WO2019095466A1 - Fertilizer applicator having automatic movement - Google Patents

Abstract

An fertilizer applicator having automatic movement comprises a moving device (1) and a fertilizer application mechanism (5). The moving device (1) is provided with at least one rotatable and an outwardly extendable manipulator (4) capable of swinging up and down. The fertilizer application mechanism (5) comprises a raising/lowering driving device (505). An end portion of the manipulator (4) is fixedly connected to a housing of the raising/lowering driving device (505). A raising/lowering rod (502) is provided inside the raising/lowering driving device (505). A horizontal top plate (501) is fixedly connected to a top portion of the raising/lowering rod (502). A pneumatic pick (503) is fixedly connected to a lower side of the horizontal top plate (501). A lower side of the pneumatic pick (503) is fixedly connected to one end of a horizontal supporting plate (504). The other end of the horizontal supporting plate (504) is fixedly connected to the housing of the raising/lowering driving device (505). An air-liquid flow block is provided at the center of a lower side of the horizontal supporting plate (504). An air-liquid connection channel is arranged at the air-liquid interflow block. A hollow vibrating excitation rod (506) is detachably connected to the air-liquid interflow block. A soil penetration device (508) is detachably connected to a bottom portion of the vibrating excitation rod (506). The soil penetration device (508) has an air discharge and liquid application hole (8) in communication with an internal cavity of the vibrating excitation rod (506). The fertilizer applicator having automatic movement can automatically adjust a position of a fertilizer application mechanism and increase a soil gas permeability, such that a liquid fertilizer can be uniformly applied to the root of a plant.

Description

Self-propelled fertilizer applicator Technical field

The invention relates to a fertilizer applicator, in particular to a fertilizer applicator for applying liquid fertilizer to fruit trees.

Background technique

In the garden industry and fruit trees and other crops, in order to make the forest grow stronger, it is necessary to carry out loosening and fertilization frequently. In the traditional technology, the laborer uses the manual deep-type loose soil fertilizing machine to realize deep loose soil, but it can only be applied to soft soil, the pressing depth is shallow, the efficiency is low, the fertilizer amount cannot be quantified, and the machine is heavy and difficult to operate. Workers work hard.

In order to solve the problems existing in the traditional manual processing method, in the prior art, the Chinese invention patent whose patent name is a deep loose soil fertilizing machine is announced, the application number is 02272845.7, the application date is 2002.08.27, and the authorization announcement date is 2003. On September 3, the authorization announcement date is CN 2569541 Y. The structure is specifically including a main engine capable of generating shock vibration. The lower part of the main unit is connected with a loose soil rod that can be inserted into the soil to loosen the soil. The main unit is also connected with a loose soil rod. A storage tank for storing chemical fertilizers or pesticides, the bottom of the storage tank is connected to the inner cavity of the loose soil rod through a pipeline, and the main body is a pneumatic vibration machine. When the fertilizer application machine is working, the pneumatic vibration machine is opened, and the pneumatic vibration machine is used for loosening the soil. The force of the downward impact of the rod can be deepened to a predetermined depth without manual pressing. The liquid fertilizer, solid fertilizer or powdered fertilizer in the storage tank enters the loose soil rod from the storage tank, and the main machine is an impact machine. Suitable for soils with a certain degree of hardness or knot, but this structure is only loosened by impact machinery. The soil around the lower end of the loose soil rod is still tight and the soil is impervious. At this time, when the fertilizer is directly applied to the soil along the discharge port of the loose soil rod, it is difficult to uniformly apply the fertilizer to the roots of the plant, which is not conducive to the growth of the plant roots; in addition, the fertilizer machine needs to be moved to the need Before the fertilized trees, the loose soil rods cannot automatically extend outward to the area to be fertilized. After the fertilizer is applied to one of the trees, the fertilizer spreader moves to the other side of the tree again, and the operation is troublesome when the trees are to be fertilized. When the surrounding walking area is very small, the fertilizer application machine cannot walk, the fertilization work cannot be carried out smoothly, and the work efficiency is low.

Summary of the invention

The object of the present invention is to solve the technical problem of low working efficiency and difficult to spread fertilizer in the prior art, and provide a self-propelled fertilizing machine, wherein the fertilizing mechanism of the invention has adjustable position, high working efficiency and can improve soil Breathability, moisture storage, easy to apply the chemical solution to the roots of plants, is conducive to plant root growth.

The object of the present invention is achieved by a self-propelled fertilizer applicator comprising a walking device and a fertilizing mechanism, the walking device being provided with at least one rotatable and swingable outwardly extending robot, the fertilizing mechanism comprising a lifting drive, the end of the manipulator is fixedly connected to the outer casing of the lifting drive, the lifting drive is provided with a lifting rod, the top of the lifting rod is fixed with a horizontal top plate, and the lower side of the horizontal top plate is fixed with a wind and wind The lower side of the crucible is fixedly connected to one end of the horizontal support plate, the other end of the horizontal support plate is fixedly connected to the outer casing of the lifting drive, and the center of the lower side of the horizontal support plate is provided with a gas-liquid confluence block. The gas-liquid combination flow block is provided with a gas-liquid connection channel, and the gas-liquid combination flow block is detachably connected with a hollow excitation rod, and the bottom of the excitation rod is detachably connected with an earth-moving device, the earth-moving device An exhaust liquid supply hole that connects the inner cavity of the excitation rod is opened.

