A device and method for integrally rolling, harvesting, fertilizing and laying plastic mulch

Abstract

The present invention discloses a device and method for integrated mulch film rolling, fertilizing and laying, comprising: a traveling mechanism, a mulch film rolling mechanism, a mulch film laying mechanism and a fertilizer box; the traveling mechanism includes a chassis and a traveling part; two groups of mulch film rolling mechanisms are relatively arranged on both sides of the front end in the moving direction of the chassis; two groups of mulch film laying mechanisms are relatively arranged on both sides of the rear end in the moving direction of the chassis, and a fertilizer box is fixed on the upper end of the chassis, and fertilizer discharge pipes are arranged on both sides of the fertilizer box corresponding to between the mulch film rolling mechanism and the mulch film laying mechanism. The device and method for integrated mulch film rolling, fertilizing and laying designed by the present invention can automatically complete the fertilizing work at the mulch film laying place, reduce the manual labor amount and improve the fertilizing efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and more specifically, to a device and method for integrally rolling up, fertilizing, and laying mulch film. Background Art

[0002] Fertilization is an indispensable and irreplaceable cultivation management measure for the growth of fruit trees. It can provide essential nutrients for the growth of fruit trees. Since fruit trees are planted in orchards all year round, the fertility of orchard land is limited. Maintaining and improving the soil fertility level, improving the soil structure and biological activity can provide a good growth environment for the growth of fruit trees. In modern orchards, mulch film is laid during the growth management period. The mulch film can prevent a large amount of evaporation of soil moisture, save the moisture accumulated in the soil in summer for the annual use of fruit trees, and has a good heat absorption effect. Therefore, covering with black mulch film can increase the soil temperature and promote the growth of fruit trees; it can also block sunlight, reduce weeds under the trees, and eliminate the need for weeding; fertilization can improve the soil, prevent fertility loss, improve fertilizer utilization rate, and at the same time can effectively prevent and isolate pests such as fruit borers and chafers from entering the ground for wintering, which has an obvious effect on reducing pests and diseases in the coming year. Therefore, regular fertilization of the soil where the mulch film is laid is of great significance for the growth and pest control of fruit trees.

[0003] At present, orchard fertilization is mainly carried out manually. After lifting the mulch film, the fertilizer is sprinkled on the soil and then the mulch film is laid back to the original position. The manual labor intensity is high, the economic cost is high, the fertilization efficiency is poor, and it is easy to cause uneven fertilization. Therefore, a device for integrally rolling up, fertilizing, and laying horticultural mulch film under the tree crown is designed, which can automatically lift the mulch film, evenly spread the fertilizer under the mulch film, and finally lay the mulch film back to the original position.

[0004] Therefore, how to provide a device and method for integrally rolling up, fertilizing, and laying mulch film that is intelligent, can automatically complete the fertilization work at the mulch film laying site, reduce the manual labor amount, and improve the fertilization efficiency is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention provides a device and method for integrally rolling up, fertilizing, and laying mulch film that is intelligent, can automatically complete the fertilization work at the mulch film laying site, reduce the manual labor amount, and improve the fertilization efficiency.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A device for integrally rolling up, fertilizing, and laying mulch film includes: a traveling mechanism, a mulch film rolling-up mechanism, a mulch film laying mechanism, and a fertilizer box;

[0008] The traveling mechanism includes a chassis and traveling parts rotatably connected to the bottom of the chassis;

[0009] The plastic film winding mechanism includes two sets of winding film cylinders arranged oppositely, a winding motor, and a first plastic film transmission component. One end of each of the two sets of winding film cylinders is vertically and rotatably connected to both sides of the front end in the moving direction of the chassis; the casing of the winding motor is fixed to the inner wall of the winding film cylinder, and its output shaft is drivingly connected to the winding film cylinder through a first transmission member; the first plastic film transmission component includes a first roller support frame, a first conveyor belt, and a first conveyor motor. The two first roller support frames are respectively installed on both sides of the front end of the chassis and are arranged corresponding to the lower part of the winding film cylinder. A first driving roller and a first driven roller are rotatably connected to both ends thereof in the traveling direction; the first conveyor belt is wound around the first driving roller and the first driven roller, and there is a first plastic film guiding gap between the first conveyor belt and the winding film cylinder; the first conveyor motor is fixed to the first roller support frame, and its output shaft is drivingly connected to the first driving roller;

[0010] The plastic film laying mechanism includes two sets of laying film cylinders arranged oppositely, a laying motor, and a second plastic film transmission component. One end of each of the two sets of laying film cylinders is vertically and rotatably connected to both sides of the rear end in the moving direction of the chassis; the casing of the laying motor is fixed to the inner wall of the laying film cylinder, and its output shaft is drivingly connected to the laying film cylinder through a second transmission member; the second plastic film transmission component includes a second roller support frame, a second conveyor belt, and a second conveyor motor. The two second roller support frames are respectively installed on both sides of the rear end of the chassis and are arranged corresponding to the lower part of the laying film cylinder. A second driving roller and a second driven roller are rotatably connected to both ends thereof in the traveling direction; the second conveyor belt is wound around the second driving roller and the second driven roller, and there is a second plastic film guiding gap between the second conveyor belt and the laying film cylinder; the second conveyor motor is fixed to the second roller support frame, and its output shaft is drivingly connected to the second driving roller;

[0011] The fertilizer box is fixed to the upper end of the chassis, and fertilizer discharging pipes are arranged on both sides of the fertilizer box corresponding to between the winding film cylinder and the laying film cylinder.

