CN114846940A - Intelligent lawn repairing vehicle for deteriorated grasslands and using method thereof - Google Patents

Intelligent lawn repairing vehicle for deteriorated grasslands and using method thereof Download PDF

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Publication number
CN114846940A
CN114846940A CN202210661255.7A CN202210661255A CN114846940A CN 114846940 A CN114846940 A CN 114846940A CN 202210661255 A CN202210661255 A CN 202210661255A CN 114846940 A CN114846940 A CN 114846940A
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CN
China
Prior art keywords
gear
soil
optical axis
rod
motor
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Pending
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CN202210661255.7A
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Chinese (zh)
Inventor
冼昊岚
程思创
刘小强
林宏宇
蔡东海
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South China Agricultural University
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South China Agricultural University
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Priority to CN202210661255.7A priority Critical patent/CN114846940A/en
Publication of CN114846940A publication Critical patent/CN114846940A/en
Pending legal-status Critical Current

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    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01BSOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B49/00Combined machines
    • A01B49/04Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
    • A01B49/06Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising
    • A01B49/065Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising the soil-working tools being actively driven
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01BSOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B27/00Clod-crushers
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01BSOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B35/00Other machines for working soil not specially adapted for working soil on which crops are growing
    • A01B35/02Other machines for working soil not specially adapted for working soil on which crops are growing with non-rotating tools
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01BSOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B43/00Gatherers for removing stones, undesirable roots or the like from the soil, e.g. tractor-drawn rakes
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01BSOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B49/00Combined machines
    • A01B49/02Combined machines with two or more soil-working tools of different kind
    • A01B49/022Combined machines with two or more soil-working tools of different kind at least one tool being actively driven
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01BSOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B51/00Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
    • A01B51/02Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01CPLANTING; SOWING; FERTILISING
    • A01C5/00Making or covering furrows or holes for sowing, planting or manuring
    • A01C5/08Machines for both manuring and sowing or both manuring and planting
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01CPLANTING; SOWING; FERTILISING
    • A01C7/00Sowing
    • A01C7/06Seeders combined with fertilising apparatus
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01CPLANTING; SOWING; FERTILISING
    • A01C7/00Sowing
    • A01C7/08Broadcast seeders; Seeders depositing seeds in rows
    • A01C7/16Seeders with other distributing devices, e.g. brushes, discs, screws or slides
    • A01C7/163Gravity distributors
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01CPLANTING; SOWING; FERTILISING
    • A01C7/00Sowing
    • A01C7/20Parts of seeders for conducting and depositing seed
    • A01C7/206Seed pipes
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00Technologies relating to agriculture, livestock or agroalimentary industries
    • Y02P60/20Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2

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  • Life Sciences & Earth Sciences (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Working Implements (AREA)

Abstract

The invention discloses an intelligent grassland repairing vehicle for deteriorated grasslands and a using method thereof, and the intelligent grassland repairing vehicle comprises a rack, a soil breaking device, a lifting device, a seeding device, a crushing device and a profile modeling earthing device, wherein the rack is provided with a crawler traveling device at the bottom, the soil breaking device, the lifting device, the seeding device, the crushing device and the profile modeling earthing device are arranged on the rack, the soil breaking device is arranged at the front part of the rack and is connected with the lifting device, the lifting device is used for driving the soil breaking device to lift or descend so as to simulate manual shoveling soil to carry out shallow ploughing and soil breaking operation, the crushing device is arranged behind the soil breaking device and is used for beating and crushing large pieces of soil and cutting hay, the seeding device is arranged behind the crushing device and is used for seeding at the soil breaking position, and the profile modeling earthing device is arranged behind the seeding device and is used for earthing and pressing seeds after seeding. The invention integrates the grass seed sowing process into a whole, realizes sowing only in the ground-broken place, greatly reduces the degree of damage to the ground surface, reduces the disturbance to the soil and improves the working efficiency.

Description

Intelligent lawn repairing vehicle for deteriorated grasslands and using method thereof
Technical Field
The invention relates to the technical field of lawn restoration, in particular to an intelligent lawn restoration vehicle for deteriorated grasslands and a using method thereof.
Background
In the case of deteriorated grassland ecosystems, more restoration techniques are focused on the soil-plant interface because of the relative simplicity of the grass vegetation plies, the most widely used technique being grassland reseeding. The grassland reseeding mainly comprises manual reseeding and mechanical reseeding, wherein the manual reseeding is a reseeding mode which is widely applied at present, but the manual reseeding efficiency is low, and a large amount of human resources are consumed. With the development of agricultural mechanization, machines with the integrated functions of plowing, loosening and sowing are also available in the market, however, the integrated machines are high-power agricultural machines and are high in cost, and when the machines are applied to grasslands for operation, the problem of large disturbance of the land surface is easily caused, and the ideal recovery effect is difficult to achieve.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides the intelligent grassland repairing vehicle for the deteriorated grassland and the using method thereof, and has the advantages of small volume, light weight, simple and convenient operation, high working efficiency, high intelligent degree and the like.