Before the work of the invention, the walking device walks to the tree to be fertilized, and the walking device stops to continue to move forward; when the invention works, the manipulator rotates, when the manipulator rotates to the fertilizing area of the tree to be fertilized, the manipulator stops rotating, and the manipulator swings downward. At the same time, it extends outward and drives the movement of the fertilizing mechanism. The lifting rod is continuously lowered, the lifting rod drives the horizontal supporting plate to move downward, the wind continuously gives the horizontal supporting plate downward impact force, and the horizontal supporting plate drives the excitation rod and the wind down. Movement, the excitation rod keeps vibrating constantly, and the earth-moving device easily drills into the soil. When the depth of the earth-boring device into the soil reaches the requirement, the wind shovel and the lifting drive are closed, the wind no longer vibrates, and the lifting rod no longer drops. At this time, compressed air is introduced into the gas-liquid connection passage, and compressed air having a certain impact force is driven into the soil from the exhaust liquid supply hole along the inner chamber of the excitation rod, so that the originally compact soil around the earth-moving device is loosened. Increase the permeability of the soil, facilitate the application of fertilizer to the soil, increase the effective area of contact between the fertilizer and the soil; then, pass the liquid into the gas-liquid connection channel Fertilizer, the liquid is applied to the loosened soil from the exhaust fluid hole along the inner cavity of the excitation rod, and the effective area of the fertilizer and the soil is large, which is beneficial to the growth of the plant root; when a fertilization area of the tree to be fertilized After the fertilization is over, the wind stops, the lifting rod rises, the lifting rod drives the excitation rod to move upward, the excitation rod leaves the horizontal ground, the manipulator rotates again to a certain fertilization area of the tree, repeats the above fertilization action, thereby completing the The fertilization work of the tree; the setting of the manipulator in the invention allows the fertilizing mechanism to automatically extend outward and rotate, and the fertilizing mechanism can be arbitrarily adjusted to any position between the walking device and the relative position of the tree to be fertilized, and the moving fertilization area does not need to be moved. The device improves the working efficiency; the deep loose soil is completed while the tight soil around the earth-moving device is loosened to improve the permeability of the soil, and at the same time, the effective area of the contact between the liquid and the soil is increased, and the liquid is easily applied into the soil. It is beneficial to the growth of plant roots; it can be applied to the fertilization of crops such as garden industry and fruit trees.

In order to realize the rotation of the robot and the up and down swing, the traveling device is provided with a reduction motor, and the reduction motor is connected with a turret, and the outer edge of the turret is arranged with three support blocks on the support block. The manipulator includes a driving motor, the driving motor is fixedly connected to the lower side of the supporting block, and the rotating shaft is rotatably connected to the supporting block, and the driving motor is connected with the rotating shaft, and the rotating shaft is hingedly extended to the oil cylinder One end, one end of the hinge hinged end of the shaft, the other end of the connecting rod hinges one end of the swing rod, and the upper side of the other end of the connecting rod is hinged with an extension cylinder 2, and the piston of the upper side of the swing rod and the piston of the extension cylinder 2 The rod protruding end is hinged, the other end of the swing rod is hinged to one end of the vertical correction mechanism, and the other end of the vertical correction mechanism is connected with a vertical seat, the upper side of the vertical seat is fixedly connected with the horizontal support plate, and the lower side of the vertical seat is fixedly connected a horizontal bottom plate, the horizontal bottom plate is fixedly connected to the bottom of the lifting drive, and the horizontal bottom plate further has a guiding hole, wherein a center of the guiding hole corresponds to a center of the gas-liquid combining block in a vertical direction, The excitation rod can be linearly moved up and down along the guiding hole; the extension cylinder is provided with two and symmetrically disposed about the center of the connecting rod in the width direction; in this design, there are at least 3 sides of the traveling device or around the traveling device. When the tree is in the wood, the walking device moves to the front of the 3 trees, the gear motor moves, the turret moves, and the turn The tower drives the support block to rotate as a whole. The support block drives the manipulator to rotate around the center of the turret. Before the manipulator rotates to the tree to be fertilized, the geared motor stops, and the three drive motors act independently. The drive motor drives the robot to rotate, so that the corresponding The fertilizing mechanism is treating a fertilization area of the fertilized tree, and the driving motor stops moving. The piston rod of the stretching cylinder 1 is continuously retracted, so that the connecting rod swings downward, and the piston rod of the extension cylinder 2 continuously extends, so that the swing rod swings downward. When the earth-moving device is approaching the ground, the extension cylinder 1 and the extension cylinder 2 stop; the vertical correction mechanism makes the fertilizer-fixing mechanism always perpendicular to the horizontal ground, facilitating the earth-moving device to enter the earth.

