CN117957981A - Intelligent millet harvesting and seeding integrated small-sized agricultural machine - Google Patents

Abstract

The invention discloses an intelligent millet harvesting and seeding integrated small-sized agricultural machine, which solves the problems of low integration level, insufficient pertinence, complex operation, low operation efficiency and poor terrain adaptability of the agricultural machine for millet in hilly and mountain lands in the prior art. The invention comprises an intelligent center and a vehicle body, a harvesting and collecting device, a transportation threshing device, a seeding device and a fertilizing device which are sequentially arranged on the vehicle body, wherein the harvesting and collecting device corresponds to a feed inlet of the transportation threshing device, a discharge port of the transportation threshing device is connected with a nondestructive conveying device, the discharge port of the nondestructive conveying device corresponds to a storage granary arranged on the vehicle body, and a granary stirring device is arranged on the storage granary; the seeding device is positioned between the harvesting and collecting device and the storage granary, and the seeding device is provided with a seed granary stirring device. The unmanned and automatic mechanical device is realized, the integration level of field operation is effectively ensured, and the cost increase caused by the input of human resources and the frequent replacement of agricultural machinery can be greatly reduced.

Description

Intelligent millet harvesting and seeding integrated small-sized agricultural machine

Technical Field

The invention relates to the technical field of agricultural intelligent mechanical harvesters, sowers and fertilizer applicators, in particular to an intelligent millet harvesting and sowing integrated small-sized agricultural machine.

Background

Since the 21 st century, china has paid more and more attention to agricultural production and agricultural mechanization, so that the development of aspects such as agricultural mechanization, automation, unmanned aerial vehicle and intellectualization is very rapid, and the traditional field operation mode cannot meet the core requirements of large scale and high integration of the conventional millet agriculture; the mechanization and the intelligent degree of the agricultural machinery are higher and higher, and the trend is more and more inclined to unmanned operation. For farmers who plant millet, to implement the whole process from sowing to harvesting mechanization, they need to purchase agricultural machinery sold in the market: such as a planter, harvester, fertilizer applicator, and the like. In this case, most agricultural machinery is a millet-specific agricultural machinery introduced from abroad or personalized for a combined agricultural tool, not for the characteristics of the millet itself.

At present, the fertilizer applicator and the seeder are described in China patent (CN 201020116711.2), which describes a fertilizer applicator and seeder with complex structure, and the structure of the agricultural implement comprises a traction beam, a frame, a fertilizer applying mechanism, a straw and weed cleaning mechanism, a seed metering mechanism, a profiling shaping mechanism, a pressing wheel, a profiling wheel, a land wheel and a transmission mechanism. The device has the advantages of higher cost, complex operation and high maintenance price, and needs to use a tractor for power traction or suspension operation. In addition, for the existing sowing machine in the market, the mechanical working mode of the sowing machine can wear seeds more or less, the sowing machine is less integrated, and no small loss is brought to farmers. Chinese patent (cn 20162004618. X) proposes a planter comprising a seeding assembly, a fertilizing assembly and a frame, the fertilizing assembly comprising a fertilizing furrow opener, a transverse screw auger being mounted above the furrow opener, on or in front of a column of the fertilizing furrow opener, a left screw auger section on the left side of the column of the fertilizing furrow opener and a right screw auger section on the right side of the column of the fertilizing furrow opener having opposite screw propulsion directions, which also requires a connection with a tractor and may cause environmental pollution caused by dust emission on the working site;

The harvester, chinese patent (CN 201620381150.6) devised an agricultural combine comprising: header apparatus for removing crop from a field, a treatment apparatus for separating crop material from crop residue and discharging crop residue therefrom, a conduit, a deflector, and a spreader apparatus. The device has the obvious defects that the whole device is too large, and the agricultural machinery is too long, so that the operation and transportation are inconvenient, the operation speed is influenced, and the time and the labor are wasted; meanwhile, the power consumption is high, gasoline or diesel oil is used as a power source, and the exhaust of tail gas causes environmental pollution.

There are three main stream modes of agricultural products of the existing grain lifting device in the market: negative pressure, chain harrow type inclined conveyor, and spiral lifting. Negative pressure, i.e. by means of a high-speed motor, creates a negative pressure environment which can rapidly and accurately convey grains from the auger device to the grain bin. However, the agricultural implement with the negative pressure function has the advantages of overlarge occupied volume, high price, high maintenance cost and difficult transportation (Evan's rest, working condition and structural motion parameter research of a cyclone separation and cleaning system of a miniature grain combine harvester [ D ]. Henan university of science and technology, 2012.); the chain rake type inclined conveyor lifts grains from low to high by a conveyor belt with baffles and transporting obliquely upwards. However, the disadvantage is that some of the threshed millet is conveyed and falls into the gap between the conveyor belt and the fixing element. The service life of the machine is reduced, the subsequent maintenance difficulty is increased, the millet is wasted and lost, the interval distance between the conveying belt or the rake teeth is large, and the blockage phenomenon and even slipping can occur; in paper (Zhao Chen, research on mechanism of grain yield sensor based on screw-lifting [ D ]. Heilongjiang eight-agricultural university, 2017) a transmission structure is mentioned, which mainly consists of screw-lifting auger, DC lifting motor, conveying cavity, grain feed inlet, discharge outlet and base, on which an angle adjusting sliding device is mounted, which can be adjusted from 45 degree angle to vertical state, to transport grain from low place to high place. The screw conveying auger and the screw conveying cavity are not integrated, so that a part of millet grains can be clamped at a gap between the screw conveying auger and the screw conveying cavity in the process of upward conveying after threshing, the threshed millet is damaged, a motor is stopped in a plurality of times, parts are damaged, and even the fire and other malignant events can be caused.

Therefore, in the busy period of agriculture, the agricultural machines with mutually independent functions or the agricultural machines with easy damage and poor durability can cause the cost of the farmers to be larger, the cost is greatly increased, the economic burden of the farmers is further increased, the production enthusiasm of the farmers to the millet crops is reduced, and the best harvesting period of the millet is missed, so that the product quality is reduced.

In the case of commercially available harvesters, the grains are deposited at a certain point or in a certain direction after they reach the barn by the conveyor and fall down by the conveyor. During storage of the granary, heat release is caused by respiration of the millet, and local temperature gradually rises as soon as the process and phenomenon take place, so that quality and storage safety of the millet are affected. Particularly without proper ventilation, the high temperature environment is more likely to cause deterioration of the grain. In addition, due to overlong harvesting time or improper storage mode, the phenomenon of piling up is often generated at the bottom of grains, and grains are stuck together, so that great inconvenience is brought to subsequent transportation and storage. Moreover, for a specific link, it is mentioned in paper (Liping. Strategy for promoting the development of agricultural machinery equipment in hilly and mountain areas [ J ]. Agricultural machinery, 2013) that the agricultural machinery for the millet needs to overcome the topography characteristics of the hilly areas such as steamed bread mountains, palm fields and chicken nest areas due to the considerable area occupation ratio of the millet planted in the hilly and mountain areas. However, in reality, few enterprises participate in developing agricultural machinery in hilly and mountain areas, particularly agricultural machinery personalized to the characteristics of millet crops, so that the mechanization of grains in the hilly areas is less than 15 percent and is far lower than 71 percent of the average national level. Meanwhile, the double problems of 'inorganic availability' and 'organic difficulty' are commonly existed in hilly areas in China, and meanwhile, papers (Liu Qi. Hope of agricultural machinery in hilly mountains [ J ]. Agricultural machinery market.2023) show that in the development of agricultural machinery products for millet in hilly mountains, many enterprises have a wrong area, namely that the hilly mountains need only small agricultural machinery for miniaturization. In the hilly and mountain land, the agricultural machinery with high efficiency and low cost is the first, and even the small agricultural machinery has small volume, but the power cannot be small.

