CN112715077B

CN112715077B - Sugarcane tillering and thinning and planting management machine

Info

Publication number: CN112715077B
Application number: CN202011623736.6A
Authority: CN
Inventors: 丘立杭; 罗含敏; 周慧文; 闫海锋; 吴建明; 周忠凤; 范业赓; 陈荣发; 段维兴; 刘俊仙
Original assignee: Guangxi Zhuang Nationality Autonomous Region Academy of Agricultural Sciences
Current assignee: Guangxi Zhuang Nationality Autonomous Region Academy of Agricultural Sciences
Priority date: 2020-12-31
Filing date: 2020-12-31
Publication date: 2022-03-25
Anticipated expiration: 2040-12-31
Also published as: CN112715077A

Abstract

The invention relates to the technical field of sugarcane planting management machinery, and particularly discloses a sugarcane tillering thinning and planting management machine, which comprises a rack, wherein a vision camera is arranged at the front part of the rack, mechanical arms are arranged at two sides of the rack, a shearing mechanism is arranged at the end part of each mechanical arm, and the vision camera, the mechanical arms and the shearing mechanisms are respectively and electrically connected with a PLC (programmable logic controller); the visual camera identifies the sugarcane tillering seedlings and transmits the graphs to the PLC, the PLC issues tillering seedling removal instructions according to the number of the identified sugarcane tillering seedlings, and controls the mechanical arm and the shearing mechanism to work to remove redundant sugarcane tillering seedlings. The sugarcane root and stem breaking machine can realize thinning and final singling of sugarcane tillers, construct a reasonable group structure in unit area, promote the proportion of sugarcane tillers to form stems, improve the number of effective stems, simultaneously have the integrated functions of deep ploughing, running, fertilizing, weeding and earthing up, can break ridges and loosen roots when perennial sugarcane is managed, can be matched with a sugarcane planter, realize the whole-process mechanical management of sugarcane, and improve the yield of sugarcane.

Description

Sugarcane tillering and thinning and planting management machine

Technical Field

The invention relates to the technical field of sugarcane planting management machinery, in particular to a sugarcane tillering thinning and planting management machine.

Background

The yield of the sugarcane is derived from the single-stem weight and the effective stem number, tillering is promoted, the ratio of tillering and stem forming is improved, the effective stem number of the sugarcane is determined, and meanwhile tillering is also the key for building the ideal plant type of the sugarcane, so that the reasonable sugarcane group structure has great significance for the yield of the sugarcane. The number of basic seedlings and tillers of the sugarcane jointly determine the number of effective stems of the sugarcane, wherein the contribution of tillering is the largest. In the planting production of the sugarcane, the general problems of dead seedlings, seedling shortage, stump shortage and the like are inevitable, and the problems are closely related to the quality and the property (namely variety property) of the sugarcane buds and are directly reflected in the tillering capacity of the sugarcane, and the tillering capacity is inseparable from the planting management measures/technologies. The sugarcane tillers can be divided into effective tillers and ineffective tillers, the effective tillers can generally grow into raw sugarcane stems, one part of the ineffective tillers can die, one part of the ineffective tillers and the effective tillers coexist in the whole sugarcane growing period in a form that the growth is inhibited, and have great competition with the effective tillers in nutrition, moisture and sugar distribution, so that the growth space of the effective tillers is further limited, and the quality and the yield of the sugarcane are influenced. However, the ineffective tillers have resource competition with the effective tillers in production, including water, nutrient, photosynthetic substance distribution and the like, and are extremely not beneficial to the growth and sugar accumulation of the effective tillers at the later stage; in addition, the sugarcane variety with strong tillering still has too much effective tillering, and the competition among each other can also influence the stem forming rate of tillering, the late growth of sugarcane stems and internode sugar accumulation. Therefore, reasonable control of sugarcane tillering is beneficial to high-yield cultivation of sugarcane, and has great significance for building an ideal group structure of sugarcane.