曲线槽中心线方向滑动，直线槽二内设有可在直线槽二内滑动的下连接杆，所述下连接杆一端与销轴二连接，所述垂直座上开有竖直的滑动槽，下连接杆另一端与垂直座连接，下连接杆可沿着滑动槽方向上下滑动，下连接杆与垂直座的连接中心和上连接杆与垂直座固连的中心在竖直方向上对应，下连接杆和垂直座的连接中心与销轴二的中心间的长度为R1，上连接杆和垂直座的连接中心点与销轴一的中心点间的长度为R2，R1与R2相等；此设计中，上连接杆和下连接杆与垂直座的连接中心点始终在垂直于水平地面的直线上，垂直座始终垂直于地面，使得施肥机构的激振杆和升降驱动器也垂直于水平地面。In order to make the fertilizing mechanism always perpendicular to the horizontal ground, the vertical correcting mechanism includes a supporting arm, and the supporting arm is spaced apart by a linear groove 1 and a linear groove 2 extending toward the vertical seat, and the linear groove is provided with 2 And symmetrically disposed about the width direction of the support arm, the linear groove 2 is provided with two and symmetrically disposed about the width direction of the support arm, and the axial center line of the linear groove 1 and the linear groove 2 can be intersected by the support arm and the swing bar At the center of the hinge, a curved arm is fixedly connected to the front and rear sides of the support arm, and a curved groove is formed on the curved arm, and a center corresponding to the curved groove and the linear groove is rounded, and the circle is simultaneously with the curved groove and the linear groove. The edge of one is tangent, the center corresponding to the curved groove and the linear groove 2 is rounded, and the second is tangential to the edge of the curved groove and the linear groove 2. The pin and the linear groove are connected with a pin one. The pin shaft can slide along the center line of the curved groove, and the linear groove is provided with an upper connecting rod which can slide in the linear groove. One end of the upper connecting rod is connected with the pin shaft, and the other end of the upper connecting rod is perpendicular to the pin. Seat connection Line corresponding to the arm at the two straight grooves is connected to two pins, two pins can be

The curved groove slides in the direction of the center line, and the linear groove 2 is provided with a lower connecting rod which can slide in the linear groove 2. The lower connecting rod has one end connected to the pin shaft, and the vertical seat has a vertical sliding groove. The other end of the lower connecting rod is connected with the vertical seat, and the lower connecting rod can slide up and down along the direction of the sliding slot, and the connection center of the lower connecting rod and the vertical seat and the center of the upper connecting rod and the vertical seat are vertically aligned, and the lower The length between the connection center of the connecting rod and the vertical seat and the center of the pin 2 is R1, and the length between the connection center point of the upper connecting rod and the vertical seat and the center point of the pin one is R2, and R1 and R2 are equal; In the middle, the connection center point of the upper connecting rod and the lower connecting rod and the vertical seat is always on a straight line perpendicular to the horizontal ground, and the vertical seat is always perpendicular to the ground, so that the excitation rod and the lifting drive of the fertilizer applying mechanism are also perpendicular to the horizontal ground.

In order to increase the structural strength of the vertical correction mechanism, the curved arms are provided with two and symmetrically disposed about the center of the support arm in the width direction, and the upper connecting rod is provided with two and is symmetric with respect to the center of the support arm in the width direction. It is provided that the lower connecting rod is provided with two and symmetrically disposed about the center of the support arm in the width direction.

In order to realize the ventilation and liquid passage of the earth-moving device, the lower part of the earth-moving device has a tapered shape, and a liquid-passing chamber is opened in the earth-moving device, and the exhaust liquid-applying hole is disposed on the corresponding earthing device of the liquid-passing chamber; the gas-liquid The connecting passages are respectively a vent pipe and a liquid pipe; the vent pipe is connected to an air outlet of the air tank, and an air compressor is connected to the air inlet of the air tank, and the liquid pipe is connected to the liquid storage tank via a liquid pump The outlet.

In order to improve the controllability of the fertilization work, the liquid outlet of the liquid pump is connected to one end of the liquid discharge pipe, and the other end of the liquid discharge pipe Connecting one end of the electromagnetic valve one, the other end of the electromagnetic valve one is connected to the first end of the five-way pipe; the second end of the five-way pipe is connected to one end of the electromagnetic valve, and the other end of the electromagnetic valve is connected to one end of the return pipe The other end of the return pipe is connected to the liquid inlet of the liquid storage tank; the other three ends of the five-way pipe are respectively connected with one end of the electromagnetic valve three, the electromagnetic valve four and the electromagnetic valve five, and the other of the electromagnetic valve three One end is connected to the first liquid pipe, the other end of the electromagnetic valve 4 is connected to the second liquid pipe, and the other end of the electromagnetic valve 5 is connected to the third liquid pipe; The air outlet is connected to one end of a solenoid valve six, a solenoid valve seven, a solenoid valve eight, a solenoid valve nine, a solenoid valve ten and a solenoid valve eleven, the other end of the solenoid valve six is connected to the first wind, and the solenoid valve is seven One end is connected to the second wind, the other end of the electromagnetic valve eight is connected to the third pneumatic raft, and the other end of the electromagnetic valve nine is connected to the first vent pipe via the one-way valve, the electromagnetic valve The other end of the ten is connected to the second vent pipe via the one-way valve two; the solenoid valve eleven One end is connected to the third vent pipe through the one-way valve three; the one-way valve one, the one-way valve two and the one-way valve are normally open, and when the fertilizer is not applied, the electromagnetic valve one and the electromagnetic valve two are often energized, so that The liquid outlet pipe and the return pipe are often connected; in this design, when the fertilizer is not applied, the solenoid valve 1 and the solenoid valve 2 are normally opened, and the liquid pump continuously draws the liquid medicine in the liquid storage tank into the liquid discharge pipe, and the water in the liquid discharge pipe enters. The return pipe and the liquid in the return pipe are returned to the liquid storage tank to continuously stir the liquid in the liquid storage tank to ensure the uniformity of the concentration of the liquid; when the application is required, the electromagnetic valve is closed, the electromagnetic valve is three, and the electromagnetic The valve 4 and the solenoid valve are electrically opened, and the liquid medicine in the liquid storage tank sequentially enters the inner cavity of the excitation rod through the liquid outlet pipe and the liquid supply pipe, and the liquid application amount is controlled by controlling the time of the electromagnetic valve to increase the liquid application. Controllability, to achieve quantitative fertilization; solenoid valve 6, solenoid valve seven and solenoid valve eight power, then three wind work, solenoid valve 6, solenoid valve seven and solenoid valve power off, 3 winds stop working ; solenoid valve nine, solenoid valve ten and solenoid valve eleven get electricity, the inner chamber of the excitation rod is compressed Gas, or the stingers no compressed air to the cavity.