In order to achieve the purpose, the technical scheme provided by the invention is as follows: the utility model provides an intelligence meadow restoration car for deteriorated meadow, includes that the bottom has the frame of track advancing device and locates the device that breaks ground, elevating gear, seeder, reducing mechanism and the profile modeling earthing device in the frame, the anterior of frame is located to the device that breaks ground to be connected with elevating gear, drives the tip spiller lifting or the decline of the device that breaks ground through elevating gear, and then makes the tip spiller simulate artifical shovel and carry out the operation of shallowly ploughing and breaking ground, reducing mechanism locates the rear of the device that breaks ground for pat, smash the bold soil that the device shoveled up, and cut the hay spike, the rear of reducing mechanism is located to seeder for sow in the department that breaks ground, profile modeling earthing device locates the rear of seeder for seed earthing and suppression after the seeding.
Further, the ground breaking device comprises a transmission device and a shallow ploughing rod mechanism; the transmission device comprises a fixed bottom plate, a first motor, a coupler, a first gear, a second gear, a first optical axis and first chain wheels, wherein the fixed bottom plate is fixed on the rack, the first motor is arranged on the fixed bottom plate, the first gear is connected with an output shaft of the first motor through the coupler, the second gear is arranged on the front side of the first gear and is meshed with the first gear, the second gear is arranged on the first optical axis, the first optical axis is supported on the fixed bottom plate through a bearing seat, two first chain wheels are respectively arranged on two sides of the first optical axis and are used for being connected with the shallow ploughing rod mechanism, and the first motor drives the first gear and drives the second gear and the first optical axis to rotate; the shallow ploughing rod mechanism comprises a second optical axis, a second chain wheel, rocker arms, screw rods, a tip scraper knife, radial knuckle bearings, connecting rods and a third optical axis, wherein the second optical axis is arranged on the frame through a bearing seat and is positioned above the front side of the first optical axis in an inclined manner, two second chain wheels are respectively arranged on two sides of the second optical axis and correspond to the two first chain wheels one by one, each second chain wheel is in transmission connection with the corresponding first chain wheel through a chain, the second optical axis is hinged with a plurality of rocker arms at equal intervals along the length direction of the second optical axis, the screw rods are provided with a plurality of rocker arms and are in one-to-one correspondence connection with the plurality of rocker arms, namely, each rocker arm is hinged to the middle part of the corresponding screw rod, the bottom of each screw rod is connected with one tip scraper knife, the top of each screw rod is connected with one radial knuckle bearing, each radial knuckle bearing is hinged with one pair of connecting rods, and each pair of connecting rods is hinged to the third optical axis, the third optical axis is supported on a lifting platform of the lifting device through a bearing seat and is positioned above the first optical axis, the rocker arm, the screw rod and the connecting rod form a connecting rod mechanism, the lifting device drives the connecting rod to ascend or descend, and meanwhile, the transmission device drives the rocker arm to swing, so that the pointed shovel blade simulates manual shoveling to carry out shallow ploughing and soil breaking operation.
Further, elevating gear includes steering wheel, driving lever, holding hook, driven lever, lift platform, slider, guide rail and handle, the steering wheel is adorned in the frame, the one end of driving lever is connected with the steering wheel of steering wheel, and its other end is formed with the holding hook, the one end of driven lever is articulated mutually with the middle part of driving lever, and its other end articulates on lift platform, lift platform is located the front side of driven lever, and it installs on the guide rail through two sliders, the guide rail is vertical to be fixed in the frame, by the swing of steering wheel drive driving lever, and then drives driven lever pulling lift platform and reciprocate along the guide rail, and after lift platform rebound to predetermineeing the height, steering wheel stall and auto-lock, the holding hook of driving lever can be hung on the handle that is fixed in the frame top auto-lock at this moment.
Further, the seeding device comprises a mounting plate, two material carrying boxes, two feeding pipes, two stirring boxes, two grading blanking boxes, two stirring wheels, a dragon rod gear, a fourth motor, a motor mounting rack, a transmission rod gear and a fourth gear, wherein the mounting plate is fixed on the rack, the two material carrying boxes are respectively mounted at two sides of the mounting plate, one material carrying box is used for containing grass seeds, the other material carrying box is used for containing fertilizer, the bottom of each material carrying box is connected with one feeding pipe, the top of each stirring box is communicated with the two feeding pipes, the bottom of each stirring box is communicated with the grading blanking box arranged below the stirring box, a plurality of blanking ports are formed at the bottom of each grading blanking box, the number of the blanking ports is consistent with the number of the pointed shovels of the soil breaking device and corresponds to one another, each blanking port is positioned at the rear of the corresponding pointed shovels, and the stirring wheels are rotatably connected in the stirring boxes, the two feeding pipes are respectively internally provided with flood dragon, the end parts of the two flood dragon extending out of the feeding pipes are respectively connected with flood dragon rod gears, the fourth motor is fixed on the mounting plate through a motor mounting rack and is positioned between the two material carrying boxes, the driving gear of the output end of the fourth motor is meshed with the two flood dragon rod gears, the transmission rod is arranged on the mounting plate through a bearing seat and is positioned between the stirring box and the fourth motor, two ends of the transmission rod are connected with two transmission rod gears, one transmission rod gear is meshed with the lower side of the driving gear of the fourth motor, the other transmission rod gear is meshed with the fourth gear, the fourth gear is arranged outside the stirring box and is coaxially connected with the stirring wheel, the driving gear is driven by the output torque of the fourth motor and drives the flood dragon rod gears and the transmission rod gears to rotate, the flood dragon rod gears further drive the flood dragon to rotate, and the materials in the feeding pipes are pushed into the stirring box through the flood dragon, meanwhile, the transmission rod gear drives the stirring wheel to rotate through the fourth gear, so that grass seeds and fertilizers falling into the stirring box are mixed through the stirring wheel, and the mixed materials are uniformly discharged through a plurality of discharging openings of the grading discharging box.