At present, the mechanized planting of the sugarcane is gradually realized, a mechanized sugarcane tillering and thinning device is not matched, the manual removal of the tillering of the sugarcane is only used for thinning and final singling, the workload is high, the labor force in the young and the strong in rural areas is mostly brought into the city and the proper labor force is difficult to find in the sugarcane management period to effectively manage the sugarcane.

Disclosure of Invention

The invention aims to provide a sugarcane tillering and thinning and planting management machine, so that the defect that a large amount of manual operation is needed for removing the sugarcane tillering seedlings to realize thinning and final singling in the prior art is overcome, the sugarcane tillering and thinning management machine is matched with a sugarcane planting machine, the whole-process mechanical management of sugarcane is realized, and the yield of the sugarcane is improved.

In order to achieve the aim, the invention provides a sugarcane tillering and thinning and planting management machine which comprises a rack with wheels, wherein a vision camera is arranged at the front part of the rack, a mechanical arm is arranged on the rack, a shearing mechanism is arranged at one end of the mechanical arm, which is far away from the rack, and the vision camera, the mechanical arm and the shearing mechanism are respectively and electrically connected with a PLC (programmable logic controller); the vision camera is used for recognizing the sugarcane tillering seedlings and transmitting the graphs to the PLC, and the PLC issues tillering and removing instructions according to the recognized sugarcane tillering numbers and controls the mechanical arm and the shearing mechanism to work to remove the redundant sugarcane tillering seedlings. Different numbers of sugarcane tillering seedlings can be reserved according to different sugarcane varieties, for example, each sugarcane reserves 2-4 strong sugarcane tillering seedlings. The mechanical arm is used for tillering and removing the sugarcane, so that the labor intensity of manual operation can be reduced, the operation efficiency is improved, and the problem of labor shortage can be solved. Preferably, the vision camera adopts a 360-degree panoramic vision camera.

Preferably, the manipulator comprises an X-axis guide rail, a Y-axis guide rail, a Z-axis guide rail and an R rotating shaft, wherein an X sliding block is connected to the X-axis guide rail in a driving manner, the X sliding block is fixedly connected with the Z-axis guide rail, the Z sliding block is connected to the Z-axis guide rail in a driving manner, a Y-axis guide rail is fixedly connected to the Z sliding block, a Y sliding block is connected to the Y-axis guide rail in a driving manner, and the Y sliding block is provided with the shearing mechanism and the R rotating shaft; the X slider, the Y slider and the Z slider are respectively driven by a servo motor, the R rotating shaft is driven by an R shaft motor and is in transmission connection with the shearing mechanism. The X slider, the Y slider and the Z slider can be respectively driven by three different servo motors, and compared with a synchronous motor, the control precision is higher.

Preferably, the X-axis guide rail is arranged on one side of the rack, and the X-axis guide rail is connected with the rack through adjusting arms and adjusting oil cylinders which are arranged at intervals. The two ends of the adjusting arm and the two ends of the adjusting oil cylinder are respectively hinged with the rack and the X-axis guide rail, the adjusting oil cylinder is controlled by a PLC, and the distance between the X-axis guide rail and the rack is adjusted by controlling the stretching of the adjusting oil cylinder, so that the operating requirements of the sugarcanes with different row distances are met.

Preferably, the shearing mechanism comprises a first shearing blade and a second shearing blade with opposite blades, one end of the first shearing blade and one end of the second shearing blade are respectively fixed on a first driven wheel and a second driven wheel, and the first driven wheel and the second driven wheel are respectively fixed with the Y-shaped sliding block through a vertical shaft; the second driven wheel is in transmission connection with a steering wheel, and the steering wheel is arranged on the R rotating shaft; the first driven wheel is in transmission connection with the driving wheel, the driving wheel is driven by a rotating motor, the rotating motor is further connected with the planetary speed reducer, and the rotating motor rotates forwards or backwards to drive the first shearing blade and the second shearing blade to be opened or closed.