In order to further improve the controllability of the fertilization work, the controllability further includes a controller, the controller controls the electromagnetic valve one, the electromagnetic valve two, the electromagnetic valve three, the electromagnetic valve four, the electromagnetic valve five, the electromagnetic valve six, the electromagnetic Valve seven, solenoid valve eight, solenoid valve nine, solenoid valve ten and solenoid valve eleven have to be powered off.

As a further improvement of the present invention, the lift drive, the extension cylinder 1 and the extension cylinder 2 are single-acting single-piston rod hydraulic cylinders, and the frame is equipped with a hydraulic workstation, and the controller controls the lift drive and the extension cylinder through the hydraulic workstation. One and the amount of oil in and out of the extension cylinder 2.

As a further improvement of the present invention, the liquid storage tank, the air compressor, the liquid pump, and the hydraulic workstation are all disposed in the traveling device.

As a further improvement of the present invention, the traveling device is a crawler type car or a wheeled car.

DRAWINGS

Figure 1 is a front view of the present invention.

2 is a perspective view of the robot and the fertilizing mechanism in the connecting structure of the present invention, wherein the manipulator swings downward and extends outward Structure diagram.

Fig. 3 is a perspective structural view showing the manipulator in the connection structure of the manipulator and the fertilizing mechanism of the present invention.

Figure 4 is a view taken along the line A-A of the present invention.

Figure 5 is a partial enlarged view of the present invention B.

Figure 6 is a block diagram showing the connection of the control structure of the present invention.

Figure 7 is a schematic view showing the piping connection structure in the present invention.

Among them, 1 travel device, 2 gear motor, 3 turret, 4 robot, 401 drive motor, 402 shaft, 403 extension cylinder 1, 404 link, 405 extension cylinder 2, 406 support arm, 407 pin shaft, 408 curve arm , 409 upper connecting rod, 410 swing rod, 411 pin shaft 2, 412 lower connecting rod, 413 vertical seat, 414 linear groove 2, 415 linear groove one, 416 curved groove, 417 sliding groove, 5 fertilizing mechanism, 501 horizontal top plate, 502 lifting rod, 503 pneumatic pick, 504 horizontal support plate, 505 lifting drive, 506 excitation rod, 507 horizontal bottom plate, 508 earth moving device, 509 vent pipe, 510 liquid pipe, 6 support block, 7 liquid chamber, 8 rows Gas application hole, 9 air compressor, 10 gas storage tank, 11 liquid storage tank, 12 solenoid valve six, 13 solenoid valve seven, 14 solenoid valve eight, 15 solenoid valve nine, 16 solenoid valve ten, 17 solenoid valve eleven , 18 check valve three, 19 check valve two, 20 check valve one, 21 solenoid valve three, 22 solenoid valve four, 23 solenoid valve one, 24 five-way pipe, 25 return pipe, 26 solenoid valve five, 27 electromagnetic Valve two.

Detailed ways

The invention will now be further described with reference to the accompanying drawings.

A self-propelled fertilizer applicator as shown in FIGS. 1-7 includes a traveling device 1 and a fertilizing mechanism 5, and the traveling device 1 is provided with at least one robot 4 that is rotatable and swingable upward and outward, and the fertilizing mechanism 5 includes The lifting drive 505, the end of the robot 4 is fixed to the outer casing of the lifting drive 505, the lifting drive 505 is provided with a lifting rod 502, the top of the lifting rod 502 is fixed with a horizontal top plate 501, and the lower side of the horizontal top plate 501 is fixedly connected with the wind. 503, the lower side of the wind tunnel 503 is fixed to one end of the horizontal support plate 504, the other end of the horizontal support plate 504 is fixed to the outer casing of the lifting drive 505, and the center of the lower side of the horizontal support plate 504 is provided with a gas-liquid junction block, a gas-liquid junction block. A gas-liquid connection channel is arranged on the gas-liquid junction block, and a hollow excitation rod 506 is detachably connected to the bottom of the excitation rod 506, and an earth-moving device 508 is detachably connected to the earth-moving device 508. An exhaust liquid supply hole 8 in the inner cavity of the rod 506.