[0012] Through the above technical solution, the present invention provides a plastic film winding, fertilizing and laying integrated device. Through the traveling mechanism, the plastic film winding, fertilizing and laying integrated device has the function of self-propelling without traction and machinery; through the cooperative setting of the winding film cylinder and the first conveyor belt, the plastic film can be wound around the outer surface of the winding film cylinder through the conveyor belt; through the cooperative setting of the laying film cylinder and the second conveyor belt, the plastic film on the laying film cylinder can be laid on the ground; through the setting of the plastic film winding mechanism, the plastic film laying mechanism and the fertilizer box, the front-end plastic film winding mechanism rolls up the laid plastic film; the middle fertilizer box discharges fertilizer into the soil through the fertilizer discharging pipe; the rear-end plastic film laying mechanism lays the plastic film back to the original position again. This structure can automatically complete the fertilizing work at the plastic film laying place, reduce the manual labor amount, and improve the fertilizing efficiency; and compared with the existing manual fertilizer spreading, the plastic film winding, fertilizing and laying integrated device spreads fertilizer through the fertilizer discharging pipe, and the fertilizing uniformity is improved.

[0013] Further, the two open ends of the winding film cylinder are blocked by a first sealing plate, and the central axis of the winding film cylinder penetrates through the first sealing plate; the housing of the winding motor is fixed on the first sealing plate inside the winding film cylinder and its output shaft extends out of the first sealing plate; the first transmission member includes a first driving gear and a first driven gear that mesh with each other, and the first driving gear is fixed to the extending end of the output shaft of the winding motor; the first driven gear is fixed to the extending end of the central axis of the winding film cylinder;

[0014] The two open ends of the laying film cylinder are blocked by a second sealing plate, and the central axis of the laying film cylinder penetrates through the second sealing plate; the housing of the laying motor is fixed on the second sealing plate inside the laying film cylinder and its output shaft extends out of the second sealing plate; the second transmission member includes a second driving gear and a second driven gear that mesh with each other, and the second driving gear is fixed to the extending end of the output shaft of the laying motor; the second driven gear is fixed to the extending end of the central axis of the laying film cylinder.

[0015] Further, a third driving gear is fixedly connected to the output shaft of the first conveying motor, and a third driven gear is fixedly connected to one end of the first driving roller. The third driving gear meshes with the third driven gear to drive the first conveyor belt to convey the plastic film.

[0016] A fourth driving gear is fixedly connected to the output shaft of the second conveying motor, and a fourth driven gear is fixedly connected to one end of the second driving roller. The fourth driving gear meshes with the fourth driven gear to drive the second conveyor belt to convey the plastic film.

[0017] Further, the distances between the first driving roller support frame and the second driving roller support frame and the ground are adjustable, which is convenient for movement when not working and avoids being easily touched by the ground, resulting in damage or affecting the movement of the device. The adjustable methods include but are not limited to the following:

[0018] Optionally, a plurality of mounting holes are sequentially formed in the two sides of the chassis from top to bottom. When not in use, the first driving roller support frame and the second driving roller support frame are detachable and installed in the upper mounting holes to increase the distance from the ground and avoid unnecessary damage caused by frequent contact with the ground during walking.

[0019] Optionally, one end of the first driving roller support frame and the second driving roller support frame is movably connected to the chassis. When not in use, their angles can be adjusted to lift the corresponding other ends upward to increase the distance from the ground.

[0020] Preferably, after the plastic film is conveyed to the first plastic film guiding gap by the first conveyor belt, it is adsorbed onto the winding film cylinder by the first adsorption assembly to complete the winding of the plastic film roll.

[0021] Further, the adsorption assembly includes but is not limited to arranging a magnetic strip at one end of the plastic film, and a magnetic attracting strip is arranged on the winding film cylinder. The plastic film is positioned on the winding film cylinder through the adsorption between the magnetic strip and the magnetic attracting strip to smoothly complete the winding of the plastic film.

[0022] Preferably, it further includes a ground nail grabbing mechanism, a ground nail fixing mechanism and a controller. The ground nail grabbing mechanism and the ground nail fixing mechanism are respectively installed at the front end and the rear end in the moving direction of the chassis.

[0023] The ground nail grabbing mechanism includes a first rotating seat, a first robotic arm, a first arm driving motor, a first mechanical claw, a first claw driving motor and a ground nail collection box. One end of the first rotating seat is rotatably connected to the front end of the chassis, and the other end is hinged to the first robotic arm. The first arm driving motor is fixed on the first rotating seat, and its output shaft is in transmission connection with the first robotic arm. The first mechanical claw includes a first mounting seat and a plurality of first grippers. One end of the first mounting seat is fixed to the end of the first robotic arm away from the first rotating seat, and the other end is respectively hinged to the plurality of first grippers, and the plurality of first grippers are circumferentially distributed. The first claw driving motor is fixed inside the first mounting seat, and its output end is in transmission connection with the plurality of first grippers through a third transmission member. The ground nail collection box is fixed to the upper end of the fertilizer box.

[0024] The ground nail fixing mechanism includes a second rotating seat, a second robotic arm, a second arm driving motor, a second mechanical claw, a second claw driving motor and a ground nail storage box. One end of the second rotating seat is rotatably connected to the rear end of the chassis, and the other end is hinged to the second robotic arm. The second arm driving motor is fixed on the second rotating seat, and its output shaft is in transmission connection with the second robotic arm. The second mechanical claw includes a second mounting seat and a plurality of second grippers. One end of the second mounting seat is fixed to the end of the second robotic arm away from the second rotating seat, and the other end is respectively hinged to the plurality of second grippers, and the plurality of second grippers are circumferentially distributed. The second claw driving motor is fixed inside the second mounting seat, and its output shaft is in transmission connection with the second grippers through a fourth transmission member. The ground nail storage box is fixed to the upper end of the fertilizer box, and ground nails are placed in the ground nail storage box.

[0025] The controller is electrically connected to the first arm driving motor, the first claw driving motor, the second arm driving motor and the second claw driving motor respectively.