In view of the above, there is an urgent need for a novel intelligent millet agricultural machine that can improve the integration level and efficiency of the agricultural machine and save human resources, ensure efficient, durable and reliable operation, realize unmanned operation, and integrate fertilization, seeding, harvesting, threshing and storage.

Disclosure of Invention

Aiming at the defects in the background technology, the invention provides an intelligent millet harvesting and seeding integrated small-sized agricultural machine, which solves the problems of low integration level, insufficient pertinence, complex operation, low operation efficiency and poor terrain adaptability of the agricultural machine in hilly and mountain lands in the prior art.

The technical scheme of the invention is realized as follows: the intelligent millet harvesting and seeding integrated small-sized agricultural machine comprises an intelligent center, a vehicle body, a harvesting and collecting device, a transportation threshing device, a seeding device and a fertilizing device which are sequentially arranged on the vehicle body, wherein the harvesting and collecting device corresponds to a feed inlet of the transportation threshing device, a discharge port of the transportation threshing device is connected with a nondestructive conveying device, a discharge port of the nondestructive conveying device corresponds to a storage granary arranged on the vehicle body, and a granary stirring device is arranged on the storage granary; the seeding device is positioned between the harvesting and collecting device and the storage granary, and the seeding device is provided with a seed granary stirring device.

Further, the harvesting and collecting device comprises a harvester frame and an auger mechanism, wherein the harvester frame is connected with a connecting rod mechanism and hinged to the vehicle body through the connecting rod mechanism, two harvesting mechanisms which are symmetrically arranged are connected to the harvester frame, the two harvesting mechanisms correspond to the auger mechanism, and the auger mechanism is connected to the harvester frame and corresponds to a feeding table arranged on the front side of the vehicle body.

Further, the harvesting mechanism comprises a driving chain group, a driving chain group and two spiral roll shafts which are symmetrically arranged, wherein the driving chain group and the driving chain group are of two triangle structures which are symmetrically arranged, a spiral knife is connected to a chain wheel which is close to the driving chain group on the driving chain group, and the spiral roll shafts are rotatably arranged on the harvester frame and correspond to the driving chain group and the driving chain group; the auger mechanism comprises a gathering shaft, the middle part of the gathering shaft is connected with a plurality of gathering plates for gathering the grain ears, and both ends of the gathering shaft are connected with a driving chain group and a driving chain group (corresponding helical blades) respectively.

Further, the transportation threshing device comprises a transmission belt group corresponding to the harvesting and collecting device, a threshing cylinder is arranged at the material conveying end of the transmission belt group, a rotating shaft is connected to the threshing cylinder, a threshing shell corresponding to the threshing cylinder is rotatably connected to the rotating shaft, two ends of the rotating shaft are rotatably connected with a part fixed on a vehicle body, and a threshing bin is connected to the lower part of the threshing cylinder.

Further, the nondestructive conveying device comprises an outer closed type Archimedes rod, the outer closed type Archimedes rod is arranged on the vehicle body, the lower part of the outer closed type Archimedes rod is arranged in the threshing bin, and the upper part of the outer closed type Archimedes rod is provided with a guiding conveying piece corresponding to the storage grain bin.

Further, the granary stirring device comprises a stirring frame and a planetary gear train, a first motor for driving the planetary gear train is arranged on the stirring frame, two stirring shafts which are arranged in parallel are connected to the planetary gear train, stirring plates are connected to the stirring shafts, positioning pieces are further connected to the two stirring shafts, two gear boxes which are symmetrically arranged are further connected to the stirring frame, and the gear boxes are meshed with racks arranged on the granary.

Further, the seed bin stirring devices comprise a stirring frame and a planetary gear train, a first motor for driving the planetary gear train is arranged on the stirring frame, two stirring shafts which are arranged in parallel are connected to the planetary gear train, stirring plates are connected to the stirring shafts, and positioning pieces are further connected to the two stirring shafts.

Further, the seeding device comprises a seed bin, a track frame and a seeding bin arranged on the track frame in a sliding manner, wherein gates are arranged on two sides of the seed bin and correspond to rails arranged on a vehicle body, a discharge hole of the rails corresponds to the seeding bin in a seeding state, an auxiliary discharging component is arranged on the discharge hole of the seeding bin, a soil covering wheel and a subsoiling plow are arranged on the lower portion of the seeding bin, a screw sleeve matched with a screw rod arranged on the track frame in a rotating manner is connected to the seeding bin, and a driving component is connected to the upper portion of the screw rod.

Further, supplementary unloading subassembly includes the stirring axle, and the upper portion of stirring axle rotates with the motor of connecting on the seeding storehouse to be connected, and the lower part of stirring the axle is connected with a plurality of vertical setting's stirring boards.

Further, fertilizer injection unit includes fertilizer feed bin, is connected with the blanking cylinder that is used for supplementary blanking on the fertilizer feed bin, and the below of fertilizer feed bin discharge gate is equipped with the fertilization platform of installing on the automobile body, and the bench rotation of fertilization is connected with two fertilization axles that the symmetry set up, is connected with a plurality of cantilevers that are used for supplementary fertilizer spreading on the fertilization axle.

The beneficial effects of the invention are as follows:

1. According to the invention, the harvesting and collecting device, the transporting and threshing device, the seeding device and the fertilizing device are arranged on the vehicle body, so that devices with different functions are integrated, meanwhile, unmanned and automatic mechanical devices are realized, the integration level of field operation is effectively ensured, and the cost increase caused by the input of manpower resources and frequent replacement of agricultural machinery can be greatly reduced; the nondestructive conveying device is matched with the transportation threshing device to realize threshing of the grain ears and convey the grain to a storage granary, so that the storage and the storage of the grain are realized, the grain is convenient to harvest in hilly and mountain areas, and the double problems of inorganic availability and organic difficulty in common in hilly areas are effectively solved; the storage granary is provided with the granary stirring device, so that the heat generated during millet storage can be prevented from influencing the storage of the millet, the sowing device is provided with the seed granary stirring device, seeds can fall down during sowing in an auxiliary manner, and the sowing efficiency is improved.

2. Harvesting and collecting device adopts cooperation of driving chain group, driving chain group to realize gathering of millet, and then cooperates the rotatory sword of installing on driving chain group to reap the millet ear, and two spiral roller cooperation are realized transporting the millet of reaping to realize the transportation of millet ear under the effect of screw feeder mechanism, reap efficiently, gather in effectually.

3. The conveying belt set of the conveying threshing device is used for conveying the grain ears cut by the harvesting and collecting device, the threshing cylinder and the threshing shell are matched to thresh the grain ears, so that the grain ears fall into the threshing bin, and the conveying device is convenient to convey without damage.

4. The nondestructive conveying device is used as a grain lifting device, and a closed Archimedes rod is matched with the guiding conveying piece to convey the grains into the storage granary. Adopt the harmless conveyor of archimedes pole, its screw conveying is inside to the complete integration of screw conveying cavity, can guarantee that millet threshing is finished very smooth from low to high conveying to the granary to avoided the millet grain can block in the gap department of two completely, the loss degree of transportation cereal is close 0%, can optimize its volume ratio to the maximum extent simultaneously, and can change the height of cereal lifting through changing the contained angle of closed archimedes pole with horizontal ground, the flexibility is stronger.

5. The granary stirring device prevents millet from piling up and deteriorating in the granary, and the planetary gear train is matched with the gear rack, so that the millet in the granary can be stirred and turned in all directions, the problem that the grain bottom is piled up due to overlong harvesting time or improper storage mode is solved, meanwhile, the phenomenon that grains are bonded together is avoided, and great inconvenience is brought to subsequent transportation and storage.

6. The seed bin stirring device can solve the problem that the millet seeds at the bottom are always subjected to the action of gravity to generate a bonding phenomenon in the process of conveying the millet seeds to the sowing bins at the two sides by the seed bin stirring device, and the phenomenon is particularly prominent when the bin door is opened, so that the phenomenon is easy to cause blockage in the sowing process.