Preferably, the rotating motor and the planetary reducer are fixed with the Y slider through a dust cover; the steering wheel, the driving wheel, the first driven wheel and the second driven wheel are all located in the dust cover, and a shearing opening for the first shearing blade and the second shearing blade to extend out is further formed in one side of the dust cover. The arrangement of the dust cover can better protect the shearing mechanism.

Preferably, the device also comprises a fertilizing mechanism, wherein the fertilizing mechanism comprises a fertilizer hopper, a tillering recovery device, a crushing mixer and a fertilizing pipe; the fertilizer hopper and the tillering recovery device are respectively connected with a feed inlet of the crushing and mixing machine; the fertilizing pipe is connected with an output port of the crushing and mixing machine; the tillering recovery device comprises a tillering recovery pipe and a vacuum conveyor, wherein one end port of the tillering recovery pipe is arranged below the shearing mechanism, the other end of the tillering recovery pipe is connected with the crushing mixer, and the vacuum conveyor is connected with an air storage tank arranged on the rack. The negative pressure formed by the vacuum conveyor recovers the redundant sugarcane tillers sheared by the shearing mechanism to the crushing and mixing machine for further crushing, mixes the crushed sugarcane tillers with fertilizer and then applies the fertilizer to the sides of sugarcane roots through the fertilizing pipe, so that the ecological recovery and utilization of the redundant sugarcane tillers are realized, the straw pollution of the clean environment of the sugarcane field is reduced, and the growth of the sugarcane is facilitated.

Preferably, a ditching plow or a rotary plow is arranged in front of the frame and detachably connected with the frame. The installation interval of the ditching plough/the rotary tillage plough can be adjusted according to the planting row spacing of the sugarcane.

Preferably, a hilling plough or a rotary tillage plough is arranged behind the frame; the upper parts of the hilling plough or the rotary tillage plough are respectively connected with the frame through a lifting oil cylinder and a hinge rod. The ridging or rotary tillage depth of the ridging plough or the rotary tillage plough can be adjusted by controlling the lifting oil cylinder, and the ridging or rotary tillage plough can be lifted when the ridging or rotary tillage is not needed, so that the walking and other operations are facilitated.

Preferably, a disc cutter is arranged in front of the frame. The disc cutter can be used for cutting and crushing sugarcane stems, leaves, weeds and the like.

Preferably, the vision camera, the manipulator and the shearing mechanism are respectively arranged on two sides of the rack. The method can remove redundant tillering seedlings of two rows of sugarcanes at the same time, realizes thinning and final singling, achieves reasonable close planting effect, and improves working efficiency.

Compared with the prior art, the invention has the following beneficial effects:

1. the management machine can visually and automatically identify the number of the tillering seedlings of the sugarcane by arranging a visual camera, a mechanical arm, a shearing mechanism and the like controlled by a PLC (programmable logic controller), and controls the mechanical arm and the shearing mechanism to remove the tillering seedlings. The reasonable tillering group of the sugarcane is constructed by mechanically removing redundant tillering or ineffective tillering to realize thinning and final singling, so that the reasonable planting density is formed, the proportion of tillering and stem forming of the sugarcane is promoted, the number of effective stems is increased, and the yield of the sugarcane is increased. Meanwhile, the mechanical removal of tillering can reduce the labor intensity of manual operation, improve the operating efficiency and solve the problem of labor shortage.

2. The manipulator of the management machine adopts a four-axis design and is driven by a servo motor and an R-axis motor, so that accurate and flexible positioning can be realized, and the mechanical removal of the sugarcane tillering seedlings can realize accurate operation.

3. According to the management machine, through the fertilizer applying mechanisms such as the fertilizer hopper, the tillering recovery pipe, the vacuum conveyor, the crushing mixer and the fertilizer applying pipe, the surplus sugarcane tillers sheared by the shearing mechanism can be recovered to the crushing mixer through negative pressure, further crushed and mixed with fertilizer, and then applied to the sugarcane root beside through the fertilizer applying pipe, so that ecological recovery and utilization of the surplus sugarcane tillers are realized, straw pollution to the environment of a sugarcane field is reduced, and the growth of the sugarcane is facilitated.