Furthermore, the crushing device comprises a fifth motor, a gear set, a fifth optical axis, a first synchronous pulley, a sixth optical axis, a second synchronous pulley, a wire coil and a steel wire rope, wherein the fifth motor is arranged on the rack through a bracket, the gear set comprises a large gear and a small gear which are meshed with each other, the large gear is connected with an output shaft of the fifth motor, the small gear is arranged on the fifth optical axis, the fifth optical axis is supported on the rack through a bearing seat, two first synchronous pulleys are arranged on two sides of the fifth optical axis, the sixth optical axis is arranged at the bottom of the rack through the bearing seat and is positioned below the fifth optical axis in an inclined manner, two second synchronous pulleys are arranged on two sides of the sixth optical axis, the two second synchronous pulleys correspond to the two first synchronous pulleys one by one, and each second synchronous pulley is connected with the corresponding first synchronous pulley in a transmission manner through a synchronous belt, the drum has a plurality ofly, its quantity is unanimous and the one-to-one with the quantity of the tip spiller of the device that breaks ground, a plurality of drums pass through flange shaft coupling equidistant installation on sixth optical axis, every drum all is located the rear that corresponds tip spiller, it has many wire rope to pass through the fix with screw along circumference on every drum, by the rotation of fifth motor drive gear group, the gear train drives the high-speed rotation of drum, and then forms "flexible sword" through the wire rope on the drum and pat the bold soil that the tip spiller broken, smash, and cut the hay slice.
Furthermore, the profiling soil covering device comprises a plurality of profiling soil covering units, the number of the profiling soil covering units is consistent with that of the blanking ports of the seeding device and corresponds to that of the blanking ports one by one, and each profiling soil covering unit is positioned behind the corresponding blanking port; the profile modeling earthing unit includes two profile modeling bearing frames, two profile modeling connecting rods, profile modeling connecting rod, torsional spring and profile modeling earthing wheel, and two profile modeling bearing frame longitudinal symmetry install in the frame, and it has a profile modeling connecting rod to articulate on every profile modeling bearing frame, and is located and is equipped with the torsional spring between the profile modeling bearing frame on upper portion and the profile modeling connecting rod that corresponds, the upper portion and two profile modeling connecting rods of profile modeling connecting rod are articulated mutually, the sub-unit of profile modeling connecting rod rotates and is connected with a profile modeling earthing wheel, makes profile modeling earthing wheel can keep hugging closely ground along with the change of relief constantly through the torsional spring to suppress the loosening the soil.
The use method of the intelligent lawn repairing vehicle for the deteriorated grassland comprises the following steps:
s1, connecting the crawler travelling device, the ground breaking device, the lifting device, the seeding device and the crushing device with an external control module in a communication manner, and sending a control instruction to each device through the control of the external control module;
s2, remotely controlling the crawler traveling device to reach a working area through an external control module;
s3, starting the soil breaking device and the crushing device through the external control module, controlling a lifting platform of the lifting device to lift through the external control module, simulating manual soil shoveling by a pointed shovel blade of the soil breaking device to carry out shallow ploughing and soil breaking operation, and enabling the pointed shovel blade of the soil breaking device to penetrate into a soil layer in a linear mode in the advancing process;
s4, smashing the soil blocks shoveled by the pointed shovel blade through a smashing device, and cutting the hay;
s5, starting the seeding device through the external control module, fully stirring grass seeds and fertilizers by a stirring box of the seeding device, and uniformly dropping the grass seeds and the fertilizers into a ground breaking position through a grading blanking box of the seeding device;
s6, pressing loose soil at the sowing position through a profiling soil covering wheel of the profiling soil covering device, so that the grass seeds can be fully contacted with the soil, and a no-tillage sowing process is completed;
and S7, repeating the step S2 to the step S6 until the no-tillage seeding operation of the whole grassland is completed.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the grass seeds are sowed in the soil-breaking position, the damage degree to the ground surface is greatly reduced, the disturbance to the soil is reduced, the smashing device can cut the hay to recover nutrients, the environment is protected, and resources are fully utilized.
2. The intelligent lawn repairing vehicle can control the action of the intelligent lawn repairing vehicle by an external control module (such as an upper computer) in communication modes such as Bluetooth and the like, simplifies the operation and greatly improves the automation level and the working efficiency.
Drawings
Fig. 1 is a general structure diagram of the intelligent lawn repairing vehicle.
Fig. 2 is a general structure diagram of the intelligent lawn repairing vehicle of the invention.
Fig. 3 is a general structural view of the ground breaking apparatus of the present invention.
Fig. 4 is a general structural view of a transmission in the ground breaking device of the present invention.
Fig. 5 is a schematic view of the installation of the driving sprocket and the chain in the ground breaking device of the present invention.
FIG. 6 is a structural view of a shallow plowing bar mechanism in the ground breaking apparatus of the present invention.