In order to realize the rotation of the robot 4 and the up and down swing, the traveling device 1 is provided with a reduction motor 2, and the reduction motor 2 is connected to the turret 3, and the outer edge of the turret 3 is arranged with three support blocks 6 on the support block 6. The robot 4 is provided with a driving motor 401. The driving motor 401 is fixed on the lower side of the supporting block 6. The rotating shaft 402 is rotatably connected to the supporting block 6. The driving motor 401 is connected to the rotating shaft 402, and the rotating shaft 402 is hinged. One end of the extension cylinder 403, one end of the top hinge link 404 of the shaft 402, and the other end of the link 404 hinges one end of the swing rod 410, abutting the other end of the link 404 The upper side is hinged with an extension cylinder 405, and the upper side of one end of the swing rod 410 is hinged with the protruding end of the piston rod of the extension cylinder 405. The other end of the swing rod 410 is hinged to one end of the vertical correction mechanism, and the other end of the vertical correction mechanism is connected. The vertical seat 413, the upper side of the vertical seat 413 is fixedly connected to the horizontal support plate 504, the lower side of the vertical seat 413 is fixed with a horizontal bottom plate 507, the horizontal bottom plate 507 is fixed to the bottom of the lifting drive 505, and the horizontal bottom plate 507 is also guided. The hole, the center of the guide hole corresponds to the center of the gas-liquid junction block in the vertical direction, and the excitation rod 506 can move up and down along the guide hole; the extension cylinder one 403 is provided with two and about the link 404 in the width direction Center symmetrical setting.

In order to make the fertilizer application mechanism 5 always perpendicular to the horizontal ground, the vertical correction mechanism includes a support arm 406. The support arm 406 is spaced apart by a linear groove 415 and a linear groove 414 extending toward the vertical seat 413. The linear groove 415 is provided. 2 and symmetrically disposed about the width direction of the support arm 406, the linear groove 2 414 is provided with two and symmetrically disposed about the width direction of the support arm 406, and the axial center line of the linear groove 415 and the linear groove 2 414 can be supported by the support. The arm 406 is hinged to the center of the swinging rod 410. The curved arm 408 is fixed to the front and rear sides of the supporting arm 406. The curved arm 408 is provided with a curved groove 416. The curved groove 416 is rounded with the center corresponding to the linear groove 415. The circle 1 is tangential to the edge of the curved groove 416 and the linear groove 415. The center of the curved groove 416 corresponding to the linear groove 414 is rounded, and the circle 2 is tangential to the edge of the curved groove 416 and the linear groove 414; A connecting shaft 407 is connected to the curved arm 408 and the linear groove 415. The pin 407 is slidable along the center line of the curved groove 416. The linear groove 415 is provided with an upper connection slidable in the linear groove 415. Rod 409, upper connecting rod 409 end and pin 407 is connected, the other end of the upper connecting rod 409 is fixedly connected to the vertical seat 413, and the pin arm 411 is connected to the curved arm 408 and the linear groove 2414. The pin shaft 411 can slide along the center line of the curved groove 416, and the linear groove The second connecting portion 414 is provided with a lower connecting rod 412 which can slide in the linear groove 414. One end of the lower connecting rod 412 is connected with the pin shaft 411. The vertical seat 413 is provided with a vertical sliding groove 417, and the lower connecting rod 412 has the other end. Connected to the vertical seat 413, the lower connecting rod 412 can slide up and down along the direction of the sliding groove 417, and the connection center of the lower connecting rod 412 and the vertical seat 413 and the center of the upper connecting rod 409 and the vertical seat 413 are vertically aligned. The length between the connection center of the lower connecting rod 412 and the vertical seat 413 and the center of the pin shaft 411 is R1, and the length between the connection center point of the upper connecting rod 409 and the vertical seat 413 and the center point of the pin shaft 407 is R2. R1 is equal to R2; the curved arm 408 is provided with two and symmetrically disposed about the center of the support arm 406 in the width direction, and the upper connecting rod 409 is provided with two and symmetrically disposed about the center of the support arm 406 in the width direction, The connecting rod 412 is provided with two and is located with respect to the support arm 406 The center is symmetrically set in the width direction.

In order to realize the ventilation and liquid passage of the earthing device 508, the lowermost portion of the earthing device 508 has a tapered shape, and the liquid introducing chamber 7 is opened in the earthing device 508, and the exhaust liquid feeding hole 8 is disposed on the earthing device 508 corresponding to the liquid receiving chamber 7. The gas-liquid connection passages are respectively a vent pipe 509 and a liquid pipe 510; the vent pipe 509 is connected to the air outlet of the air tank 10, and the air inlet of the gas storage tank 10 is connected with an air compressor 9, and the liquid pipe 510 is liquid. The pump is connected to the liquid outlet of the liquid storage tank 11.