4. The management machine can integrate functions of deep ploughing, row opening, fertilization, mechanical weeding and ridging while realizing the tillering and final singling of sugarcane to construct reasonable tillering groups of sugarcane, can break ridges and loosen roots when the perennial root sugarcane is managed, can better meet the requirement of sugarcane intertillage management, reduces the times of management operation and reduces the planting cost of sugarcane.

5. According to the management machine, the 360-degree panoramic vision camera, the manipulator and the shearing mechanism are arranged on the two sides of the rack respectively, and each management machine can remove redundant tillers from two rows of sugarcanes simultaneously, so that the working efficiency is improved.

Drawings

Fig. 1 is a schematic diagram of a structure according to the present invention.

Fig. 2 is a schematic structural view of the robot of the present invention.

Fig. 3 is a schematic structural view of the shearing mechanism of the present invention.

Fig. 4 is a schematic structural view of the rack of the present invention.

Fig. 5 is a schematic structural view of the fertilizing mechanism of the invention.

FIG. 6 is a schematic view of the structure of the tiller recovery unit of the present invention.

Description of the main reference numerals:

1. a frame; 2. a vision camera; 3. a manipulator; 31. an X-axis guide rail; 32. a Y-axis guide rail; 33. a Z-axis guide rail; 34. r rotating shaft; 35. an X slider; 36. a Y slider; 37. a Z slider; 4. A shearing mechanism; 41. a first cutting edge; 42. a second cutting edge; 5. a PLC controller; 6. an adjusting arm; 7. adjusting the oil cylinder; 8. an X-axis servo motor; 9. a Y-axis servo motor; 10. a Z-axis servo motor; 11. an R-axis motor; 12. a first driven wheel; 13. a second driven wheel; 14. a steering wheel; 15. a driving wheel; 16. rotating the motor; 17. a planetary reducer; 18. a dust cover; 19. a fertilizer hopper; 20. a tillering recovery device; 201. a tillering recovery pipe; 202. a vacuum conveyor; 21. crushing a mixer; 22. fertilizing a pipe; 23. a gas storage tank; 24. a furrow plough; 25. a hilling plough; 26. a lift cylinder; 27. a hinged lever.

Detailed Description

The following detailed description of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.

As shown in fig. 1-6, the sugarcane tillering and thinning and planting management machine comprises a frame 1 with wheels, wherein a vision camera 2 is arranged at each of the left end and the right end of the front portion of the frame 1, a manipulator 3 is arranged on each of the two sides of the frame 1, a shearing mechanism 4 is arranged at one end, away from the frame 1, of each manipulator 3, and the vision camera 2, the manipulator 3 and the shearing mechanism are electrically connected with a PLC (programmable logic controller) 5 respectively. The vision camera 2 is used for recognizing sugarcane tillering and transmitting the graph to the PLC 5, the PLC 5 issues a tillering removal instruction according to the recognized sugarcane tillering seconds, and controls the manipulator 3 and the shearing mechanism 4 to work, so that redundant sugarcane tillering is removed. The PLC controller can be installed on a tractor. Preferably, the vision camera adopts a 360-degree panoramic vision camera.