7. Seed storage stores seeds in the seeder, and the seeding storehouse moves up and down along the track frame, is convenient for adjust the seeding degree of depth in seeding storehouse, can also accomodate the seeding storehouse when not using simultaneously, avoids influencing other work. The auxiliary blanking component is arranged in the sowing bin, so that the seed blanking can be assisted, the seed adhesion is avoided, the millet seeds at the bottom are ensured to be kept in a loose state, and the smooth sowing is ensured.

8. The fertilizing device is located at the rear side of the vehicle body, can realize fertilization or independent fertilization when sowing, has high service efficiency, and simultaneously ensures the working efficiency of the device.

Drawings

In order to more clearly illustrate the embodiments of the present invention, the drawings that are required for the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.

Fig. 1 is a front view of the present invention.

Fig. 2 is a side view of the present invention.

Fig. 3 is a top view of the present invention.

Fig. 4 is a schematic structural view of a harvesting and collecting device of the present invention.

Fig. 5 is a schematic diagram of the operation of the harvesting mechanism of the present invention.

Fig. 6 is a motion state diagram of the linkage mechanism of the present invention.

Fig. 7 is a schematic structural view of the auger mechanism of the present invention.

Fig. 8 is a schematic structural view of the transporting and threshing device of the invention.

FIG. 9 is a schematic diagram of the structure of the nondestructive conveyor of the present invention.

FIG. 10 is a schematic view of the structure of the granary stirring device of the present invention.

Fig. 11 is a schematic structural view of the sowing device of the present invention.

Fig. 12 is a schematic structural view of an auxiliary blanking assembly in the sowing bin of the present invention.

FIG. 13 is a schematic view of the structure of the fertilizer device of the present invention.

In the figure: 1 is a harvesting and collecting device, 2 is a vehicle body, 3 is a camera sensing device, 4 is an intelligent center, 5 is a seeding device, 6 is a nondestructive conveying device, 7 is a fertilizing device, 8 is a grain unloading and conveying device, 9 is a transporting and threshing device, 10 is a storage granary, 11 is a granary stirring device, 12 is a seed granary stirring device, 13 is an auger mechanism, 14 is a harvesting frame, 15 is a link mechanism, 16 is an active chain group, 17 is a driving chain group, 18 is a rotary knife, 19 is a spiral roll shaft, 20 is a conveying belt group, 21 is a threshing cylinder, 22 is a threshing shell, 23 is a rotating shaft, 24 is a bracket, 25 is a threshing granary, 26 is a guiding conveying member, 27 is an external closed archimedes rod, 28 is a stirring plate, 29 is a stirring frame, 30 is a motor one, 31 is a rack, 32 is a gear box, 33 is a planetary gear train, 34 is a positioning member, 35 is a stirring shaft, 36 is a driving assembly, 37 is a seed granary, 38 is a track frame, 39 is a seeding granary, 40 is a gate, 41 is a track, 42 is an auxiliary blanking assembly, 43 is a covering earth wheel, 44 is a screw, 45 is a screw, 48 is a fertilizer distributor, 48 is a screw, 48 is a fertilizer distributor, and 48 is a fertilizer distributor.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without any inventive effort, are intended to be within the scope of the invention.

As shown in fig. 1-3, embodiment 1, an intelligent millet harvesting and seeding integrated small-sized agricultural machine, including intelligent center 4 and automobile body 2, intelligent center 4 control is connected with camera sensor 3 to realize long-range unmanned aerial vehicle through camera sensor 3's image feedback, still be equipped with big dipper GPS bimodulus navigation module cooperation 5G network's interconnection in the intelligent center 4, can realize the long-range location of low error and the control agricultural machine of low delay, thereby improve each item work efficiency just can not leave the home. The harvester comprises a harvester body 2, a harvester-collector 1, a conveying threshing device 9, a seeding device 5 and a fertilizing device 7, wherein the harvester-collector 1 corresponds to a feeding hole of the conveying threshing device 9, a discharging hole of the conveying threshing device 9 is connected with a nondestructive conveying device 6, a discharging hole of the nondestructive conveying device 6 corresponds to a storage grain bin 10 arranged on the harvester body 2, a feeding hole of the storage grain bin 10 is arranged at the upper part, a discharging hole of the storage grain bin 10 is arranged at one side, a grain unloading conveying device 8 is arranged on the discharging hole of the storage grain bin, the grain unloading conveying device 8 is preferably an existing unloading conveyor, and a grain bin stirring device 11 is arranged on the storage grain bin 10; the sowing device 5 is positioned between the harvesting and collecting device 1 and the storage granary 10, and the sowing device 5 is provided with a seed bin stirring device 12. The harvesting and collecting device 1, the transporting and threshing device 9, the sowing device 5 and the fertilizing device 7 are arranged on the vehicle body 2, so that devices with different functions are integrated, meanwhile, unmanned and automatic mechanical devices are realized, the integration level of field operation is effectively ensured, and the cost increase caused by the input of manpower resources and frequent replacement of agricultural implements can be greatly reduced; the nondestructive conveying device 6 is matched with the transportation threshing device 9 to realize threshing of the grain ears and convey the grain to the storage granary 10, so that the storage and the storage of the grain are realized, the grain is conveniently harvested in hilly and mountain areas, and the double problems of inorganic availability and organic difficulty in common existence in the hilly areas are effectively solved; the storage granary 10 is provided with the granary stirring device 11, so that the heat generated during millet storage can be prevented from influencing the storage of the millet, the sowing device 5 is provided with the seed granary stirring device 12, the seeds can fall down during sowing in an auxiliary manner, and the sowing efficiency is improved.

Specifically, the vehicle body 2 adopts a wheel-track combined walking mode of a front solid tire and a rear special track, and the crawler-type walking mechanism has the advantages of large supporting area, small ground specific pressure and rolling resistance and small soil subsidence degree during operation, and meets the operation characteristics and requirements of the planting areas of the millet hills; the cross-country mobility is good, the passing capability is strong, and the cross-country vehicle can walk in uneven hilly mountain land; the crawler belt has crawler teeth on the supporting surface, is not easy to slip, has good traction adhesion performance and high energy conversion rate, and is favorable for exerting larger traction force. The crawler-type running mechanism realizes turning by the speed difference of the left crawler and the right crawler, and the driving motor can realize small-radius turning or turning around by controlling the crawler in a positive and negative rotation way. The crawler-type travelling mechanism has high power consumption ratio; the wheel type walking has the advantages of small resistance, stable running, convenient turning and lower maintenance and replacement cost, and is also suitable for planting millet in plain areas. Compared with the front and rear full wheels or the front and rear full shoes, the front wheel and rear shoes can integrate the advantages of the front wheel and the rear shoes at the same time, and the four-wheel driving mode can be said to be an excellent solution of the current hilly mountain millet agricultural machinery, meanwhile, the problem that farmers also need to match with the manpower and material resources and cost input of the corresponding tractor traction equipment when realizing mechanized production is solved, and the occurrence of serious injury accidents caused by the quality problems, maintenance or improper inflation and the like in the past is effectively avoided.

The device can solve the problems of low integration level, insufficient pertinence, complex operation, low operation efficiency and poor terrain adaptability of the existing millet agricultural machinery. Compared with the prior art that most agricultural machinery on the market uses gasoline or diesel oil as a power source, the tail gas emission can cause the problem of environmental pollution, electric drive can be adopted, the harvesting and seeding integrated machine is more environment-friendly and reliable, and the operations of two or more different agricultural machinery are combined into one machine, so that the integration level and the efficiency are improved. Farmers do not need to purchase a plurality of independent agricultural tools, and the cost and the economic burden are reduced. Secondly, the agricultural machine is subjected to customized design aiming at the characteristics of millet agriculture, so that each function can be ensured to completely meet the requirements of millet crops. Through the precise quantitative fertilization technology, the non-abrasion sowing technology and the high-efficiency harvesting technology, the whole-course mechanized operation of millet agriculture is realized, and the operation efficiency and the crop yield are improved. The electric drive can also realize wireless charging, so that not only is the dependence on traditional fuel oil reduced, but also the pollution of tail gas emission to the environment is avoided, and the agricultural machinery is more environment-friendly and reliable in the use process. Finally, the vehicle body 2 preferably adopts a four-wheel drive front wheel and rear crawler, can efficiently operate in plain where millet grows and in hilly areas, effectively solves the problem that farmers in the hilly areas can not use agricultural machinery in batches in a busy period due to changeable and complicated terrain to delay optimal agricultural time and influence harvest, has strong adaptability, can adapt to the topography and topography of the hilly areas and part of plain areas, and provides a wider application range.

