined downward, the upward side of the sealing belt is flush with the upward side of the closing plate, and on the downward inclined sealing belt, the inclination of the lower part of the sealing belt is greater than the inclination of the upper part of the sealing belt, and the inclination is relative to the vertical direction. The upper part of the sealing belt fits the outer side of the socket wheel, and at least one positioning groove is provided on the downward side of the upper part of the sealing belt, so as to close the sealing belt. An inclined panel is provided on the inner wall of the fertilizer discharge shell below the plate, which is inclined downward and extends toward the direction of the discharge port of the socket wheel. A positioning groove 2 corresponding to the positioning groove 1 is opened on the inclined panel. The sealing belt is connected with a compression spring through the positioning groove 1. The end of the compression spring extending obliquely downward extends into the corresponding positioning groove 2 and is connected to the inclined panel. The compression spring is in a compressed state. A accommodating cavity for accommodating fertilizer is formed between one side of the socket wheel in the left and right directions, the closing plate, the sealing belt, the inner wall of the fertilizer discharge shell and the feed port. An installation cavity for installing a fertilizer protection belt is formed between the other side of the socket wheel in the left and right directions and the inner wall of the fertilizer discharge shell. 7. An intelligent rotary tillage, sowing, fertilizing and spraying combined operation machine according to claim 1 or 2, characterized in that a fixed crossbeam is fixedly provided on the frame, a plurality of support plates are arranged on one side of the fixed crossbeam in the front-to-back direction, and two connecting screws are provided on the side of the seeding shell of the seeding device facing the fixed crossbeam, the two connecting screws are symmetrically arranged about the center of the support plate in the height direction, the connecting screw passes through the support plate, and a connecting nut is screwed on the connecting screw so that the connecting nut is pressed against the support plate to fix the seeding shell of the seeding device relative to the frame. 8. An intelligent rotary tillage, sowing, fertilizing and spraying combined operation machine according to claim 1 or 2, characterized in that a fertilizer discharge bracket is fixedly connected to the frame, a plurality of ball bearings are arranged in the fertilizer discharge bracket, and the fertilizer box is placed in the fertilizer discharge bracket, and the fertilizer box can just move up and down along the ball bearings, and a fertilizer pipe is connected to the lower side of the fertilizer discharge shell of the fertilizer discharger, and a connecting screw 2 is provided on one side of the fertilizer discharge shell in the front-to-back direction, and a fixed cross beam 2 is fixedly provided in the fertilizer discharge bracket, and a plurality of support plates 2 are arranged on the side of the fixed cross beam 2 away from the fertilizer discharge shell, and two connecting screws 2 are provided on the side of the fertilizer discharge shell facing the fixed cross beam 2, and the two connecting screws 2 are symmetrically arranged about the center of the support plate 2 in the height direction, and the connecting screw 2 passes through the support plate 2, and a connecting nut 2 is used to screw on the connecting screw 2, so that the connecting nut 2 is pressed tightly on the support plate 2, so that the fertilizer discharge shell is further fixed relative to the frame.