As shown in fig. 2, the manipulator 3 includes an X-axis guide rail 31, a Y-axis guide rail 32, a Z-axis guide rail 33 and an R rotating shaft 34, the X-axis guide rail 31 is disposed on one side of the frame 1, the X-axis guide rail 31 is connected to the frame 1 through an adjusting arm 6 and an adjusting oil cylinder 7 which are arranged at intervals, namely, two ends of the adjusting arm 6 and the adjusting oil cylinder 7 are respectively hinged to the frame 1 and the X-axis guide rail 31, the adjusting oil cylinder 7 is controlled by a PLC, and the distance between the X-axis guide rail 31 and the frame 1 is adjusted by controlling the extension and retraction of the adjusting oil cylinder 7, so that the operation requirements of canes with different row spacings are met. The X-axis guide rail 31 is provided with an X slider 35 in a driving connection mode, the X slider 35 is fixedly connected with a Z-axis guide rail 33, the Z-axis guide rail 33 is provided with a Z slider 37 in a driving connection mode, the Z slider 37 is fixedly connected with a Y-axis guide rail 32, the Y-axis guide rail 32 is provided with a Y slider 36 in a driving connection mode, the Y slider 36 is provided with a shearing mechanism and an R rotating shaft 34, and the R rotating shaft 34 is in transmission connection with the shearing mechanism. The X slider 35, the Y slider 36 and the Z slider 37 are respectively driven by an X-axis servo motor 8, a Y-axis servo motor 9 and a Z-axis servo motor 10, so that compared with a synchronous motor, the moving precision of the sliders can be better controlled, and the position control of the manipulator 3 can be better realized. The R-axis motor 11 drives the R-axis shaft 34 to rotate, the R-axis motor 11 is further connected to a harmonic reducer, and the rotation of the shearing mechanism can be controlled by controlling the rotation of the R-axis shaft. The X-axis, the Y-axis, the Z-axis and the R rotating shaft 34 are designed by the manipulator 3 with four axes, so that the precise positioning of the shearing mechanism is facilitated.

As shown in fig. 3, the cutting mechanism includes a first cutting edge 41 and a second cutting edge 42 with opposite edges, and the first cutting edge 41 and the second cutting edge 42 may be provided with grooves to better grip the sugarcane stalks. One end of each of the first cutting edge 41 and the second cutting edge 42 is fixed to the first driven wheel 12 and the second driven wheel 13, respectively, and the first driven wheel 12 and the second driven wheel 13 are fixed to the Y slider 36 through a vertical shaft, respectively. The second driven wheel 13 is in transmission connection with a steering wheel 14, and the steering wheel 14 is arranged on the R rotating shaft 34 and driven to rotate by the R-axis motor 11. The first driven wheel 12 is in transmission connection with a driving wheel 15, the driving wheel 15 is driven by a rotating motor 16, the rotating motor 16 is further connected with a planetary reducer 17, and the rotating motor 16 rotates forwards or backwards to drive the first cutting edge 41 and the second cutting edge 42 to be opened or closed. The rotating motor 16 and the planetary reduction gear 17 are fixed to the Y slider 36 through a dust cover 18. The steering wheel 14, the driving wheel 15, the first driven wheel 12 and the second driven wheel 13 are all located in the dust cover 18, and a cutting opening for the first cutting edge 41 and the second cutting edge 42 to extend out is further formed in one side of the dust cover 18. The provision of the dust guard 18 provides better protection for the shearing mechanism.

As shown in fig. 5-6, the frame 1 is further provided with a fertilizing mechanism, and the fertilizing mechanism comprises a fertilizer hopper 19, a tillering recovery device 20, a crushing mixer 21 and a fertilizing pipe 22. The fertilizer hopper 19 is connected with a feed inlet in the middle of the crushing and mixing machine 21 through a fertilizer conveying pipe. The fertilizing pipe 22 is connected with an output port of the crushing and mixing machine 21. The tillering recovery device 20 is connected with a feed inlet at the end part (the end far away from the output port) of the crushing and mixing machine 21. The tillering recovery device 20 comprises a tillering recovery pipe 201 and a vacuum conveyor 202, wherein one end port of the tillering recovery pipe 201 is arranged below the shearing mechanism, and the other end of the tillering recovery pipe 201 is connected with a feed inlet of the crushing mixer 21 through a flexible corrugated pipe. The vacuum conveyor 202 is connected to an air reservoir 23 provided on the frame 1. The negative pressure formed by the vacuum conveyor 202 recovers the excessive sugarcane tillers sheared by the shearing mechanism to the crushing and mixing machine 21 for further crushing, mixes the crushed sugarcane tillers with fertilizer and then applies the fertilizer to the sugarcane root side through the fertilizer application pipe 22, so that the ecological recovery and utilization of the excessive sugarcane tillers are realized, the straw pollution of the clean environment of the sugarcane field is reduced, and the growth of the sugarcane is facilitated. The smashing and mixing machine 21 is purchased from the market, and mainly structurally comprises a rack 1 and a smashing and mixing shaft horizontally arranged, wherein a spiral smashing knife is arranged on the smashing and mixing shaft, and can smash sugarcane tillers, mix with fertilizers and transmit the fertilizers to a fertilizing pipe 22.