As shown in fig. 4-7, in embodiment 2, an intelligent millet harvesting and seeding integrated small-sized agricultural machine, the harvesting and collecting device 1 comprises a harvesting frame 14 and an auger mechanism 13, the harvesting frame 14 is connected with a link mechanism 15 and hinged on a vehicle body 2 through the link mechanism 15, the harvesting frame 14 is connected with two harvesting mechanisms symmetrically arranged, the two harvesting mechanisms correspond to the auger mechanism 13, and the auger mechanism 13 is rotatably connected on the frame and corresponds to a feeding table arranged on the front side of the vehicle body 2. The link mechanism 15 is provided with a motor for controlling the link to move back and forth, and the motor drives the link mechanism 15 to drive the harvester frame 14 to ascend or descend so as to control the use of the harvester frame 14. The front part of the vehicle body 2 is also provided with a feeding plate, and the harvesting mechanism and the auger mechanism 13 are matched to achieve the harvesting of the ears.

In this embodiment, the harvesting mechanism includes driving chain group 16, driving chain group 17 and two spiral roller shafts 19 that the symmetry set up, two spiral roller shafts 19 parallel arrangement, driving chain group 16 and driving chain group 17 are two triangle structures that the symmetry set up, two triangle structures are preferably obtuse angle triangle structures, driving chain group 16 and driving chain group 17 all include three sprocket and with sprocket complex chain, two obtuse angles of obtuse angle triangle structures are close to, parallel with the opposite two limits of obtuse angle, and then make driving chain group 17 and driving chain group 16's feed inlet and discharge gate be the V type, make things convenient for feed and ear transportation. The sprocket wheel on the driving chain group 17, which is close to the driving chain group 16, is connected with a rotary knife 18, and the rotary knife 18 can cut off the millet folded by the V shape, so that the cutting efficiency is good. The spiral roll shafts 19 are rotatably mounted on the harvester frame 14 and correspond to the driving chain group 16 and the driving chain group 17, and the distance between the two spiral roll shafts 19 is the same as the distance between the chain wheels on the obtuse angles, so that the cut ears of grain can be transported conveniently. The auger mechanism 13 comprises a gathering shaft, the middle part of the gathering shaft is connected with a plurality of gathering plates for gathering the grain ears, both ends of the gathering shaft are connected with helical blades corresponding to the harvesting mechanism, and the two helical blades cooperate to gather the grain ears in the middle and convey the grain ears backwards under the action of the gathering plates. Harvesting and collecting device 1 adopts the cooperation of driving chain group 16, driving chain group 17 to realize gathering of millet, and then cooperates the rotary knife 18 of installing on driving chain group 17 to reap the millet ear, and two spiral roller shafts 19 cooperation realize the transportation to the millet of reaping to realize the transportation of millet ear under the effect of screw mechanism 13, reaping efficiency is high, and it is effectual to draw in.

As shown in fig. 8, in embodiment 3, an intelligent millet harvesting and seeding integrated small-sized agricultural machine, the transporting and threshing device 9 comprises a conveying belt group 20 corresponding to the harvesting and collecting device 1, a threshing cylinder 21 is arranged at the material conveying end of the conveying belt group 20, a rotating shaft 23 is connected to the threshing cylinder 21, a threshing shell 22 corresponding to the threshing cylinder is rotatably connected to the rotating shaft 23, two ends of the rotating shaft 23 are rotatably connected with a part fixed on the vehicle body 2, and a threshing bin 25 is connected to the lower part of the threshing cylinder 21. The conveyer belt group of the conveying threshing device 9 is used for conveying the grain ears cut by the harvesting and collecting device 1, and the threshing cylinder 21 and the threshing shell 22 are matched to thresh the grain ears, so that the grain ears fall into the threshing bin 25, and the conveying device 6 is convenient to convey without damage. The threshing bin 25 is provided with a diversion trench matched with the threshing cylinder 21, the conveying surface of the diversion trench is obliquely arranged, the upper part of the diversion trench is provided with a screen, and the discharge end of the screen is positioned on the other side of the diversion trench. Under the action of the threshing cylinder 21 and the threshing shell 22, the millet falls off from the ear, the screen screens the millet, gu Suigan falls off from the other end of the screen, and the threshing effect is good.

The other structures are the same as those of embodiment 2.

As shown in fig. 9, in embodiment 4, an intelligent millet harvesting and seeding integrated small-sized agricultural machine, the nondestructive conveying device 6 comprises an outer sealed type archimedes rod 27, the outer sealed type archimedes rod 27 is mounted on the vehicle body 2, the lower part of the outer sealed type archimedes rod 27 is arranged in a threshing bin 25, and a guiding and conveying member 26 corresponding to a storage grain bin 10 is arranged at the upper part of the outer sealed type archimedes rod 27. The guiding and conveying piece 26 is a special-shaped bent pipe capable of guiding the flow direction of millet, one end of the special-shaped bent pipe is connected to the outer closed Archimedes rod 27, the diameter of the other end of the special-shaped bent pipe is smaller than that of the outer closed Archimedes rod 27, the discharging end of the special-shaped bent pipe is arranged in the storage granary 10, the nondestructive conveying device 6 is used as a grain lifting device, and the closed Archimedes rod is matched with the guiding and conveying piece 26 to convey the millet into the storage granary 10. The nondestructive conveying device 6 with the Archimedes rods is adopted, the spiral conveying inside and the spiral conveying cavity are completely integrated, so that the grains can be smoothly conveyed to a granary from low to high after threshing, the situation that the grains are clamped at gaps between the grains is completely avoided, the loss degree of the transported grains is close to 0%, the volume ratio of the transported grains can be optimized to the greatest extent, and the height of grain lifting can be changed by changing the included angle between the closed Archimedes rods and the horizontal ground, so that the flexibility is high.

The other structures are the same as those of embodiment 3.

As shown in fig. 10, embodiment 5, an intelligent millet harvesting and seeding integrated small-sized agricultural machine, the granary stirring device 11 includes a stirring frame 29 and a planetary gear train 33, two internal gears are meshed on the internal gear train of the planetary gear train 33, a driving gear is arranged in the middle of the two internal gears, a driving shaft is connected to the driving gear, a first motor 30 for driving the planetary gear train 33 is installed on the stirring frame 29, the end part of an output shaft of the first motor 30 is rotationally connected with the driving shaft through a bevel gear set, two stirring shafts 35 which are arranged in parallel are connected to the planetary gear train 33, the stirring shafts 35 are connected to the two internal gears, stirring plates 28 are connected to the stirring shafts 35, positioning pieces 34 are further connected to the two stirring shafts 35, and the positioning pieces 34 and the planetary gear train 33 are matched to fix the stirring shafts 35, so that stability of the stirring shafts 35 during stirring is ensured. The stirring frame 29 is also connected with two gear boxes 32 which are symmetrically arranged, the gear boxes 32 are connected with stepping motors, and the gear boxes 32 are meshed with racks 31 arranged on the storage grain bin 10. The granary stirring device 11 prevents millet from piling up and deteriorating in the granary, and the planetary gear train 33 is matched with the gear rack 31, so that the millet in the granary can be stirred and turned in all directions, the problem that the piling up is usually caused at the bottom of the grain due to overlong harvesting time or improper storage mode is solved, meanwhile, the phenomenon that the grains are bonded together is avoided, and great inconvenience is brought to subsequent transportation and storage.