Fig. 7 is a general structural view of the lifting device of the present invention.
Fig. 8 is a functional schematic diagram of the ground breaking device and the lifting device of the present invention.
Fig. 9 is a general structural view of the sowing apparatus of the present invention.
FIG. 10 is a schematic view of the transmission of the sowing apparatus of the present invention.
Fig. 11 is a general configuration diagram of the crushing apparatus of the present invention.
Fig. 12 is a general configuration diagram of a copying and covering device of the present invention.
Detailed Description
The present invention is further illustrated with reference to the following specific examples, but the mode of use of the present invention is not limited thereto.
As shown in fig. 1 and fig. 2, the intelligent lawn repairing vehicle for deteriorated grasslands according to the embodiment comprises a frame 100 with a crawler traveling device at the bottom, and a soil breaking device 200, a lifting device 300, a seeding device 400, a crushing device 500 and a profiling soil covering device 600 which are arranged on the frame, wherein the soil breaking device 200 is arranged at the front part of the frame and is connected with the lifting device 300, a sharp-pointed blade of the soil breaking device 200 is driven to lift or lower by the lifting device 300 so as to enable the sharp-pointed blade to simulate manual soil shoveling for shallow ploughing and soil breaking, the crushing device 500 is arranged at the rear part of the soil breaking device 200 and is used for beating and crushing the large soil shoveled by the soil breaking device 200 and cutting the dead grass, the seeding device 400 is arranged at the rear part of the crushing device 500 and is used for seeding at the profiling soil breaking place, the profiling soil covering device 600 is arranged at the rear part of the seeding device 400, used for covering soil and pressing seeds after sowing.
As shown in fig. 3 to 6, the ground breaking device 200 includes a transmission device and a shallow tilling rod mechanism; the transmission device comprises a fixed bottom plate 211, a first motor 212, a coupler 213, a first gear 214, a second gear 215, a first optical axis 216 and a first chain wheel 217, wherein the fixed bottom plate 211 is fixed on the rack 100, the first motor 212 is installed on the fixed bottom plate 211, the first gear 214 is connected with an output shaft of the first motor 212 through the coupler 213 (preferably a quincunx coupler), the second gear 215 is arranged on the front side of the first gear 214 and is meshed with the first gear 214, the second gear 215 is installed on the first optical axis 216, the first optical axis 216 is supported on the fixed bottom plate 211 through a bearing seat, two first chain wheels 217 are respectively installed on two sides of the first optical axis 216 and are used for being connected with the shallow ploughing rod mechanism, and the first motor 212 drives the first gear 214 and drives the second gear 215 and the first optical axis 216 to rotate; the shallow ploughing rod mechanism comprises a second optical axis 221, a second chain wheel 222, rocker arms 223, a screw 224, a sharp-edged blade 225, a radial knuckle bearing 226, a connecting rod 227 and a third optical axis 228, wherein the second optical axis 221 is installed on the frame 100 through a bearing seat and is positioned obliquely above the front side of the first optical axis 216, two second chain wheels 222 are respectively installed on two sides of the second optical axis 221, the two second chain wheels 222 correspond to the two first chain wheels 217 one by one, each second chain wheel 222 is connected with the corresponding first chain wheel 217 through chain transmission, a fixing ring is installed on two sides of each chain wheel to limit axial movement of the chain wheel, the second optical axis 221 is hinged with four rocker arms 223 at equal intervals along the length direction thereof, the number of the rocker arms 223 can be determined according to actual requirements, in this embodiment, four screw rods 224 are taken as an example, and are connected with the four rocker arms 223 one by one, that is each rocker arm 223 is hinged to the middle of the corresponding screw 224, the bottom of each screw 224 is connected with a tip shovel blade 225, the top of each screw is connected with a radial spherical plain bearing 226, each radial spherical plain bearing 226 is hinged with a pair of connecting rods 227, each pair of connecting rods 227 is hinged to a third optical axis 228, the third optical axis 228 is supported on a lifting platform 305 of the lifting device 300 through a bearing seat and is positioned obliquely above the rear side of the first optical axis 216, the rocker arm 223, the screw 224 and the connecting rods 227 form a connecting rod mechanism, the lifting device 300 drives the connecting rods 227 to ascend or descend, and meanwhile, the transmission device drives the rocker arm 223 to swing, so that the tip shovel blade 225 simulates manual shoveling to perform shallow ploughing and soil breaking operation.
As shown in fig. 7, the lifting device 300 includes a steering engine 301, a driving lever 302, a gripping hook 303, a driven lever 304, a lifting platform 305, a slider 306, a guide rail 307 and a grip 308, the steering engine 301 is mounted on the frame 100, one end of the driving lever 302 is connected to a steering wheel of the steering engine 301, the other end of the driving lever is formed with the gripping hook 303, one end of the driven lever 304 is hinged to the middle of the driving lever 302, the other end of the driven lever is hinged to the lifting platform 305, the lifting platform 305 is located at the front side of the driven lever 304 and is mounted on the guide rail 307 through the two sliders 306, the guide rail 307 is vertically fixed on the frame 100, the driving lever 302 is driven by the steering engine 301 to swing, the driven lever 304 further drives the lifting platform 305 to move up and down along the guide rail 307, and after the lifting platform 305 moves up to a preset height, the steering engine 301 stops rotating and is self-locked, at this time, the gripping hook 303 of the driving lever 302 can be hung on the grip 308 fixed on the top of the frame for self-locking, at the same time, the handle 308 also supports the driving rod 302.