In order to improve the controllability of the fertilization work, the liquid outlet of the liquid pump is connected to one end of the liquid discharge pipe, and the other end of the liquid discharge pipe is connected. One end of the solenoid valve 23 is connected, the other end of the solenoid valve 23 is connected to the first end of the five-way pipe 24; the second end of the five-way pipe 24 is connected to one end of the solenoid valve 27, and the other end of the solenoid valve 27 is connected to the return pipe. At one end of 25, the other end of the return pipe 25 is connected to the liquid inlet of the liquid storage tank 11; the other three ends of the five-way pipe 24 are respectively connected with one end of the electromagnetic valve three 21, the electromagnetic valve four 22 and the electromagnetic valve five 26, and the electromagnetic valve three The other end of the 21 is connected to the first liquid pipe 510, the other end of the solenoid valve 22 is connected to the second liquid pipe 510, and the other end of the solenoid valve 56 is connected to the third liquid pipe 510; The gas outlet of the tank 10 is connected to one end of the electromagnetic valve six 12, the electromagnetic valve seven 13, the electromagnetic valve eight 14, the electromagnetic valve nine 15, the electromagnetic valve ten 16 and the electromagnetic valve eleven 17, the other end of the electromagnetic valve six 12 is connected to the first a wind 镐 503, the other end of the solenoid valve VII 13 is connected to the second wind 镐 503, the other end of the solenoid valve VIII 14 is connected to the third pneumatic 镐 503, and the other end of the solenoid valve nin 15 is connected via the one-way valve -20 To the first vent pipe 509, the other end of the solenoid valve 164 is connected to the second vent pipe 509 via the check valve 219; the solenoid valve eleven The other end of 7 is connected to the third vent pipe 509 via the one-way valve three 18; the one-way valve one 20, the one-way valve two 19 and the one-way valve three 18 are normally open, and when the fertilizer is not applied, the solenoid valve 23 and the electromagnetic Valve 2 27 is often energized such that the outlet tube is in constant communication with the return line 25.

Wherein, the lifting drive 505, the extension cylinder one 403 and the extension cylinder two 405 are single-acting single-piston rod hydraulic cylinders, and the hydraulic workstation is mounted on the frame, and the controller controls the lifting drive 505, the extension cylinder 403 and the extension cylinder through the hydraulic workstation. The inlet and outlet oil of the second 405; the liquid storage tank 11, the air compressor 9, the liquid pump and the hydraulic workstation are all disposed in the traveling device 1; in addition, the traveling device 1 may be a crawler type vehicle or a wheeled vehicle; In the example, the traveling device 1 is preferably a crawler type vehicle (as shown in Fig. 1).

Taking the fertilization of 3 trees at the same time as an example, before the work of the present invention, before the walking device 1 walks to 3 trees, the traveling device 1 stops moving forward; when the invention works, the geared motor 2 operates, and the turret 3 moves. The turret 3 drives the support block 6 to rotate integrally. The support block 6 drives the manipulator 4 to rotate around the center of the turret 3, and each manipulator 4 rotates to the fertilization area of the tree to be fertilized, the geared motor 2 stops, and the three drive motors 401 operate independently. The driving motor 401 drives the rotation of the robot 4 so that the corresponding fertilizing mechanism 5 is treating a fertilizing area of the fertilized tree, the driving motor 401 stops, and the piston rod of the stretching cylinder 403 is continuously retracted, so that the connecting rod 404 swings downward. The piston rod of the extension cylinder 405 continuously extends to swing the swing rod 410 downward. When the hopper 508 approaches the ground, the extension cylinder 403 and the extension cylinder 405 stop moving; the vertical correction mechanism causes the fertilization mechanism 5 to always be vertical On the horizontal ground, the soil 508 is facilitated to enter the earth; the lifting rod 502 drives the horizontal support plate 504 to move downward, the air compressor 9 works, and the air compressor 9 continuously flows into the gas storage tank 10. Into the compressed air, check valve 20, check valve 2 19 and check valve 3 18 normally open, controller control solenoid valve 6 12, solenoid valve 7 13 and solenoid valve 8 14 to open, 3 wind 503 The wind 503 continuously gives the horizontal support plate 504 a downward impact force. At the same time, the lift driver 505 operates, the lift rod 502 continuously descends, and the horizontal support plate 504 drives the excitation rod 506 and the wind 镐 503 to move downward. The excitation rod 506 Vibrate constantly, the 508 is easily drilled into the soil, when When the depth of the earthing device 508 drilled into the soil reaches the requirement, the controller controls the solenoid valve 612, the solenoid valve VII 13 and the solenoid valve VIII 14 to lose power, the wind 镐 503 no longer generates vibration, the lifting drive 505 stops moving, the lifting rod 502 no longer drops. At this time, the controller controls the solenoid valve IX15, the solenoid valve 164, and the solenoid valve 117 to be electrically opened, and the compressed air is introduced into the vent tube 509, and the compressed air having a certain impact force is excited. The inner cavity of the rod 506 is driven into the soil from the exhaust liquid supply hole 8, so that the originally compacted soil around the earth-moving device 508 is loosened, the soil permeability is increased, and the fertilizer is applied to the soil, and the effective area of the fertilizer and the soil is increased. Then, the liquid fertilizer is introduced into the gas-liquid connection passage, and the liquid medicine is applied to the loosened soil from the exhaust liquid supply hole 8 along the inner cavity of the excitation rod 506, and the effective area of the fertilizer and the soil is large. Conducive to the growth of plant roots; when fertilization is applied to a fertilization area of the tree to be fertilized, the wind 503 stops, the lifting drive 505 moves in the reverse direction, the lifting rod 502 rises, and the lifting rod 502 drives the excitation rod 506 to move upward, and the excitation rod 506 moves upward. Just left On the flat ground, the lifting drive 505 stops operating, the driving motor 401 operates again, and the driving motor 401 drives the rotating shaft 402 to rotate so that the excitation rod 506 faces the other fertilization area of the tree. At this time, the driving motor 401 stops operating, and the above fertilizing action is repeated. Thereby, the fertilization work of the tree is completed; in the present invention, the manipulator 4 is arranged such that the fertilizing mechanism 5 can automatically extend outward and can be rotated, and the fertilizing mechanism 5 can be arbitrarily adjusted to any position between the traveling device 1 and the relative position of the tree to be fertilized. When the fertilization area is changed, the traveling device 1 is not required to be moved, and the working efficiency is improved. At the same time, the vertical correction mechanism makes the lifting rod 502 and the excitation rod 506 always perpendicular to the horizontal ground, facilitating the entry of the earth-moving device 508; in addition, the deep loose soil is completed at the same time. The compact soil around the earth-moving device 508 is loosened to improve the permeability of the soil, and at the same time, the effective area of the contact between the liquid and the soil is increased, and the liquid is easily applied into the soil, which is beneficial to the growth of the root of the plant; For the fertilization work of crops such as garden industry and fruit trees.