[0026] Further, the third transmission member includes a first screw rod and a first linkage plate. The first screw rod is threadedly connected inside the first mounting seat. The output shaft of the first claw driving motor is in transmission connection with the first screw rod, and the end of the first screw rod away from the first robotic arm extends out of the first mounting seat. The first linkage plate is threadedly connected to the extending end of the first screw rod and is hinged to the first grippers.

[0027] The fourth transmission member includes a second screw rod and a second linkage plate. The second screw rod is threadedly connected inside the second mounting seat. The output shaft of the second claw driving motor is in transmission connection with the second screw rod, and the end of the second screw rod away from the second robotic arm extends out of the second mounting seat. The second linkage plate is threadedly connected to the extending end of the second screw rod and is hinged to the second grippers.

[0028] The first claw driving motor and the second claw driving motor respectively drive the first screw rod and the second screw rod to rotate to drive the first linkage plate and the second linkage plate to move up and down, so that the corresponding first grippers and second grippers rotate inwards or outwards to realize the grabbing, taking and placing of the ground nails.

[0029] The manipulator and the mechanical claw can be controlled by the controller to grab, store and fix the ground nails on the plastic film, further improving its intelligence, reducing the labor intensity of manual work and enhancing the working efficiency.

[0030] Furthermore, the first manipulator is located between two sets of the first conveyor belts, and the first manipulator and the first mechanical claw are higher than the corresponding first conveyor belts on both sides in the same orientation; the second manipulator is located between two sets of the second conveyor belts, and the first manipulator and the first mechanical claw are higher than the corresponding second conveyor belts on both sides in the same orientation. By arranging the manipulator and the conveyor belt to be higher than the conveyor belt correspondingly, it can avoid interference with the winding and laying of the plastic film.

[0031] Furthermore, cameras are fixedly installed on both the first manipulator and the second manipulator, and the cameras are signal-connected to the controller. The cameras send position signals to the controller, and the controller controls the manipulator and the mechanical claw to grab and fix the ground nails at the specified positions.

[0032] Preferably, the first conveyor belt and the second conveyor belt are respectively arranged to be inclined downward from the end close to the corresponding film winding drum and the film laying drum to the end far away from it. This structural arrangement facilitates the winding and laying of the plastic film.

[0033] Preferably, it further includes a fertilizer spreading mechanism, which includes two sets of fixedly arranged fixing frames, a rotating plate, a partition plate and a rotating plate driving motor. The two sets of fixing frames are respectively fixed on both sides of the fertilizer box and are located below the outlet end of the fertilizer discharging pipe; the rotating plate is rotatably connected to the upper end of the fixing frame, and the upper end surface of the rotating plate corresponds to the outlet end surface of the fertilizer discharging pipe; the partition plates are evenly distributed in a circular shape on the upper end surface of the rotating plate and a spreading channel is formed between them; the rotating plate driving motor is fixed on the fixing frame and its output end is in transmission connection with the central axis of the rotating plate. Through this structural arrangement, when the rotating plate rotates, the fertilizer is evenly thrown out through the spreading channel, realizing the even spreading of the fertilizer.

[0034] Furthermore, the diameter of the outlet end surface of the fertilizer discharging pipe is 60 mm, the diameter of the rotating wheel is 20 mm and it corresponds to the central position of the outlet end surface of the fertilizer discharging pipe.

[0035] Preferably, an arc-shaped plate is rotatably connected to the upper end of the fixing frame, and the arc-shaped plate surrounds one side of the spreading channel and forms a spreading range area with it. Through this structural arrangement, the spreading range of the fertilizer can be controlled; and by rotating the arc-shaped plate, the angular position of the spreading range area can be adjusted.

[0036] Preferably, a stirrer and a stirrer motor are fixedly installed at the lower ends of both sides of the chassis respectively. The stirrer includes a turntable and stirring blades. The turntable is arranged in a parabolic correspondence with the sowing channel and is arranged in a hollowed-out manner; the stirring blades are fixedly connected to the outer surface of the circumference of the turntable and are arranged obliquely downward; the output shaft of the stirrer motor is in transmission connection with the central axis of the turntable. The hollowed-out setting of the turntable enables the fertilizer to be sprinkled onto the ground soil through the hollowed-out part, avoiding the situation that the fertilizer is sprinkled onto the turntable, resulting in uneven fertilizer spreading and fertilizer waste; the inclined setting of the stirring blades facilitates their entry into the soil and stirs the sown fertilizer and the soil evenly, reducing the loss of fertilizer fertility.

[0037] Furthermore, a stirring blade is connected to the end of the stirring blade away from the turntable and is arranged obliquely outward. The stirring effect of the soil and the fertilizer can be further improved through the stirring blade.

[0038] Furthermore, both the stirring blades and the stirring blades are made of elastic flexible materials.

[0039] Preferably, connecting frames extend respectively to both sides between the stirrer and the film laying cylinder on both sides of the chassis. The other ends of the connecting frames are rotatably connected with soil covering wheels. The soil covering wheels are located on one side of the moving direction of the stirrer and their rotation direction is perpendicular to the front-back direction of the chassis. A soil covering wheel motor is fixed on the connecting frame, and the output shaft of the soil covering wheel motor is in transmission connection with the wheel shaft of the soil covering wheel.

[0040] Furthermore, a plurality of soil covering plates are arranged at intervals on the outer surface of the soil covering wheel in a circumferential manner, and the soil covering plates are arranged in an arc shape.

[0041] Through the above technical solutions, after the stirrer stirs the fertilizer and the soil evenly, the soil covering wheel sends the soil on one side to the soil disturbed by the stirrer to cover the fertilizer, achieving the effects of reducing fertilizer loss, maintaining the humidity of the fertilizer, and increasing soil fertility.