As shown in fig. 8, when the soil needs to be broken, the lifting platform 305 moves upwards to lift the connecting rod 227 to a certain height, and the head of the pointed shovel blade 225 is in contact with the ground and penetrates into the soil layer under the action of the connecting rod mechanism, so that the shallow ploughing depth reaches 20 mm; when the ground is not to be broken, the link 227 is lowered to a height by the downward movement of the lifting platform 305, at which point the tip blade 225 is lifted from the ground by its head under the action of the linkage mechanism and is held at a vertical distance of 15mm from the ground.
As shown in fig. 9 and 10, the seeding apparatus 400 includes a mounting plate 401, a material loading box 402, feeding pipes 403, a stirring box 404, a grading blanking box 405, a stirring wheel 407, a flood dragon 408, a flood dragon rod gear 409, a fourth motor 410, a motor mounting rack 411, a transmission rod 412, a transmission rod gear 413 and a fourth gear 414, the mounting plate 401 is fixed on the rack 100, two material loading boxes 402 are respectively mounted on two sides of the top surface of the mounting plate 401, one material loading box 402 is used for containing grass seeds and the other material loading box is used for containing fertilizer, the bottom of each material loading box 402 is connected with one feeding pipe 403, the top of the stirring box 404 is communicated with two feeding pipes 403, the bottom of the stirring box is communicated with the grading blanking box 405 arranged below the stirring box, four blanking ports are formed at the bottom of the grading blanking box 405, the number of the four blanking ports is consistent with the number of the pointed cutting blades 225 of the soil breaking apparatus 200 and corresponds to one another, each blanking port is positioned at the rear of the corresponding pointed shovel blade 225, a stirring wheel 407 is rotationally connected in the stirring box 404, two feeding pipes 403 are internally provided with flood dragon 408 respectively, flood dragon rod gears 409 are connected at the end parts of the flood dragon 408 extending out of the feeding pipes 403, the fourth motor 410 is fixed on the mounting plate 401 through a motor mounting bracket 411, and is positioned between the two material loading boxes 402, the driving gear at the output end of the driving gear is engaged with two dragon bar gears 409, the transmission rod 412 is installed on the mounting plate 401 through a bearing seat and is positioned between the stirring box 404 and the fourth motor 410, two transmission rod gears 413 are connected to both ends thereof, one of which is engaged with the lower side of the driving gear of the fourth motor 410, the other transmission rod gear is meshed with a fourth gear 414, and the fourth gear 414 is arranged on the outer side of the stirring box 404 and is coaxially connected with the stirring wheel 407; the fourth motor 410 outputs torque to drive the driving gear and drive the flood dragon rod gear 409 and the transmission rod gear 413 to rotate, the flood dragon rod gear 409 drives the flood dragon 408 to rotate, the materials in the feeding pipe 403 are pushed into the stirring box 404 through the flood dragon 408, meanwhile, the transmission rod gear 413 drives the stirring wheel 407 to rotate through the fourth gear 414, the grass seeds and the fertilizer falling into the stirring box 404 are mixed through the stirring wheel 407, and the mixed materials are uniformly discharged through four discharging openings of the grading discharging box 405 under the action of gravity; the seeding device 400 of the embodiment adopts one motor to complete the transportation of the materials and the mixing of the materials, thereby saving the cost.
As shown in fig. 11, the crushing apparatus 500 includes a fifth motor 501, a gear set, a fifth optical axis 504, a first synchronous pulley 505, a sixth optical axis 506, a second synchronous pulley 507, a wire coil 508 and a wire rope 509, the fifth motor 501 is mounted on the frame 100 through a bracket, the gear set includes a large gear 502 and a small gear 503 which are engaged with each other, the large gear 502 is connected with an output shaft of the fifth motor 501, the small gear 503 is mounted on the fifth optical axis 504, the fifth optical axis 504 is supported on the frame 100 through a bearing seat, two first synchronous pulleys 505 are mounted on two sides of the fifth optical axis 504, the sixth optical axis 506 is mounted at the bottom of the frame 100 through the bearing seat and is located obliquely below the fifth optical axis 504, two second synchronous pulleys 507 are mounted on two sides of the sixth optical axis 504, the two second synchronous pulleys 507 correspond to the two first synchronous pulleys 505 one by one, each second synchronous pulley 507 is connected to the corresponding first synchronous pulley 505 through a synchronous belt drive, the number of the wire coils 508 is four, the number of the wire coils is consistent with that of the pointed scrapers 225 of the soil breaking device 200 and corresponds to one, the four wire coils 508 are arranged on the sixth optical axis 506 at equal intervals through flange couplings, each wire coil 508 is positioned behind the corresponding pointed scrapers 225, four steel wire ropes 509 are fixed on each wire coil along the circumferential direction through screws, and each steel wire rope 509 is positioned in the radial direction of each wire coil in a static state of each wire coil; the gear set is driven to rotate by the fifth motor 501, the gear set drives the wire coil 508 to rotate at a high speed, and then the broken massive soil is flapped and crushed by the flexible knife formed by the steel wire rope on the wire coil 508, and the hay is cut, so that the hay is beneficial to degradation, and nutrients are returned to the soil for the growth of new seeds.