Furthermore, a ditching plow 24 is arranged in front of the frame 1, and two ditching plows 24 are arranged at intervals. The ditching plow 24 is detachably connected with the frame 1, and the installation position of the ditching plow 24 can be adjusted according to the row spacing of the sugarcane planting. Of course, the furrow plough 24 can be replaced by a rotary plough as required to realize deep ploughing and row-opening operation of the sugarcane field. The ditching plow 24 corresponds to the fertilizing pipe 22 in front and back, namely ditching and loosening soil are carried out, and then fertilizer is applied to the furrow. Further, a hilling plough 25 is arranged behind the frame 1. The upper part of the hilling plough 25 is respectively connected with the frame 1 through a lifting oil cylinder 26 and a hinge rod 27. The lifting oil cylinder 26 is electrically connected with the PLC controller 5, the PLC controller 5 can adjust the ridging depth of the ridging plough 25 by controlling the lifting oil cylinder 26, and when the ridging is not needed, the ridging plough 25 can be lifted up to facilitate walking. In other embodiments, disc cutters are further arranged in front of the frame 1 and in front of the furrow plough 24 for cutting off sugarcane stalks, leaves, weeds and the like to realize mechanical weeding.

The sugarcane tillering and thinning and planting management machine is used for intertillage management of sugarcane in a tillering stage. When the management machine is used, the management machine is connected with a 160-piece tractor, and the tractor drives the management machine to walk among sugarcane planting rows. The furrow plough 24 carries the soil between the rows of sugar cane and forms two shallow furrow rows. The visual camera 2 identifies the tillering number of each sugarcane on two sides of the management machine, the PLC 5 judges whether to extirpate the tillering (if the tillering number can be larger than 3), if the tillering is needed, the position where to extirpate the tillering is determined, and sends an operation signal to the manipulator 3, after the manipulator 3 reaches a specified position, the manipulator starts a shearing mechanism to shear the redundant sugarcane tillering, and simultaneously, the fertilizing mechanism is started, the tillering recycling pipe 201 conveys the extirpated sugarcane tillering to the crushing mixer 21 by using negative pressure to crush the sugarcane tillering, mixes the crushed sugarcane tillering with fertilizer, and then discharges the sugarcane tillering into a small ditch formed by the furrow plough 24 through the fertilizing pipe 22. The manipulator 3 and the shearing mechanism work reciprocally according to the instruction. The fertilizing mechanism continuously operates, and the hilling plough 25 hills the sugarcane in the moving process of the frame 1. The management machine can simultaneously perform tillering and removing of the sugarcane, can recycle tillering, simultaneously perform intertillage fertilization and stump loosening and earthing up operation, and improve the utilization efficiency of the sugarcane to fertilizer.

In conclusion, the management machine can remove redundant or ineffective sugarcane tillers, realize thinning and final singling, construct reasonable sugarcane tillering groups, realize reasonable close planting, simultaneously have the integrated functions of deep ploughing, row opening, fertilization, mechanical weeding and ridging, can break ridges and loose roots during the management of perennial root sugarcane, can be matched with a sugarcane planter, realize the whole-process mechanical management of the sugarcane, and improve the yield of the sugarcane.