[0042] Furthermore, the soil covering wheel is made of a flexible material, including but not limited to rubber material.

[0043] Preferably, a battery is also fixedly installed on the chassis, and the battery is electrically connected to the reel film cylinder drive motor, the first drive motor, the film laying cylinder drive motor, the second drive motor, the soil covering wheel motor, the stirrer motor, the camera, and the controller respectively.

[0044] The present invention also provides a method for rolling up, fertilizing, laying and spreading a plastic film, and the method includes:

[0045] Place the conveying end of conveyor belt 1 under the plastic film. During the forward movement of the walking part, the camera of the ground nail grasping mechanism searches for the ground nails in the plastic film and transmits their information signals to the controller. The controller controls the arm driving motor 1 to drive the robotic arm 1 to move in position, and controls the claw driving motor 1 to drive the robotic claw 1 to perform grasping and placing actions to take out the ground nails on the plastic film and send them to the ground nail collection box; the plastic film is conveyed by conveyor belt 1 to the winding drum and wound around the outer surface of the winding drum.

[0046] The fertilizer spreading mechanism, stirrer, soil covering wheel, plastic film laying mechanism and ground nail fixing mechanism located behind the plastic film winding and collecting mechanism work simultaneously in sequence: the fertilizer in the fertilizer tank is discharged through the fertilizer discharging pipe to the upper end surface of the rotating plate, the rotating plate rotates and the fertilizer is evenly thrown out through the spreading channel; the stirrer motor drives the stirrer to stir the spread fertilizer and the soil evenly; the soil covering wheel motor drives the soil covering wheel to send the soil on the side of the stirrer to the position where the stirrer is located to cover the fertilizer; the controller controls the plastic film laying mechanism to convey the plastic film on the laying drum downward through conveyor belt 2 and lay the plastic film during the walking of the chassis; the camera signal of the ground nail fixing mechanism is transmitted to the controller, and the controller controls the arm driving motor 2 and the claw driving motor 2 to drive the robotic arm 2 and the robotic claw 2 to move and install the ground nails in the ground nail storage box at the designated position.

[0047] It can be seen from the above technical solutions that, compared with the prior art, the present invention discloses a plastic film winding, fertilizing and laying integrated device and method. Compared with the prior art, the present invention can automatically roll up the laid plastic film, the fertilizer in the fertilizer tank is discharged into the soil through the fertilizer discharging pipe, the rear plastic film laying mechanism re-lays the plastic film to the original position, automatically completes the fertilizing work at the plastic film laying place, improves the intelligence, reduces the manual labor amount, and improves the fertilizing efficiency; and can realize the uniform spreading of the fertilizer. Description of the Drawings

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative labor.

[0049] Figure 1 It is a schematic diagram of the overall structure of a plastic film winding, fertilizing and laying integrated device of the present invention.

[0050] Figure 2 It is a partial enlarged view of a plastic film winding, fertilizing and laying integrated device of the present invention;

[0051] Figure 3 It is a schematic diagram of the structure of the fertilizer spreading mechanism in a plastic film winding, fertilizing and laying integrated device of the present invention;

[0052] Figure 4 It is a structural schematic diagram of the connection between the arc plate and the fixed plate in a ground film rolling, fertilizing and laying integrated device of the present invention;

[0053] Figure 5 It is a schematic diagram of the structure of a mechanical claw 1 in a mulch film rolling, fertilizing and laying integrated device of the present invention;

[0054] Among them, 1 is a chassis; 2 is a walking part; 3 is a film winding cylinder; 4 is a ground film transmission component 1; 5 is a ground film guide gap 1; 6 is a fertilizer box; 7 is a film laying cylinder; 8 is a ground film transmission component 2; 9 is a ground film guide gap 2; 10 is a fertilizer discharge pipe; 11 is a stirrer; 12 is a soil covering wheel; 13 is a mechanical arm 1; 14 is a mechanical claw 1; 15 is a ground nail collection box; 16 is a mechanical arm 2; 17 is a mechanical claw 2; 18 is a ground nail storage box; 19 is a fixed frame; 20 is a rotating plate; 21 is a partition; 22 is a sowing channel; 23 24 is a connecting frame; 25 is a turntable; 26 is a stirring blade; 27 is a toggle blade; 28 is a camera; 29 is a controller; 30 is a spreading range; 31 is a rotating seat 1; 32 is a driving gear 1; 33 is a driving gear 3; 34 is a transmission gear 1; 35 is a transmission gear 3; 36 is a driving gear 2; 37 is a driving gear 4; 38 is a transmission gear 2; 39 is a transmission gear 4; 40 is a mounting seat 1; 41 is a screw rod 1; 42 is a linkage plate 1; 43 is a gripper 1; 44 is a sealing plate 1. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] Example 1

[0057] See attached Figures 1-4 Embodiment 1 of the present invention discloses a ground film rolling and fertilizing device, including: a walking mechanism, a ground film rolling mechanism, a ground film laying mechanism and a fertilizer box 6;

[0058] The walking mechanism includes a chassis 1 and a walking part 2 rotatably connected to the bottom of the chassis 1;

[0059] The ground film winding mechanism includes two groups of oppositely arranged winding film drums 3, a winding motor and a ground film transmission assembly 4, one end of the two groups of winding film drums 3 are respectively connected to the two sides of the front end of the chassis 1 in a vertical rotation direction; the casing of the winding motor is fixed to the inner wall of the winding film drum 3 and its output shaft is connected to the winding film drum 3 through a transmission member 1; the ground film transmission assembly 4 includes a roller support frame 1, a conveyor belt 1 and a transmission motor 1, two roller support frames 1 are respectively installed on both sides of the front end of the chassis 1 and arranged below the corresponding winding film drum 3, and the two ends thereof along the walking direction are rotatably connected with an active roller 1 and a transmission roller 1; the conveyor belt 1 is wound around the active roller 1 and the transmission roller 1, and a ground film guide gap 5 is provided between the conveyor belt 1 and the winding film drum 3; the transmission motor 1 is fixed to the roller support frame 1 and its output shaft is connected to the active roller 1 in a transmission manner;