As shown in fig. 12, the profiling soil covering device 600 includes four profiling soil covering units, the number of the four profiling soil covering units is consistent with the number of the blanking ports of the sowing device 400 and corresponds to one another, and each profiling soil covering unit is located behind the corresponding blanking port; the profile modeling earthing unit includes two profile modeling bearing frames 601, two profile modeling connecting rods 602, profile modeling connecting rod 603, torsional spring (not shown in the figure) and profile modeling earthing wheel 604, and two profile modeling bearing frames 601 longitudinal symmetry install in the frame, and it has a profile modeling connecting rod 602 to articulate on every profile modeling bearing frame 601, and is located and is equipped with the torsional spring between the profile modeling bearing frame 601 on upper portion and the profile modeling connecting rod 602 that corresponds, the upper portion and two profile modeling connecting rods 602 of profile modeling connecting rod 603 are articulated mutually, the lower part of profile modeling connecting rod 603 rotates and is connected with a profile modeling earthing wheel 604, makes profile modeling earthing wheel 604 can realize the function of profile modeling through the torsional spring, keeps hugging closely ground constantly along with the change of topography to suppress the loose soil.
The use method of the intelligent lawn repairing vehicle for the deteriorated grassland comprises the following steps:
s1, connecting the crawler travelling device, the ground breaking device, the lifting device, the seeding device and the crushing device with an external control module in a communication manner, and sending a control instruction to each device through the control of the external control module;
s2, remotely controlling the crawler traveling device to reach a working area through an external control module;
s3, starting the soil breaking device and the crushing device through the external control module, controlling a lifting platform of the lifting device to lift through the external control module, simulating manual soil shoveling by a pointed shovel blade of the soil breaking device to carry out shallow ploughing and soil breaking operation, and enabling the pointed shovel blade of the soil breaking device to penetrate into a soil layer in a linear mode in the advancing process;
s4, smashing soil blocks shoveled by the pointed shovel blade through a smashing device, and cutting the hay to facilitate degradation, wherein nutrients return to soil for growth of new seeds;
s5, starting the seeding device through the external control module, fully stirring grass seeds and fertilizers by a stirring box of the seeding device, and uniformly dropping the grass seeds and the fertilizers into a ground breaking position through a grading blanking box of the seeding device;
s6, pressing loose soil at the sowing position through a profiling soil covering wheel of the profiling soil covering device, so that the grass seeds can be fully contacted with the soil, and a no-tillage sowing process is completed;
and S7, repeating the step S2 to the step S6 until the no-tillage seeding operation of the whole grassland is completed.
The grass seed sowing process is integrated, the method of breaking soil firstly and then crushing is adopted, sowing is realized only in the broken soil, the degree of damage to the ground surface is greatly reduced, disturbance to soil is reduced, the crushing device can cut the hay to realize nutrient return, the environment is protected, and resources are fully utilized. Meanwhile, a gyroscope and a GPS can be added to the repairing vehicle according to actual requirements, so that the repairing vehicle can run more accurately, data can be returned in real time, and the repairing vehicle has an actual application value and is worthy of popularization.
The above-mentioned embodiments are merely preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, so that variations based on the shape and principle of the present invention should be covered within the scope of the present invention.

Claims (7)

1. The utility model provides an intelligence meadow restoration car for deteriorated grassland which characterized in that: comprises a frame (100) with a crawler travel device at the bottom, a soil breaking device (200), a lifting device (300), a seeding device (400), a crushing device (500) and a profiling soil covering device (600) which are arranged on the frame, wherein the soil breaking device (200) is arranged at the front part of the frame and is connected with the lifting device (300), a tip shovel blade of the soil breaking device (200) is driven to lift or descend by the lifting device (300), so that the tip shovel blade simulates manual soil shoveling to carry out shallow ploughing and soil breaking operation, the crushing device (500) is arranged at the rear part of the soil breaking device (200) and is used for beating and crushing the massive soil shoveled by the soil breaking device (200) and cutting the dead wood, the seeding device (400) is arranged at the rear part of the crushing device (500) and is used for seeding at the soil breaking part, and the profiling soil covering device (600) is arranged at the rear part of the seeding device (400), used for covering soil and pressing seeds after sowing.