It should be noted that how the vertical correction mechanism ensures that the vertical seat 413 is always perpendicular to the horizontal ground:

The lengths of the upper connecting rod 409 and the lower connecting rod 412 are fixed. As shown in FIG. 5, the length of the upper connecting rod 409 is R2, and the length of the lower connecting rod 412 is R1, assuming that the angle between the lower connecting rod 412 and the horizontal line is α, the hinge center point of the other end of the support arm 406 and the swing rod 410 is O, the center point of the other end of the lower connecting rod 412 is connected to the vertical seat 413, and the horizontal distance of the point O from the point B is L1; the upper connecting rod 409 The angle with the lower connecting rod 412 is θ. During the movement, the angle between the upper connecting rod 409 and the lower connecting rod 412 is always θ, and the center point of the upper connecting rod 409 connected to the vertical seat 413 is A, O. The horizontal distance of the point from point A is L2;

L1=(R1+ρ _(α) )cosα (1)

It can be obtained from equation (1), ρ _(α) = L1/cosα-R1 (2)

L2=(R1+ρ _(α+θ) )cos(α+θ) (3)

Available from (2), ρ _{(α + θ)} = L1/(α + θ) - R1 (4)

Bring (4) to (3), L1=L2 (5)

It can be seen from equation (5) that during the motion, L1 and L2 are always equal, that is, point A and point B are always in a straight line and AB is perpendicular to the horizontal ground so that the vertical seat 413 is always perpendicular to the horizontal ground.

The present invention is not limited to the above embodiment, and the above-mentioned lifting drive 505 may also be a cylinder, an electric push rod, a screw stepping motor or an electric cylinder, etc., and the number of the support blocks 6 is not limited to that set in the embodiment. 3, can also be 1, 2, 4 or more, according to the actual garden tree layout, each support block 6 is connected with a robot 4; based on the technical solution disclosed by the present invention Those skilled in the art can make some substitutions and modifications to some of the technical features, which are within the scope of the present invention, without departing from the scope of the disclosure.

Claims (10)

A self-propelled fertilizer applicator, comprising: a walking device and a fertilizing mechanism, wherein the traveling device is provided with at least one robot that is rotatable and can swing up and down, the fertilizing mechanism includes a lifting drive, The end of the manipulator is fixedly connected to the outer casing of the lifting drive, the lifting drive is provided with a lifting rod, the top of the lifting rod is fixed with a horizontal top plate, the lower side of the horizontal top plate is fixed with a wind, and the lower side of the wind is fixed. One end of the horizontal support plate, the other end of the horizontal support plate is fixedly connected to the outer casing of the lifting drive, and the center of the lower side of the horizontal support plate is provided with a gas-liquid junction block, and the gas-liquid junction block is provided with a gas-liquid connection channel, and the gas A detachable connecting rod is detachably connected to the liquid combining flow block, and a bottom of the excitation rod is detachably connected with an earthing device, and the earthing device is provided with an exhaust liquid supply hole connecting the inner cavity of the excitation rod . The self-propelled fertilizer applicator according to claim 1, wherein the traveling device is provided with a geared motor, and the geared motor is connected with a turret, and the outer edge of the turret is arranged 3 support blocks, the support block is provided with a robot; the robot comprises a drive motor, the drive motor is fixedly connected to the lower side of the support block, the support block is rotatably connected with the rotating shaft, and the drive motor is connected with the rotating shaft One end of the rotating shaft is hinged on one end of the rotating shaft, one end of the rotating shaft is hinged at one end, the other end of the connecting rod is hinged to one end of the swinging rod, and the upper side of the other end of the connecting rod is hinged with an extension cylinder 2, which is close to the swing rod The upper side of one end is hinged with the protruding end of the piston rod of the extension cylinder 2, the other end of the swing rod is hinged with one end of the vertical correction mechanism, and the other end of the vertical correction mechanism is connected with a vertical seat, and the upper side of the vertical seat and the horizontal support plate are fixed. The lower side of the vertical seat is fixedly connected with a horizontal bottom plate, the horizontal bottom plate is fixedly connected to the bottom of the lifting drive, and the horizontal bottom plate is further provided with a guiding hole, the center of the guiding hole and the center of the gas-liquid combined flow block Corresponds to the vertical direction, stinger vertically movable along linear motion guide hole; and 2 have about the central link in the width direction of the extending symmetrically arranged disposed a cylinder. The self-propelled fertilizer applicator according to claim 2, wherein the vertical correction mechanism comprises a support arm, and the support arm is spaced apart by a linear groove 1 and a linear groove 2 extending toward the vertical seat. The linear grooves are provided symmetrically with respect to the width direction of the support arms, and the linear grooves 2 are provided with two and symmetrically disposed about the width direction of the support arms, and the axial centers of the linear grooves 1 and the linear grooves 2 The line can be connected to the center of the support arm and the swinging rod. The front and rear sides of the support arm are fixed with a curved arm, and the curved arm is provided with a curved groove, and the center of the curved groove and the linear groove is rounded. The circle is tangential to the edge of the curved groove and the linear groove, and the center of the curved groove and the linear groove 2 is rounded, and the circle 2 is tangential to the edge of the curved groove and the linear groove 2; the curved arm and the linear groove A pin is connected to a corresponding portion, and the pin shaft is slidable along a center line of the curved groove. The linear groove is provided with an upper connecting rod which can slide in the linear groove, and one end of the upper connecting rod and the pin Connection, the other end of the connecting rod and the hanging Block fixedly connected, said curved arm and at the corresponding two straight grooves is connected to two pins, two pins can be