In this embodiment, the seed bin stirring devices 12 each include a stirring frame 29 and a planetary gear train 33, a first motor 30 for driving the planetary gear train 33 is mounted on the stirring frame 29, two stirring shafts 35 arranged in parallel are connected to the planetary gear train 33, stirring plates 28 are connected to the stirring shafts 35, and positioning members 34 are further connected to the two stirring shafts 35. The seed bin stirring device 12 can solve the problem that the millet seeds at the bottom are always subjected to the action of gravity to generate a bonding phenomenon in the process of conveying the millet seeds from the seed bin 37 to the sowing bins 39 at the two sides, and the phenomenon is particularly prominent when the bin door is opened, and is easy to cause blockage in the sowing process. The grain bin stirring device 11 is identical to the seed bin stirring device 12 in construction, except that the seed bin stirring device 12 is not provided with a movable rack 31 and a gear box 32.

The other structures are the same as those of embodiment 4.

As shown in fig. 11, in embodiment 6, an intelligent millet harvesting and seeding integrated small-sized agricultural machine, the seeding device 5 comprises a seed bin 37, a track frame 38 and a seeding bin 39 slidably arranged on the track frame 38, gates 40 are arranged on two sides of the seed bin 37, the gates 40 correspond to tracks 41 arranged on a vehicle body 2, a discharge hole of the tracks 41 corresponds to the seeding bin 39 in a seeding state, an auxiliary blanking component 42 is arranged on the discharge hole of the seeding bin 39, a soil covering wheel 43 and a subsoiling plow 44 are arranged at the lower part of the seeding bin 39, a screw sleeve matched with a screw 45 rotatably arranged on the track frame 38 is connected to the seeding bin 39, and a driving component 36 is connected to the upper part of the screw 45. Seed is stored to seed storehouse 37 in seeder 5, and seeding storehouse 39 is along track frame 38 activity from top to bottom, and the seeding degree of depth of being convenient for adjust seeding storehouse 39 can also accomodate seeding storehouse 39 when not using simultaneously, avoids influencing other work.

In this embodiment, the auxiliary blanking component 42 includes a stirring shaft, the upper portion of the stirring shaft is rotatably connected with a motor connected to the seeding bin 39, and a plurality of vertically arranged stirring plates are connected to the lower portion of the stirring shaft. The auxiliary blanking component 42 is arranged in the seeding bin 39, so that the blanking of seeds can be assisted, the bonding of the seeds is avoided, the loose state of the millet seeds at the bottom is ensured, and the smooth seeding is ensured.

The other structures are the same as in embodiment 5.

As shown in fig. 12, embodiment 7, an intelligent millet harvesting and seeding integrated small-sized agricultural machine, the fertilizing device 7 comprises a fertilizer bin 47, a blanking cylinder 48 for assisting blanking is connected to the fertilizer bin 47, a fertilizing table 49 mounted on a vehicle body 2 is arranged below a discharging hole of the fertilizer bin 47, two fertilizing shafts 50 symmetrically arranged are rotationally connected to the fertilizing table 49, and a plurality of cantilevers 46 for assisting in spreading fertilizer are connected to the fertilizing shafts 50. The cantilever 46 is the arc pole, and the bottom of arc pole and fertilization platform 49 contact and spill the fertilizer on the fertilization platform 49 under the drive of fertilization axle 50, guaranteed the homogeneity of fertilization, fertilization axle 50 is connected with the motor through drive chain and sprocket, and fertilizer injection unit 7 is located the rear side of automobile body 2, can realize fertilization or fertilization alone in the seeding, and availability factor is high, has also guaranteed the work efficiency of this device simultaneously.

The other structures are the same as in embodiment 6.

As shown in fig. 1-12, embodiment 8, an intelligent millet harvesting and seeding integrated machine, which comprises a harvesting and collecting device, is composed of an auger mechanism and a double-channel small-sized header mechanism, and is installed at the front part of a vehicle body. The lower part of the vehicle body is provided with a transportation threshing device which consists of a threshing cylinder and a threshing shell. An Archimedes type nondestructive conveying device is arranged behind the transportation threshing device. The nondestructive conveying device conveys the threshed millet to a granary arranged at the rear side of the upper part of the vehicle body, and the granary is provided with a granary stirring device. Then one side of the granary is provided with a grain unloading output device. The fertilizer device is positioned at the rear side of the agricultural machine and consists of a fertilizer bin, a piston, an air pump, a motor, a chain wheel and a radial arm. The seeding device consists of a seed bin and a seeding bin, wherein the seed bin is positioned in the middle of the vehicle body and is also provided with a seed bin stirring device. The seeding bin is arranged at two sides of the vehicle body and moves up and down through the screw pair. The camera sensing device is arranged at the upper position of the agricultural machine, so that real-time monitoring and control, accurate navigation, obstacle detection, crop identification, data acquisition and analysis and man-machine interaction can be realized. Meanwhile, the unmanned agricultural machine is provided with an intelligent center which is composed of a micro integrated control board, so that the running speed and the running direction of each motor of the agricultural machine can be controlled, and the running of each mechanism is realized. The device aims to solve the problems that the planting process of small farmers is complex, labor and time are wasted, the existing mechanized agricultural machinery in the market is large in size and difficult to operate, and the agricultural machinery sold in the market does not have the agricultural machinery capable of integrating various functions such as sowing, fertilizing, harvesting, threshing, grain storage and the like. Thus requiring a large investment in purchase and maintenance, which may be impractical for some resource-limited farmers and agricultural enterprises. The agricultural machinery integrates various agricultural machinery functions, so that the efficiency and the integration level are obviously improved under the condition that the cost and the volume are greatly reduced, and the intelligent and unmanned functions are realized on the basis.

In the embodiment, the harvesting and collecting device adopts a double-channel design, each channel is provided with a group of rotary knives and two groups of conveying chains, a driving chain wheel is directly connected with a motor, the driving chain is used for conveying millet into a harvesting area of the rotary knives in a certain direction, and then a bevel gear is used for driving a pair of spiral roll shafts which are relatively rotated and meshed with each other to extrude, tear and shear the straw in cooperation with the rotary knives, so that the straw is crushed. The design of the front cone section can effectively avoid the blockage phenomenon in the plant guiding process, and has better adaptability to the posture of the plant. And then the millet ears are sent into an auger mechanism through the spiral part of the roll shaft. Simultaneously, through two groups of screw feeding mechanisms and connecting rod mechanisms, the screw feeding mechanisms can realize the rotation lifting of the header mechanism, and different working requirements are met. The advantage is simple structure, and bearing capacity is strong. When harvesting operation is performed, the header rotates to the lowest point. When harvesting operation is finished, the header can be rotated to the highest point, so that walking on the road is facilitated. In harvesting operation, in order to feed the two-channel harvested ears into a conveying device, an auger mechanism is designed according to the principle of a screw conveyor (see a working principle sketch for converging the harvested ears to a rotating baffle plate part through screw parts on two sides, and a middle baffle plate sends the ears to a conveying threshing device for next processing according to a certain rotating direction).