[0060] The ground film laying mechanism includes two groups of relatively arranged laying film cylinders 7, a laying motor and a ground film transmission assembly 2 8, one end of the two groups of laying film cylinders 7 are respectively connected to the two sides of the rear end of the chassis 1 in a vertical rotation direction; the casing of the laying motor is fixed to the inner wall of the laying film cylinder 7 and its output shaft is connected to the laying film cylinder 7 through a transmission member 2; the ground film transmission assembly 2 8 includes a roller support frame 2, a conveyor belt 2 and a conveying motor 2, the two roller support frames 2 are respectively installed on both sides of the rear end of the chassis 1 and arranged correspondingly below the laying film cylinder 7, and the two ends thereof along the walking direction are rotatably connected with an active roller 2 and a transmission roller 2; the conveyor belt 2 is wound around the active roller 2 and the transmission roller 2, and a ground film guide gap 2 9 is provided between the conveyor belt 2 and the laying film cylinder 7; the transmission motor 2 is fixed to the roller support frame 2 and its output shaft is connected to the active roller 2 in a transmission manner;

[0061] The fertilizer box 6 is fixed on the upper end of the chassis 1 , and fertilizer discharge pipes 10 are arranged between the two sides of the fertilizer box 6 corresponding to the winding film cylinder 3 and the laying film cylinder 7 .

[0062] Furthermore, the two open ends of the winding film cylinder 3 are blocked by a sealing plate 44, and the central axis of the winding film cylinder 3 passes through the sealing plate 44; the casing of the winding motor is located inside the winding film cylinder 3 and fixed on the sealing plate 44, and its output shaft extends out of the sealing plate 44; the transmission member 1 includes a driving gear 32 and a transmission gear 34 that are meshed with each other, the driving gear 32 is fixed to the protruding end of the output shaft of the winding motor; the transmission gear 34 is fixed to the protruding end of the central axis of the winding film cylinder 3;

[0063] The two open ends of the laying film cylinder 7 are blocked by sealing plate 2, and the central axis of the laying film cylinder 7 passes through sealing plate 2; the casing of the laying motor is fixed on sealing plate 2 inside the laying film cylinder 7 and its output shaft extends out of sealing plate 2; the transmission member 2 includes a driving gear 2 36 and a transmission gear 2 38 that are meshed with each other, the driving gear 2 36 is fixed to the protruding end of the output shaft of the laying motor; the transmission gear 2 38 is fixed to the protruding end of the central axis of the laying film cylinder 7.

[0064] Furthermore, the output shaft of the transmission motor 1 is fixedly connected with a driving gear 3 33, and one end of the driving roller 1 is fixedly connected with a transmission gear 3 35, and the driving gear 3 33 is meshed with the transmission gear 3 35 to drive the transmission belt 1 to transmit the ground film;

[0065] The output shaft of the second transmission motor is fixedly connected with a driving gear 4 37, and one end of the second driving roller is fixedly connected with a transmission gear 4 39. The driving gear 4 37 is meshed with the transmission gear 4 39 to drive the transmission belt 2 to transmit the ground film.

[0066] The output shaft of the winding film drum driving motor is fixedly connected to the winding film drum driving gear 32, one end of the central axis of the winding film drum 3 extends out of the side wall of the winding film drum 3 and is fixedly connected to the winding film drum transmission gear 34, and the winding film drum driving gear 32 and the winding film drum transmission gear 34 are meshed with each other; the output shaft of the first driving motor is fixedly connected to the conveyor belt driving gear 33, and one end of the transmission roller of the conveyor belt 4 is fixedly connected to the conveyor belt driving gear 35, and the conveyor belt driving gear 33 and the conveyor belt driving gear 35 are meshed with each other;

[0067] The output shaft of the laying film cylinder driving motor is fixedly connected with the laying film cylinder driving gear 36, one end of the central axis of the laying film cylinder 7 extends out of the side wall of the laying film cylinder 7 and is fixedly connected with the laying film cylinder transmission gear 38, and the laying film cylinder driving gear 36 and the laying film cylinder transmission gear 38 are meshed with each other; the output shaft of the second driving motor is fixedly connected with the conveyor belt second driving gear 37, and one end of the transmission roller of the conveyor belt second 8 is fixedly connected with the conveyor belt second transmission gear 39, and the conveyor belt second driving gear 37 and the conveyor belt second transmission gear 39 are meshed with each other.

[0068] In order to further optimize the above technical solution, it also includes a ground nail grabbing mechanism, a ground nail fixing mechanism and a controller 29, and the ground nail grabbing mechanism and the ground nail fixing mechanism are respectively installed at the front end and the rear end of the moving direction of the chassis 1;

[0069] The ground nail grabbing mechanism includes a rotating seat 31, a mechanical arm 13, an arm driving motor 1, a mechanical claw 14, a claw driving motor 1 and a ground nail collection box 15; one end of the rotating seat 31 is rotatably connected to the front end of the chassis 1, and the other end is hinged to the mechanical arm 13; the arm driving motor 1 is fixed on the rotating seat 31 and its output shaft is transmission-connected to the mechanical arm 13; the mechanical claw 14 includes a mounting seat 40 and a plurality of gripping clips 43, one end of the mounting seat 40 is fixed to the end of the mechanical arm 13 away from the rotating seat 31, and the other end thereof is respectively hinged to a plurality of gripping clips 43 and the plurality of gripping clips 43 are distributed in a circle; the claw driving motor 1 is fixed inside the mounting seat 40 and its output end is transmission-connected to the gripping clip 43 through a transmission member 3; the ground nail collection box 15 is fixed on the upper end of the fertilizer box 6;