The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.

Claims

1. A sugarcane tillering and thinning and planting management machine comprises a rack with wheels, and is characterized in that a vision camera is arranged at the front part of the rack, a manipulator is arranged on the rack, a shearing mechanism is arranged at one end, away from the rack, of the manipulator, and the vision camera, the manipulator and the shearing mechanism are respectively and electrically connected with a PLC (programmable logic controller); the vision camera is used for identifying the sugarcane tillering seedlings and transmitting the graph to the PLC, the PLC issues a tillering and removing instruction according to the number of the identified sugarcane tillering seedlings, and controls the mechanical arm and the shearing mechanism to work so as to remove redundant sugarcane tillering seedlings;

the manipulator comprises an X-axis guide rail, a Y-axis guide rail, a Z-axis guide rail and an R rotating shaft, wherein an X sliding block is connected to the X-axis guide rail in a driving manner, the X sliding block is fixedly connected with the Z-axis guide rail, the Z sliding block is connected to the Z-axis guide rail in a driving manner, a Y sliding block is connected to the Y-axis guide rail in a driving manner, and the Y sliding block is provided with the shearing mechanism and the R rotating shaft; the X sliding block, the Y sliding block and the Z sliding block are respectively driven by servo motors, and the R rotating shaft is driven by an R-shaft motor and is in transmission connection with the shearing mechanism;

the X-axis guide rail is arranged on one side of the rack and is connected with the rack through adjusting arms and adjusting oil cylinders which are arranged at intervals;

the shearing mechanism comprises a first shearing blade and a second shearing blade with opposite blades, one ends of the first shearing blade and the second shearing blade are respectively fixed on a first driven wheel and a second driven wheel, and the first driven wheel and the second driven wheel are respectively fixed with the Y-shaped sliding block through a vertical shaft; the second driven wheel is in transmission connection with a steering wheel, and the steering wheel is arranged on the R rotating shaft; the first driven wheel is in transmission connection with a driving wheel, the driving wheel is driven by a rotating motor, the rotating motor is also connected with a planetary reducer, and the rotating motor rotates forwards or backwards to drive the first shearing blade and the second shearing blade to be opened or closed;

the rotating motor and the planetary reducer are fixed with the Y sliding block through a dust cover; the steering wheel, the driving wheel, the first driven wheel and the second driven wheel are all positioned in the dust cover, and one side of the dust cover is also provided with a shearing opening for the first shearing blade and the second shearing blade to extend out;

the fertilizer applying mechanism comprises a fertilizer hopper, a tillering recovery device, a crushing mixer and a fertilizer applying pipe; the fertilizer hopper and the tillering recovery device are respectively connected with a feed inlet of the crushing and mixing machine; the fertilizing pipe is connected with an output port of the crushing and mixing machine; the tillering recovery device comprises a tillering recovery pipe and a vacuum conveyor, wherein one end port of the tillering recovery pipe is arranged below the shearing mechanism, the other end of the tillering recovery pipe is connected with the crushing mixer, and the vacuum conveyor is connected with an air storage tank arranged on the rack.

2. A sugarcane tillering and thinning and planting management machine according to claim 1, characterized in that a furrow plough or a rotary plough is arranged in front of the frame, and the furrow plough or the rotary plough is detachably connected with the frame.

3. A sugarcane tillering and thinning and planting management machine according to claim 1, characterized in that a banking plow or a rotary plow is further arranged behind the machine frame; the upper parts of the hilling plough or the rotary tillage plough are respectively connected with the frame through a lifting oil cylinder and a hinge rod.

4. A sugarcane tillering and thinning and planting management machine according to claim 1, characterized in that a disc cutter is further provided in front of the frame.

5. A sugarcane tillering and thinning and planting management machine according to claim 1, wherein there are two vision cameras, a manipulator and a shearing mechanism, which are respectively arranged at two sides of the machine frame.