In this embodiment, the transporting and threshing device is divided into a transporting module and a threshing module, wherein the transporting module comprises a driving motor, a chain, a sprocket and a conveyor belt. The conveyor belt for conveying crops uses chain transmission, and the power of the motor is transmitted to the conveying wheel through the chain transmission to drive the conveyor belt to directionally move, so that the grains are conveyed to the next mechanism for further processing. The threshing module comprises a threshing cylinder, a threshing shell, a bracket and a rotating shaft, and is provided with a miniature bearing. The high-speed roller rolling threshing mechanism is responsible for processing grains conveyed by the harvesting and conveying mechanism, stripping the millet grains from the ears of the grains, and separating the stripped millet grains from other threshed objects (straw, shells and other mixtures) as much as possible. The whole threshing process requires that the threshing is clean, the grains of the millet are broken or the husking is less. And requires that as much of the millet be screened out of the lower screen as possible and that other material that is removed be thrown out of the rear throwing port. The high-speed rolling threshing mechanism consists of a motor, a chain transmission, a threshing cylinder, a threshing shell, a bracket, a rotating shaft and a miniature bearing. The motor power is transmitted to the rotating shaft by using chain transmission, the rotating shaft drives the threshing cylinder fixed on the rotating shaft, and millet grains are separated from the ears by friction and extrusion with the threshing shell, so that the separated matters are separated from the designated positions. In order to reduce the friction of the mechanism, miniature bearings are used among the shell, the bracket and the rotating shaft of the disengaging mechanism, so that the stability of the mechanism is improved and the service life of the mechanism is prolonged.

In this embodiment, the archimedes lossless conveying device is used for conveying the threshed millet particles into the granary, the archimedes rods are matched with the guiding conveying piece, and the outlet corresponds to the granary. The grain is eventually transported to a grain bin. The motor drives the Archimedes rod to rotate around the axis of the motor through the bevel gear. The millet particles in the sealing cavity advance by a screw pitch every time the Archimedes rod rotates for one circle, and along with the continuous rotation of the screw rod, the millet particles are pressed from one sealing cavity to the other sealing cavity in a spiral mode, and finally the Archimedes rod is extruded. The designed Archimedes rod is a novel machine for conveying grain particles, and has the advantages of simple structure, safe and reliable operation, convenient use and maintenance, continuous and uniform grain discharge, stable pressure and the like. Through tests, the smaller the angle is, the higher the transmission efficiency is, but the larger the occupied space is, for example, the spatial relationship between the grain bin and the threshing device is considered, and according to simulation comparison experiments of multiple transmission efficiencies of 30 degrees, 35 degrees, 40 degrees, 45 degrees, 50 degrees, 55 degrees and 60 degrees and the like, finally, the inclination angle is selected to be 60 degrees by combining the assembly manufacturability of the whole vehicle.

In the embodiment, the granary stirring device mainly comprises a planetary gear train, a motor, a rack gear box, a rack and bevel gear transmission. The motor drives the bevel gear to drive the planetary stirring mechanism, and the rack gear box is matched with the micro motor, so that the whole stirring device can move in the rack direction, namely, repeatedly move in the storage granary, and the stirring efficiency is fully improved.

In this embodiment, the seed bin agitating device is substantially identical to the grain bin agitating device, the only difference being that the seed bin agitating device is not provided with a mechanism capable of moving and agitating, and that no moving mechanism is required in view of the fact that the volume of the seed bin is small relative to the grain bin.

In this embodiment, the fertilizer apparatus device mainly comprises a fertilizer bin, a cylinder, a motor, a sprocket and a radial arm. After deep ploughing of millet seeds, the fertilizer applying mechanism uniformly disperses the fertilizer in the field. After the motor starts, the rotating arm is driven to rotate through chain transmission, after the motor rotates stably, the air cylinder is driven by the air pump, so that the air cylinder pushes the internal piston, then the fertilizer bin door is opened, granular fertilizer is released from the bin opening and is evenly scattered in a field through the pushing of the rotating arm, after the fertilization work is completed, the air pump stops working, the piston is automatically reset by the built-in spring in the piston, the fertilizer bin is closed, the rear motor stops working, and the rotating arm stops working.

In this embodiment, the sowing device can realize double-row millet planting. The device comprises a seed bin, a seeding bin, a motor, a chain transmission, a nut screw transmission, a gate, a track, a seed bin stirring device, a seeding bin stirring device, a subsoiling plow and a soil covering wheel. Wherein, the structure of the seeding cabin stirring device is completely different from that of the seed cabin stirring device, and the seeding cabin stirring device is arranged right above the seeding track in the seeding cabin. The device mainly comprises a direct current micro motor, a reduction gear box and a toothed stirring blade, wherein the reduction gear box is matched and connected with a stirring rod through a coupler, so that the toothed stirring blade rotates in a fixed shaft in a seeding bin. When the seeding work starts, in order to prevent the seed from piling up, the seed bin stirring device starts to work to ensure the loosening of the seeds, the motor on the seed bin is started, the screw nut connected with the motor runs to enable the gate to rise, the seeds enter the seeding bin along the track from the seed bin, after enough millet seeds are supplemented in the seeding bin, the motor of the seed bin is turned off, the lifting motor of the seeding bin is started, the chain transmission drives the screw nut to move downwards, the lifting motor stops rotating after reaching a specified proper depth, in order to prevent the seeds from blocking the seeding track, the seed bin stirring device starts to work, the seeds fall from the back track of the established track, namely the subsoiler, enter the groove opened by the subsoiler, the covering wheel which accompanies the advance of the vehicle buries the millet seeds, after the seeding is completed, the stirring device stops working, and the lifting motor reversely lifts the seeding bin. The sowing depth is proper, for example, the grain of the millet seeds is too small, the seedling emergence is difficult, the soil emergence is poor after the seeds germinate, so the thickness of the covering soil after sowing cannot exceed 2 cm; if the covering soil is too thick, the seeds cannot be drilled out to cover the seeds after germination, and the seeds can be slightly deep during sowing, and generally, 5-6 cm is required to be good.

Embodiment 9, an intelligent millet harvesting and seeding integrated small-sized agricultural machine, wherein the highest speed per hour of the agricultural machine on a national standard construction road is 40km/h. In order to reduce grain loss in the millet harvesting process and improve the millet harvesting rate, the harvesting running speed of the agricultural machine in the field is set to be 0.5m/s, the harvesting efficiency reaches 0.5 mu/h, and the mass of the agricultural machine for harvesting millet per hour can reach 200kg according to 300 kg-400 kg of current mu yield of millet. At the same time of sowing, the agricultural machine simultaneously fertilizes the field, and the running speed is 1m/s during fertilization. 50kg of fertilizer is needed for each mu of land, and the agricultural machinery can complete fertilization in 1 h. In order to adapt to the situation that the sowing depth is different under the conditions of different land types, temperatures, humidity and the like, the lifting distance of the sowing bin can be adjusted, and the maximum distance h=0.5 m.

The device elements referred to in the above embodiments are conventional device elements unless otherwise specified.

When the unmanned agricultural machinery advances to a designated harvesting area and a harvesting starting point is accurately identified through the camera module during a harvesting input link, the header mechanism is automatically adjusted to the lowest point, so that optimal contact with the ground is ensured. Then, the rotary knife, the harvesting conveying chain and the auger mechanism are started to orderly operate according to a preset working direction. The automatic execution of the process greatly improves the harvesting efficiency and accuracy. The unmanned agricultural machinery reaps at a speed of 0.5 meter per second, so that the continuity and the high efficiency of the operation are ensured. The crop is smoothly fed into the apron on the harvesting conveyor chain and subsequently into the harvesting range of the rotating knife. Under the action of the rotary knife, the millet ears are accurately cut off and are conveyed to two sides of the screw conveyor mechanism through a screw roller shaft with reasonable design. The process ensures the integrity and harvesting efficiency of the millet ears, and the middle baffle plays a key role in conveying the millet ears from the auger mechanism to the chain transmission harvesting and conveying mechanism, so that the millet ears are smoothly collected and conveyed to a subsequent processing link. The design not only improves the harvesting efficiency, but also reserves the quality and the integrity of crops to the greatest extent, and ensures the smooth operation of agriculture.