The curved groove slides in the direction of the center line, and the linear groove 2 is provided with a lower connecting rod which can slide in the linear groove 2. The lower connecting rod has one end connected to the pin shaft, and the vertical seat has a vertical sliding groove. The other end of the lower connecting rod is connected with the vertical seat, and the lower connecting rod can slide up and down along the direction of the sliding slot, and the connection center of the lower connecting rod and the vertical seat and the center of the upper connecting rod and the vertical seat are vertically aligned, and the lower The length between the connection center of the connecting rod and the vertical seat and the center of the pin 2 is R1, and the length between the connection center point of the upper connecting rod and the vertical seat and the center point of the pin one is R2, and R1 and R2 are equal. A self-propelled fertilizer applicator according to claim 2, wherein the curved arms are provided with two and symmetrically disposed about a center of the support arm in the width direction, and the upper connecting rod is provided with two Regarding the center-symmetric arrangement of the support arms in the width direction, the lower connecting rods are provided with two and symmetrically disposed about the center of the support arms in the width direction. The self-propelled fertilizer applicator according to any one of claims 2 to 4, characterized in that: the lowermost portion of the earth-moving device has a tapered shape, and a liquid-passing chamber is opened in the earth-moving device, and the exhaust liquid-applying hole is arranged. The gas-liquid connection passage is respectively a vent pipe and a liquid-passing pipe; the vent pipe is connected to an air outlet of the gas storage tank, and an air compressor is connected to the air inlet of the gas storage tank The liquid pipe is connected to the liquid outlet of the liquid storage tank via a liquid pump. A self-propelled fertilizer applicator according to claim 5, wherein the liquid outlet of the liquid pump is connected to one end of the liquid discharge pipe, and the other end of the liquid discharge pipe is connected to one end of the electromagnetic valve, the electromagnetic The other end of the valve is connected to the upper end of the five-way pipe; the lower end of the five-way pipe is connected to one end of the electromagnetic valve, the other end of the electromagnetic valve is connected to one end of the return pipe, and the other end of the return pipe is connected to the liquid storage tank a liquid inlet; the other three ends of the five-way pipe are respectively connected to one end of a solenoid valve 3, a solenoid valve 4 and a solenoid valve 5, and the other end of the solenoid valve 3 is connected to a first liquid pipe, the solenoid valve The other end of the fourth is connected to the second liquid pipe, and the other end of the electromagnetic valve 5 is connected to the third liquid pipe; the gas outlet of the gas storage tank is connected to the electromagnetic valve 6, the electromagnetic valve seven, the electromagnetic valve 8. One end of the solenoid valve nine, the solenoid valve ten and the solenoid valve eleven, the other end of the solenoid valve six is connected to the first wind, and the other end of the solenoid valve seven is connected to the second wind, the solenoid valve eight The other end of the solenoid valve 9 is connected to the third windshield Connected to the first vent pipe to the valve, the other end of the solenoid valve 10 is connected to the second vent pipe via the one-way valve 2; the other end of the solenoid valve XI is connected to the third via the check valve three The vent pipe; the one-way valve one, the one-way valve two and the one-way valve are normally open, and when the fertilizer is not applied, the electromagnetic valve one and the electromagnetic valve two are often energized, so that the liquid discharge pipe and the return pipe are often connected. A self-propelled fertilizer applicator according to claim 6, further comprising a controller, wherein the controller controls the solenoid valve 1, the solenoid valve 2, the solenoid valve 3, the solenoid valve 4, the solenoid valve 5, and the electromagnetic Valve 6, solenoid valve 7, solenoid valve 8, solenoid valve 9, solenoid valve ten and solenoid valve eleven have to be powered off. The self-propelled fertilizer applicator according to claim 7, wherein the lifting drive, the extension cylinder 1 and the extension cylinder are both single-acting single-piston hydraulic cylinders, and the hydraulic workstation is mounted on the frame. The controller controls the amount of oil in and out of the lift drive, the extension cylinder one, and the extension cylinder 2 through a hydraulic workstation. A self-propelled fertilizer applicator according to claim 6, wherein said liquid storage tank, air compressor, liquid pump and hydraulic workstation are disposed in the traveling device. A self-propelled fertilizer applicator according to claim 6, wherein the traveling device is a tracked or wheeled vehicle.

Images