[0070] The ground nail fixing mechanism includes a second rotating base, a second robotic arm 16, a second arm driving motor, a second robotic claw 17, a second claw driving motor, and a ground nail storage box 18; one end of the second rotating base is rotatably connected to the rear end of the chassis 1, and the other end is hinged to the second robotic arm 16; the second arm driving motor is fixed on the second rotating base and its output shaft is drivingly connected to the second robotic arm 16; the second robotic claw 17 includes a second mounting seat and a plurality of second grippers, one end of the second mounting seat is fixed to the end of the second robotic arm 16 away from the second rotating base, and the other end is respectively hinged to the plurality of second grippers and the plurality of second grippers are circumferentially distributed; the second claw driving motor is fixed inside the second mounting seat and its output shaft is drivingly connected to the second grippers through a fourth transmission member; the ground nail storage box 18 is fixed to the upper end of the fertilizer box 6 and ground nails are placed inside the ground nail storage box 18;

[0071] The controller 29 is electrically connected to the first arm driving motor, the first claw driving motor, the second arm driving motor, and the second claw driving motor respectively.

[0072] Furthermore, as Figure 5 shown, the third transmission member includes a first screw 41 and a first linkage plate 42. The first screw 41 is threadedly connected inside the first mounting seat 40. The output shaft of the first claw driving motor is drivingly connected to the first screw 41 and the end of the first screw 41 away from the first robotic arm 13 extends out of the first mounting seat 40; the first linkage plate 42 is threadedly connected to the extending end of the first screw 41 and is hinged to the first gripper 43;

[0073] The fourth transmission member includes a second screw and a second linkage plate. The second screw is threadedly connected inside the second mounting seat. The output shaft of the second claw driving motor is drivingly connected to the second screw and the end of the second screw away from the second robotic arm extends out of the second mounting seat; the second linkage plate is threadedly connected to the extending end of the second screw and is hinged to the second grippers.

[0074] Furthermore, the built-in driving motors of the first robotic arm and the second robotic arm respectively drive the upper and lower position movement of the end of the robotic arm away from the chassis.

[0075] Furthermore, cameras 28 are fixedly installed on both the first robotic arm 13 and the second robotic arm 16, and the cameras 28 are signal-connected to the controller 29.

[0076] To further optimize the above technical solution, the first conveyor belt and the second conveyor belt are respectively arranged to slope downward from the end close to the corresponding winding film cylinder 3 and laying film cylinder 7 to the end away from them.

[0077] In order to further optimize the above technical solution, a fertilizer spreading mechanism is also included, which includes two sets of relatively arranged fixed frames 19, rotating plates 20, partitions 21 and rotating plate driving motors. The two sets of fixed frames 19 are respectively fixed on both sides of the fertilizer box 6 and are located below the outlet end of the fertilizer discharge pipe 10; the rotating plate 20 is rotatably connected to the upper end of the fixed frame 19 and the upper end surface of the rotating plate 20 is arranged corresponding to the outlet end surface of the fertilizer discharge pipe 10; the partitions 21 are evenly distributed on the upper end surface of the rotating plate 20 in a circular shape and a spreading channel 22 is formed therebetween; the rotating plate driving motor is fixed on the fixed frame 19 and its output end is drivingly connected to the central axis of the rotating plate.

[0078] In order to further optimize the above technical solution, the upper end of the fixing frame 19 is rotatably connected with an arc plate 23 , which is arranged around one side of the spreading channel 22 and forms a spreading range area 30 therewith.

[0079] In order to further optimize the above technical solution, an agitator 11 and an agitator motor are fixedly installed at the lower ends of both sides of the chassis 1, respectively. The agitator 11 includes a turntable 25 and a stirring blade 26. The turntable 25 is arranged in a parabolic correspondence with the sowing channel 22 and is hollowed out; the stirring blade 26 is fixedly connected to the outer surface of the circumference of the turntable 25 and is arranged obliquely downward; the output shaft of the agitator motor is drivingly connected to the central axis of the turntable 25.

[0080] In order to further optimize the above technical solution, one end of the stirring blade 26 away from the turntable is connected to a stirring blade 27 arranged inclined outward.

[0081] In order to further optimize the above technical solution, connecting frames 24 are extended to both sides of the chassis 1 corresponding to the agitators 11 and the laying film cylinders 7. The other end of the connecting frame 24 is rotatably connected to a covering wheel 12. The covering wheel 12 is located on one side of the moving direction of the agitator 11 and its rotation direction is perpendicular to the front and rear direction of the chassis 1. A covering wheel motor is fixed on the connecting frame 24, and the output shaft of the covering wheel motor is drivingly connected to the wheel axle of the covering wheel 12.

[0082] Furthermore, a plurality of covering plates are arranged at circumferential intervals on the outer surface of the covering wheel, and the covering plates are arranged in an arc shape.

[0083] In order to further optimize the above technical solution, a battery is also fixedly installed on the chassis, and the battery is electrically connected to the winding film drum drive motor, the first drive motor, the laying film drum drive motor, the second drive motor, the covering wheel motor, the agitator motor, the turn plate drive motor, the camera, and the controller.

[0084] Example 2

[0085] Embodiment 2 of the present invention discloses a method for rolling up and fertilizing ground film, which comprises:

[0086] Place the conveying end of conveyor belt 1 under the plastic film. During the forward movement of the traveling unit 2, the camera 28 of the ground nail grasping mechanism searches for the ground nails in the plastic film and transmits their information signals to the controller 29. The controller 29 controls the arm driving motor 1 to drive the robotic arm 13 to move in position, and controls the claw driving motor 1 to drive the robotic claw 14 to perform grasping and placing to take out the ground nails on the plastic film and send them to the ground nail collection box 15; the plastic film is conveyed by conveyor belt 1 to the winding drum 3 and wound around the outer surface of the winding drum 3.