2. An intelligent lawn repair vehicle for deteriorated grass according to claim 1, characterized in that: the ground breaking device (200) comprises a transmission device and a shallow ploughing rod mechanism; the transmission device comprises a fixed base plate (211), a first motor (212), a coupler (213), a first gear (214), a second gear (215), a first optical axis (216) and a first chain wheel (217), wherein the fixed base plate (211) is fixed on the rack (100), the first motor (212) is installed on the fixed base plate (211), the first gear (214) is connected with an output shaft of the first motor (212) through the coupler (213), the second gear (215) is arranged on the front side of the first gear (214) and meshed with the first gear (214), the second gear (215) is installed on the first optical axis (216), the first optical axis (216) is supported on the fixed base plate (211) through a bearing seat, two first chain wheels (217) are installed on two sides of the first optical axis (216) respectively and used for being connected with the shallow plowing rod mechanism, and the first motor (212) drives the first gear (214) and drives the second gear (215) and the first optical axis (216) to rotate Moving; the shallow ploughing rod mechanism comprises a second optical axis (221), a second chain wheel (222), rocker arms (223), a screw rod (224), a pointed shovel blade (225), a radial knuckle bearing (226), a connecting rod (227) and a third optical axis (228), wherein the second optical axis (221) is arranged on the rack (100) through a bearing seat and is positioned above the front side of the first optical axis (216) in a slanting manner, two second chain wheels (222) are respectively arranged on two sides of the second optical axis (221), the two second chain wheels (222) correspond to the two first chain wheels (217) in a one-to-one manner, each second chain wheel (222) is in transmission connection with the corresponding first chain wheel (217) through a chain, the second optical axis (221) is hinged with a plurality of rocker arms (223) at equal intervals along the length direction of the second optical axis (221), the screw rod (224) is provided with a plurality of rocker arms (223) and is in one-to-one correspondence with the plurality of rocker arms (223), namely each rocker arm (223) is hinged to the middle part of the corresponding screw rod (224), the bottom of each screw rod (224) is connected with a tip shovel blade (225), the top of each screw rod is connected with a radial spherical plain bearing (226), each radial spherical plain bearing (226) is hinged with a pair of connecting rods (227), each pair of connecting rods (227) is hinged to a third optical axis (228), the third optical axis (228) is supported on a lifting platform (305) of a lifting device (300) through a bearing seat and is located obliquely above the rear side of the first optical axis (216), the rocker arm (223), the screw rod (224) and the connecting rods (227) form a connecting rod mechanism, the lifting device (300) drives the connecting rods (227) to ascend or descend, and meanwhile, the transmission device drives the rocker arm (223) to swing, so that the tip shovel blade (225) simulates manual shoveling to carry out shallow ploughing and soil breaking operations.
3. An intelligent lawn repair vehicle for deteriorated grass according to claim 1, characterized in that: the lifting device (300) comprises a steering engine (301), a driving rod (302), a holding hook (303), a driven rod (304), a lifting platform (305), a sliding block (306), a guide rail (307) and a handle (308), wherein the steering engine (301) is arranged on the rack (100), one end of the driving rod (302) is connected with a steering wheel of the steering engine (301), the other end of the driving rod is provided with the holding hook (303), one end of the driven rod (304) is hinged with the middle part of the driving rod (302), the other end of the driven rod is hinged to the lifting platform (305), the lifting platform (305) is positioned on the front side of the driven rod (304) and is arranged on the guide rail (307) through the two sliding blocks (306), the guide rail (307) is vertically fixed on the rack (100), the driving rod (302) is driven to swing by the steering engine (301), and then the driven rod (304) is driven to pull the lifting platform (305) to move up and down along the guide rail (307), and after the lifting platform (305) moves upwards to a preset height, the steering engine (301) stops rotating and is self-locked, and at the moment, the holding hook (303) of the driving rod (302) can be hung on a grip (308) fixed at the top of the rack to be self-locked.
4. An intelligent lawn-repairing vehicle for deteriorated grass according to claim 1, characterised in that: the seeding device (400) comprises a mounting plate (401), material carrying boxes (402), feeding pipes (403), a stirring box (404), a graded blanking box (405), stirring wheels (407), flood dragon (408), flood dragon gears (409), a fourth motor (410), a motor mounting rack (411), a transmission rod (412), a transmission rod gear (413) and a fourth gear (414), wherein the mounting plate (401) is fixed on the rack (100), the two material carrying boxes (402) are respectively mounted on two sides of the mounting plate (401), one material carrying box (402) is used for containing grass seeds, the other material carrying box is used for containing fertilizers, the bottom of each material carrying box (402) is connected with one feeding pipe (403), the top of the stirring box (404) is communicated with the two feeding pipes (403), the bottom of the stirring box is communicated with the graded blanking box (405) arranged below the stirring box, and a plurality of blanking ports are formed at the bottom of the graded blanking box (405), the number of the feeding holes is consistent with that of the pointed shovel blades (225) of the soil breaking device (200) and corresponds to one another, each feeding hole is located behind the corresponding pointed shovel blade (225), a stirring wheel (407) is connected in the stirring box (404) in a rotating manner, flood dragon (408) is arranged in each of the two feeding pipes (403), the end parts, extending out of the feeding pipes (403), of the two flood dragon (408) are connected with flood dragon rod gears (409), the fourth motor (410) is fixed on the mounting plate (401) through a motor mounting frame (411) and located between the two material loading boxes (402), a driving gear of an output end of the fourth motor is meshed with the two flood dragon rod gears (409), the transmission rod (412) is installed on the mounting plate (401) through a bearing seat and located between the stirring box (404) and the fourth motor (410), two transmission rods (413) are connected at two ends of the fourth motor, one transmission rod gear is meshed with the lower side of the driving gear of the fourth motor (410), its another transfer line gear meshes mutually with fourth gear (414), the outside of stirring box (404) is located in fourth gear (414), and with stirring wheel (407) coaxial coupling, by fourth motor (410) output torque drive driving gear and drive flood dragon pole gear (409) and transfer line gear (413) rotation, and then drive flood dragon (408) rotation by flood dragon pole gear (409), in pushing into stirring box (404) through flood dragon (408) with the material in conveying pipe (403), drive stirring wheel (407) rotation through fourth gear (414) by transfer line gear (413) simultaneously, and then mix the grass seed and the fertilizer that fall into stirring box (404) through stirring wheel (407), the material after the mixture is even through a plurality of blanking mouths blanking box (405) of grading.