When the transportation threshing link is carried out, a harvesting and collecting device and a threshing roller are started to work cooperatively so as to ensure smooth transportation and threshing process of the millet ears. The harvesting and collecting device bears the task of conveying the millet ears from the auger mechanism to the threshing mechanism, so that a continuous operation flow is ensured. The motor directly drives the roller to rotate at a high speed in a chain transmission mode, and the rotation direction of the roller is consistent with that of the transmission belt, so that the design not only increases the stability, but also improves the efficiency. In the process, the millet grains are effectively separated from the ears by the contact of the rollers and the ears and the extrusion force of the threshing shell, so that the damage of the millet grains is reduced as much as possible while the efficient threshing is ensured. Subsequently, the screen mesh with precise design plays a key role in screening the grains of the millet and separating out impurities, the grains and other unnecessary parts, thereby ensuring the purity and the quality of the grains of the millet. The selected millet grains fall into the threshed conveyor belt and are smoothly sent into the collecting box along the conveyor belt. The process not only completes the harvesting and threshing work efficiently, but also reserves the integrality and the nutrition components of the millet grains to the maximum extent, and provides reliable raw material guarantee for subsequent processing and sales.

When the grain conveying link is carried out, an Archimedes type nondestructive conveying device is started, the Archimedes type nondestructive conveying device mainly comprises Archimedes rods, the rods rotate clockwise, and the grains stored in the collecting box are smoothly conveyed to a granary. In this process, the grains enter a helical path of a spiral shape, and the structure of the spiral causes the grains to be subjected to a continuous pushing force upwards, so as to be gradually lifted upwards. This design ensures that the grain can be transported smoothly along the helical path to the desired location without additional human intervention. When the harvesting operation is completed, the archimedes' rod will continue to rotate until all the grain is completely extruded. In this process, the screw stops rotating, and the transfer process ends. The automatic design not only improves the production efficiency, but also reduces the burden of workers. Finally, these grains can be safely stored in a grain store or subjected to further processing and handling. Through the process, the transportation and storage of grains are efficiently and reliably completed, and the quality and safety of grains are ensured.

When the small agricultural machine runs to the specified grain unloading position during the grain unloading output link, the infrared detection device on the agricultural machine can automatically identify the mark of the grain unloading position, and then the intelligent center controls the steering engine to open the grain unloading door. In the process, the stirring device is arranged in the granary to continuously operate, so that the grain adhesion problem is prevented.

When the seeding and fertilizing links are carried out, enough millet seeds are added into a seed bin before a machine starts to plant the millet, and then a motor of a stirring device of a seed bin gear train starts to drive the stirring device to loosen the millet seeds, so that the seeding work can not be completed due to the accumulation of the seeds. After the agricultural machinery runs to a designated position according to a user, a motor of a seed bin gate is started, the gate is opened, millet seeds fall down along a track to enter a sowing bin, the camera sensing device observes the storage amount of the millet seeds in the sowing bin in real time, and when enough millet seeds exist in the sowing bin, the motor of the seed bin gate is reversed, and the gate is closed. When the sowing work starts, the vehicle can adjust the sowing depth according to the factors such as environment, soil condition, weather and the like so as to ensure that the millet seeds obtain the optimal germination condition. The seeding cabin lifting motor is started, power is transmitted to the nut by using chain transmission, and then the lifting of the seed cabin is realized according to the nut screw rod kinematic pair. After the seed bin descends to the proper height, the subsoiler is inserted into soil, and meanwhile, a motor of a seed bin gear train stirring device is started, and the stirring device runs to loosen millet and ensure that the millet seeds fall smoothly. As the vehicle advances, the soil is opened out of the trench by the front end of the subsoiler, millet seeds fall down from the sowing bin along the rail at the rear end of the subsoiler into the soil, and then the soil is covered by the soil covering wheel, so that the millet is buried to a proper depth. At the same time of sowing, the fertilizing part at the tail part of the vehicle can work at the same time. When the vehicle advances, the air pump and the motor are started simultaneously, the piston on the fertilizer bin is jacked up, the door of the fertilizer bin is opened, and fertilizer falls onto the platform with the rotating arm. The rotating arm is driven by a motor to rotate through chain transmission, and after the fertilizer is spread to a vehicle, the fertilizer is irrigated or waited for rainfall after the fertilizer is finished. When the millet seeds in the sowing bin are sowed or the sowing is stopped, the vehicle stops advancing, the motor of the sowing bin stirring device stops rotating, the sowing bin lifting motor reverses, the sowing bin rises, and the seeds are supplemented or the working is stopped. The piston spring at the tail of the vehicle resets the piston, and the fertilizer bin is closed.

The utility model provides an intelligent millet harvesting and seeding all-in-one adopts the drive mode of track behind the front wheel, can adapt to hilly mountain land's landform and millet seeding or reaping accurate operation requirement, and the wheel track combination that adopts has the function of chassis self-adaptation lift and automobile body leveling, has solved the problem that agricultural machinery hillside adaptability is poor, anti tilting performance is low, the obstacle crossing performance is low and the operation smoothness is not enough, and its core principle is that the height difference of side drive wheel air suspension is controlled to the automatic adjustment of utilizing parallel four-bar leveling mechanism, keeps drive track and fuselage azimuth gesture unchanged, and then realizes walking self-adaptation's function, satisfies the agricultural machinery requirement of operation on hilly area sloping field. The harvesting and collecting device of the agricultural machine consists of an auger mechanism and a double-channel small-sized header mechanism, and is arranged at the front part of the vehicle body. The lower part of the vehicle body is provided with a transportation threshing device which comprises a threshing cylinder and a threshing shell. An Archimedes type nondestructive conveying device is arranged behind the transportation threshing device and is used for conveying the threshed millet to a granary at the rear side of the upper part of the vehicle body. One side of the granary is provided with a grain unloading output device. The fertilizer device is positioned at the rear side of the agricultural machine and consists of a fertilizer bin, a piston, an air pump, a motor, a chain wheel and a rotating arm. The seeding device comprises a seed bin and a seeding bin, wherein the seed bin is positioned in the middle of the vehicle body, and the seeding bin is arranged on two sides of the vehicle body and moves up and down through a screw pair. The upper part of the agricultural machine is provided with a camera sensing device, so that real-time monitoring and control, accurate navigation, obstacle detection, crop identification, data acquisition and analysis and man-machine interaction can be realized. The unmanned agricultural machine is provided with an intelligent center and consists of a micro integrated control board, so that the speed and the direction of each motor of the agricultural machine can be controlled, and the operation of each mechanism is realized. The design of the agricultural machinery aims at solving the problems of complexity, labor and time consumption in the planting process of small farmers and the problems of large volume and difficult operation of the traditional mechanized agricultural machinery. Agricultural machinery sold in the market cannot integrate multiple functions, is costly to purchase and maintain, and may be impractical for farmers and agricultural enterprises with limited resources. The agricultural machinery integrates various equipment functions, so that the cost and the volume are obviously reduced, the efficiency and the integration level are improved, and the intelligent and unmanned functions are realized. The product has compact structure, mutual cooperation, convenient disassembly and maintenance, and optimizes the use experience of farmers. The Archimedes type nondestructive conveying device is creatively adopted, so that the efficient lifting of the millet is realized, the volume of the device is reduced to the greatest extent, and the limit of the traditional agricultural mechanical device is broken.

In the aspect of harvesting and storing the granary, the agricultural machine adopts a vertical stirring device as an auxiliary device. The device adopts the planetary rotary design, is provided with a blade shaft with precise design, and can realize omnibearing stirring and turning of grains in a granary. Compared with the traditional ventilation mode, the stirring device not only can effectively reduce the local temperature in the granary, but also can avoid the grain adhesion problem caused by long-time standing. Through the design of transverse moving mechanism, agitating unit can cover each corner in the granary, ensures that each grain obtains abundant stirring and ventilation, prevents to lead to the millet corruption because of taking off the heap, and output decline.