[0087] The fertilizer spreading mechanism, stirrer, soil covering wheel, plastic film laying mechanism, and ground nail fixing mechanism located behind the plastic film winding and collecting mechanism work simultaneously in sequence: the fertilizer in the fertilizer box 6 is discharged through the fertilizer discharging pipe 10 to the upper end surface of the rotating plate 20. The rotating plate 20 rotates and the fertilizer is evenly thrown out through the spreading channel 22; the stirrer motor drives the stirrer 11 to stir the spread fertilizer and the soil evenly; the soil covering wheel motor drives the soil covering wheel 12 to send the soil on the side of the stirrer 11 to the position where the stirrer 11 is located to cover the fertilizer; the controller controls the plastic film laying mechanism to convey the plastic film on the laying drum 7 downward through conveyor belt 2 and lay the plastic film during the movement of the chassis 1; the signal of the camera 28 of the ground nail fixing mechanism is transmitted to the controller 29, and the controller 29 controls the arm driving motor 2 and the claw driving motor 2 to drive the robotic arm 16 and the robotic claw 17 to move and install the ground nails in the ground nail storage box 18 at the designated position.

[0088] A plastic film winding, fertilizing, and laying integrated device and method designed according to the present invention can automatically roll up the laid plastic film, discharge the fertilizer from the fertilizer box into the soil through the fertilizer discharging pipe, and the rear plastic film laying mechanism re-lays the plastic film to the original position, automatically completing the fertilizing work at the plastic film laying site, improving the intelligence, reducing the manual labor amount, and improving the fertilizing efficiency; and can realize the uniform spreading of fertilizer.

[0089] In this specification, each embodiment is described in a progressive manner. The key points of each embodiment are the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other.

[0090] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A device for integrated winding, fertilizing and laying of plastic mulch, characterized in that, Including: A traveling mechanism, a plastic film winding mechanism, a plastic film laying mechanism, and a fertilizer box (6); The traveling mechanism includes a chassis (1) and traveling parts (2) rotatably connected to the bottom of the chassis (1); The plastic film winding mechanism includes two sets of winding film cylinders (3) arranged oppositely, a winding motor, and a first plastic film transmission assembly (4). One ends of the two sets of winding film cylinders (3) are respectively vertically and rotatably connected to both sides of the front end in the moving direction of the chassis (1); the housing of the winding motor is fixed to the inner wall of the winding film cylinder (3), and its output shaft is in transmission connection with the winding film cylinder (3) through a first transmission member; the first plastic film transmission assembly (4) includes a first roller support frame, a first conveyor belt, and a first conveyor motor. The two first roller support frames are respectively installed on both sides of the front end of the chassis (1) and are arranged corresponding to the lower part of the winding film cylinder (3). A first driving roller and a first driven roller are rotatably connected to both ends thereof in the traveling direction; the first conveyor belt is wound around the first driving roller and the first driven roller, and there is a first plastic film guiding gap (5) between the first conveyor belt and the winding film cylinder (3); the first conveyor motor is fixed to the first roller support frame, and its output shaft is in transmission connection with the first driving roller; The plastic film laying mechanism includes two sets of laying film cylinders (7) arranged oppositely, a laying motor, and a second plastic film transmission assembly (8). One ends of the two sets of laying film cylinders (7) are respectively vertically and rotatably connected to both sides of the rear end in the moving direction of the chassis (1); the housing of the laying motor is fixed to the inner wall of the laying film cylinder (7), and its output shaft is in transmission connection with the laying film cylinder (7) through a second transmission member; the second plastic film transmission assembly (8) includes a second roller support frame, a second conveyor belt, and a second conveyor motor. The two second roller support frames are respectively installed on both sides of the rear end of the chassis (1) and are arranged corresponding to the lower part of the laying film cylinder (7). A second driving roller and a second driven roller are rotatably connected to both ends thereof in the traveling direction; the second conveyor belt is wound around the second driving roller and the second driven roller, and there is a second plastic film guiding gap (9) between the second conveyor belt and the laying film cylinder (7); the second conveyor motor is fixed to the second roller support frame, and its output shaft is in transmission connection with the second driving roller; The fertilizer box (6) is fixed to the upper end of the chassis (1), and fertilizer discharge pipes (10) are arranged on both sides of the fertilizer box (6) corresponding to between the winding film cylinder (3) and the laying film cylinder (7); A ground nail grabbing mechanism, a ground nail fixing mechanism, and a controller (29), A fertilizer spreading mechanism, which includes two sets of oppositely arranged fixing frames (19), a rotating plate (20), and a partition plate (21). The two sets of fixing frames (19) are respectively fixed to both sides of the fertilizer box (6) and are located below the outlet ends of the fertilizer discharge pipes (10); the rotating plate (20) is rotatably connected to the upper end of the fixing frame (19), and the upper end surface of the rotating plate (20) is arranged corresponding to the outlet end surface of the fertilizer discharge pipe (10); the partition plates (21) are evenly distributed in a circle on the upper end surface of the rotating plate (20), and a spreading channel (22) is formed between them.