5. An intelligent lawn-repairing vehicle for deteriorated grass according to claim 1, characterised in that: the crushing device (500) comprises a fifth motor (501), a gear set, a fifth optical axis (504), a first synchronous pulley (505), a sixth optical axis (506), a second synchronous pulley (507), a wire coil (508) and a steel wire rope (509), wherein the fifth motor (501) is installed on the rack (100) through a support, the gear set comprises a large gear (502) and a small gear (503) which are meshed with each other, the large gear (502) is connected with an output shaft of the fifth motor (501), the small gear (503) is installed on the fifth optical axis (504), the fifth optical axis (504) is supported on the rack (100) through a bearing seat, two first synchronous pulleys (505) are installed on two sides of the fifth optical axis (504), the sixth optical axis (506) is installed at the bottom of the rack (100) through the bearing seat and is located below the fifth optical axis (504) in an inclined manner, two second synchronous pulleys (507) are installed on two sides of the sixth optical axis (506), the two second synchronous belt wheels (507) correspond to the two first synchronous belt wheels (505) one by one, each second synchronous belt wheel (507) is connected with the corresponding first synchronous belt wheel (505) in a synchronous belt transmission mode, a plurality of wire coils (508) are arranged on the sixth optical axis (506) at equal intervals through flange couplings, the wire coils (508) are located behind the corresponding pointed shovel knives (225), a plurality of steel wire ropes (509) are fixed on each wire coil along the circumferential direction through screws, a fifth motor (501) drives a gear group to rotate, the gear group drives the wire coils (508) to rotate at a high speed, and then the steel wire ropes on the wire coils (508) form 'flexible knives' to flap and crush large soil broken by the pointed shovel knives (225), and cutting the hay.
6. An intelligent lawn-repairing vehicle for deteriorated grass according to claim 1, characterised in that: the copying soil covering device (600) comprises a plurality of copying soil covering units, the number of the copying soil covering units is consistent with that of the blanking ports of the seeding device (400), the copying soil covering units are in one-to-one correspondence, and each copying soil covering unit is positioned behind the corresponding blanking port; the profile modeling earthing unit includes two profile modeling bearing frames (601), two profile modeling connecting rods (602), profile modeling connecting rod (603), torsional spring and profile modeling earthing wheel (604), and two profile modeling bearing frames (601) longitudinal symmetry install in the frame, and it has one profile modeling connecting rod (602) to articulate on every profile modeling bearing frame (601), and is located and is equipped with the torsional spring between profile modeling bearing frame (601) on upper portion and the profile modeling connecting rod (602) that corresponds, the upper portion and two profile modeling connecting rods (602) of profile modeling connecting rod (603) are articulated mutually, the lower part of profile modeling connecting rod (603) is rotated and is connected with one profile modeling earthing wheel (604), makes profile modeling earthing wheel (604) can keep hugging closely ground constantly along with the change of relief through the torsional spring to suppress the loose soil.
7. Use of an intelligent lawn-repairing vehicle for deteriorated grass according to any of the claims from 1 to 6, characterized in that it comprises the following steps:
s1, connecting the crawler travelling device, the ground breaking device (200), the lifting device (300), the seeding device (400) and the crushing device (500) with an external control module in a communication way, and sending a control instruction to each device through the control of the external control module;
s2, remotely controlling the crawler traveling device to reach a working area through an external control module;
s3, starting the soil breaking device (200) and the crushing device (500) through the external control module, and controlling the lifting platform (305) of the lifting device (300) to lift through the external control module, wherein the pointed shovel blade (225) of the soil breaking device (200) simulates manual shoveling to carry out shallow ploughing and soil breaking operation, and the pointed shovel blade (225) of the soil breaking device (200) penetrates into a soil layer in a linear mode in the advancing process;
s4, smashing the soil blocks shoveled by the pointed shovel (225) through a smashing device (500), and cutting the hay;
s5, starting the seeding device (400) through the external control module, fully stirring grass seeds and fertilizers by the stirring box (404) of the seeding device (400), and uniformly dropping the grass seeds and the fertilizers into a ground breaking position through the grading blanking box (405) of the seeding device (400);
s6, pressing loose soil at the sowing position through a profiling soil covering wheel (604) of the profiling soil covering device (600) to enable grass seeds to be fully contacted with soil, and completing a no-tillage sowing process;
and S7, repeating the step S2 to the step S6 until the no-tillage seeding operation of the whole grassland is completed.
CN202210661255.7A 2022-06-13 2022-06-13 Intelligent lawn repairing vehicle for deteriorated grasslands and using method thereof Pending CN114846940A (en)

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CN118058004A (en) * 2024-04-16 2024-05-24 内蒙古农业大学 Microbial fertilization device and method for recovering degraded woodland soil

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CN118058004A (en) * 2024-04-16 2024-05-24 内蒙古农业大学 Microbial fertilization device and method for recovering degraded woodland soil

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