In the aspect of sowing, in order to solve the problem that the millet seeds at the bottom are always subjected to the action of gravity to generate a bonding phenomenon in the process of conveying the millet seeds to sowing bins at two sides. The stirring device is also arranged in the seeding and storage barn, so that the phenomenon of blockage in the seeding process caused by the opening of the barn door is improved, the loose state of the millet seeds at the bottom is ensured, and the smooth seeding is ensured. Likewise, the team sets up agitating unit equally in seeding benefit storehouse granary to ensure that the millet seed of bottom remains loose state, thereby guarantee going on smoothly of seeding, reduce adhesion phenomenon and the jam in the seeding process. The device not only can effectively loosen the millet seeds at the bottom, but also needs to avoid unnecessary damage to the seeds while maintaining the grain quality. Therefore, the stirring device allows for accurate operation control and adaptation to the characteristics of different grain types. Compared with the storage granary, the stirring device of the seeding and storage granary does not need to be moved, but the performance and the efficiency are required to be improved. Through reasonable process design and advanced material selection, the stirring device is ensured to play a stable and reliable role in the millet seed transmission process, so that the seeding and warehouse-supplementing work is smoother and more efficient. The stirring device specially used for customizing the grain bin for seeding and supplementing the grain bin not only solves the bottleneck problem in the traditional seeding process, but also injects new technological vitality into the grain industry.

In conclusion, compared with agricultural machinery which relies on manpower and has single function in the market, the product can simultaneously realize multiple functions of fertilization, seeding, harvesting, threshing, storage and the like, and has the functions of positioning with low error and remote control with low delay. The electronic control system of the product integrates multiple functions and improves the working efficiency.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.

Claims (10)

1. The utility model provides an intelligent millet reaps seeding integration small-size agricultural machinery, includes intelligent center (4) and automobile body (2), its characterized in that: the harvester comprises a harvester-thresher (1), a conveying threshing device (9), a seeding device (5) and a fertilizing device (7), wherein the harvester-thresher (1), the conveying threshing device (9), the seeding device (5) and the fertilizing device (7) are sequentially arranged on a vehicle body (2), the harvester-thresher (1) corresponds to a feed inlet of the conveying threshing device (9), a non-destructive conveying device (6) is connected to a discharge outlet of the conveying threshing device (9), a discharge outlet of the non-destructive conveying device (6) corresponds to a storage grain bin (10) arranged on the vehicle body (2), and a grain bin stirring device (11) is arranged on the storage grain bin (10); the seeding device (5) is positioned between the harvesting and collecting device (1) and the storage barn (10), and the seeding device (5) is provided with a seed barn stirring device (12).

2. The intelligent millet harvesting and seeding integrated small-sized agricultural machine of claim 1, wherein: the harvesting and collecting device (1) comprises a harvesting frame (14) and an auger mechanism (13), wherein the harvesting frame (14) is connected with a connecting rod mechanism (15) and hinged to the vehicle body (2) through the connecting rod mechanism (15), two harvesting mechanisms which are symmetrically arranged are connected to the harvesting frame (14), the two harvesting mechanisms correspond to the auger mechanism (13), and the auger mechanism (13) is connected to the vehicle body (2) and corresponds to a feeding table arranged on the front side of the vehicle body (2).

3. The intelligent millet harvesting and seeding integrated small-sized agricultural machine of claim 2, wherein: the harvesting mechanism comprises a driving chain group (16), a driving chain group (17) and two spiral roll shafts (19) which are symmetrically arranged, wherein the driving chain group (16) and the driving chain group (17) are of two triangle structures which are symmetrically arranged, a rotary knife (18) is connected to a chain wheel, close to the driving chain group (16), on the driving chain group (17), and the spiral roll shafts (19) are rotatably arranged on the harvester frame (14) and correspond to the driving chain group (16) and the driving chain group (17); the auger mechanism (13) comprises a gathering shaft, the middle part of the gathering shaft is connected with a plurality of gathering plates for gathering the grain ears, and both ends of the gathering shaft are connected with helical blades respectively corresponding to the driving chain group (16) and the driving chain group (17).

4. The intelligent millet harvesting and seeding integrated small-sized agricultural machine according to any one of claims 1-3, wherein: the conveying threshing device (9) comprises a conveying belt group (20) corresponding to the harvesting and collecting device (1), a threshing cylinder (21) is arranged at the conveying end of the conveying belt group (20), a rotating shaft (23) is connected to the threshing cylinder (21), a threshing shell (22) corresponding to the threshing cylinder (21) is rotatably connected to the rotating shaft (23), two ends of the rotating shaft (23) are rotatably connected with a part fixed on the vehicle body (2), and a threshing bin (25) is connected to the lower part of the threshing cylinder (21).

5. The intelligent millet harvesting and seeding integrated small-sized agricultural machine of claim 4, wherein: the nondestructive conveying device (6) comprises an outer closed type Archimedes rod (27), the outer closed type Archimedes rod (27) is arranged on the vehicle body (2), the lower part of the outer closed type Archimedes rod (27) is arranged in the threshing bin (25), and a guiding conveying piece (26) corresponding to the storage granary (10) is arranged at the upper part of the outer closed type Archimedes rod (27).

6. The intelligent millet harvesting and seeding integrated small-sized agricultural machine according to any one of claims 1-3 and 5, wherein: the granary stirring device (11) comprises a stirring frame (29) and a planetary gear train (33), a first motor (30) for driving the planetary gear train (33) is arranged on the stirring frame (29), two stirring shafts (35) which are arranged in parallel are connected to the planetary gear train (33), stirring plates (28) are connected to the stirring shafts (35), positioning pieces (34) are further connected to the two stirring shafts (35), two gear boxes (32) which are symmetrically arranged are further connected to the stirring frame (29), and the gear boxes (32) are meshed with racks (31) arranged on the storage granary (10).

7. The intelligent millet harvesting and seeding integrated small-sized agricultural machine of claim 6, wherein: the seed bin stirring device (12) comprises a stirring frame (29) and a planetary gear train (33), a first motor (30) for driving the planetary gear train (33) is arranged on the stirring frame (29), two stirring shafts (35) which are arranged in parallel are connected to the planetary gear train (33), stirring plates (28) are connected to the stirring shafts (35), and positioning pieces (34) are further connected to the two stirring shafts (35).

8. The intelligent millet harvesting and seeding integrated small-sized agricultural machine according to any one of claims 1-3, 5 and 7, wherein: the seeding device (5) comprises a seed bin (37), a track frame (38) and a seeding bin (39) arranged on the track frame (38) in a sliding manner, wherein gates (40) are arranged on two sides of the seed bin (37), the gates (40) correspond to tracks (41) arranged on a vehicle body (2), a discharge hole of each track (41) corresponds to the seeding bin (39) in a seeding state, an auxiliary discharging component (42) is arranged on the discharge hole of each seeding bin (39), a soil covering wheel (43) and a subsoiling plow (44) are arranged on the lower portion of each seeding bin (39), a screw sleeve matched with a screw rod (45) arranged on the track frame (38) in a rotating manner is connected to the seeding bin (39), and a driving component (36) is connected to the upper portion of the screw rod (45).

9. The intelligent millet harvesting and seeding integrated small-sized agricultural machine of claim 8, wherein: the auxiliary blanking assembly (42) comprises a poking shaft, the upper portion of the poking shaft is rotationally connected with a motor connected to the seeding bin (39), and a plurality of poking plates which are vertically arranged are connected to the lower portion of the poking shaft.

10. The intelligent millet harvesting and seeding integrated small-sized agricultural machine according to any one of claims 1-3, 5, 7, 9, characterized in that: the fertilizing device (7) comprises a fertilizer bin (47), a blanking cylinder (48) for assisting blanking is connected to the fertilizer bin (47), a fertilizing table (49) mounted on a vehicle body (2) is arranged below a discharging hole of the fertilizer bin (47), two fertilizing shafts (50) symmetrically arranged are rotationally connected to the fertilizing table (49), and a plurality of cantilevers (46) for assisting in spreading fertilizer are connected to the fertilizing shafts (50).