2. The one-piece device for rolling up, fertilizing and laying mulch film according to claim 1, characterized in that, The ground nail grabbing mechanism and the ground nail fixing mechanism are respectively installed at the front end and the rear end in the moving direction of the chassis (1); The ground nail grabbing mechanism includes a first rotating seat (31), a first robotic arm (13), a first arm driving motor, a first mechanical claw (14), a first claw driving motor, and a ground nail collecting box (15); one end of the first rotating seat (31) is rotatably connected to the front end of the chassis (1), and the other end is hinged to the first robotic arm (13); the first arm driving motor is fixed on the first rotating seat (31), and its output shaft is in transmission connection with the first robotic arm (13); the first mechanical claw (14) includes a first mounting seat (40) and a plurality of first clamping claws (43), one end of the first mounting seat (40) is fixed to the end of the first robotic arm (13) away from the first rotating seat (31), and the other end is respectively hinged to the plurality of first clamping claws (43), and the plurality of first clamping claws (43) are circumferentially distributed; the first claw driving motor is fixed inside the first mounting seat (40), and its output end is in transmission connection with the first clamping claws (43) through a third transmission member; the ground nail collecting box (15) is fixed to the upper end of the fertilizer box (6); The ground nail fixing mechanism includes a second rotating seat, a second robotic arm (16), a second arm driving motor, a second mechanical claw (17), a second claw driving motor, and a ground nail storage box (18); one end of the second rotating seat is rotatably connected to the rear end of the chassis (1), and the other end is hinged to the second robotic arm (16); the second arm driving motor is fixed on the second rotating seat, and its output shaft is in transmission connection with the second robotic arm (16); the second mechanical claw (17) includes a second mounting seat and a plurality of second clamping claws, one end of the second mounting seat is fixed to the end of the second robotic arm (16) away from the second rotating seat, and the other end is respectively hinged to the plurality of second clamping claws, and the plurality of second clamping claws are circumferentially distributed; the second claw driving motor is fixed inside the second mounting seat, and its output shaft is in transmission connection with the second clamping claws through a fourth transmission member; the ground nail storage box (18) is fixed to the upper end of the fertilizer box (6), and ground nails are placed in the ground nail storage box (18); The controller (29) is electrically connected to the first arm driving motor, the first claw driving motor, the second arm driving motor, and the second claw driving motor respectively.

3. The one-piece device for rolling up, fertilizing and laying mulch film according to claim 2, wherein A camera (28) is fixedly installed on both the first robotic arm (13) and the second robotic arm (16), and the camera (28) is in signal connection with the controller (29).

4. The one-piece device for rolling up, fertilizing and laying mulch film according to claim 1, characterized in that, The first conveyor belt and the second conveyor belt are respectively arranged to slope downward from one end close to the corresponding winding film cylinder (3) and laying film cylinder (7) to the end far away from them.

5. The integrated device for rolling, fertilizing and laying plastic film according to claim 3, characterized in that The fertilizer spreading mechanism further includes a rotating plate driving motor, and the rotating plate driving motor is fixed on the fixing frame (19), and its output end is in transmission connection with the central axis of the rotating plate.

6. The integrated device for rolling, fertilizing and laying mulch film according to claim 5, characterized in that, An arc plate (23) is rotatably connected to the upper end of the fixing frame (19), and the arc plate (23) surrounds one side of the spreading channel (22) and forms a spreading range area (30) with it.

7. The integrated device for rolling, fertilizing and laying plastic mulch according to claim 5, wherein A stirrer (11) and a stirrer motor are fixedly mounted at the lower ends of both sides of the chassis (1), the stirrer (11) comprising a turntable (25) and stirring blades (26), the turntable (25) corresponding to the spreading channel (22) in a parabola and arranged in a hollow configuration; the stirring blades (26) are fixedly connected to the outer circumferential surface of the turntable (25) and arranged obliquely downward; the output shaft of the stirrer motor is drivingly connected to the central axis of the turntable (25).

8. The integrated device for rolling, fertilizing and laying mulch film according to claim 7, characterized in that, One end of the stirring blade (26) away from the rotating disk is connected to a stirring blade (27) arranged obliquely outward.

9. The integrated device for rolling, fertilizing and laying mulch film according to claim 7, characterized in that, Connecting frames (24) are respectively extended to both sides of the chassis (1) corresponding to between the agitator (11) and the film laying cylinder (7); the other end of the connecting frame (24) is rotatably connected to a covering wheel (12); the covering wheel (12) is located on one side of the moving direction of the agitator (11) and its rotation direction is perpendicular to the front-rear direction of the chassis (1); a covering wheel motor is fixed to the connecting frame (24); the output shaft of the covering wheel motor is drivingly connected to the wheel axle of the covering wheel (12).

10. A method for rolling up, fertilizing and laying plastic film mulch, which uses a device for rolling up, fertilizing and laying plastic film mulch integrally as described in claim 9, is characterized in that, The methods include: The conveying end of the conveyor belt 1 is placed under the ground film. During the forward movement of the walking part (2), the camera (28) of the ground nail grabbing mechanism searches for ground nails in the ground film and transmits information signals thereof to the controller (29). The controller (29) controls the arm driving motor 1 to drive the mechanical arm 1 (13) to move the position, and controls the claw driving motor 1 to drive the mechanical claw 1 (14) to grab and place the ground nails on the ground film to remove them and send them to the ground nail collection box (15). The ground film is conveyed to the winding film cylinder (3) by the conveyor belt 1 and wound onto the outer surface of the winding film cylinder (3). The fertilizer spreading mechanism, the stirrer, the covering wheel, the ground film laying mechanism and the ground nail fixing mechanism located behind the ground film rolling mechanism operate in sequence and simultaneously: the fertilizer in the fertilizer box (6) is discharged to the upper end surface of the rotating plate (20) through the fertilizer discharge pipe (10), the rotating plate (20) rotates and the fertilizer is evenly thrown out through the spreading channel (22); the stirrer motor drives the stirrer (11) to evenly mix the spread fertilizer and soil; the covering wheel motor drives the covering wheel (12) to move the stirrer (11) ) is sent to the position of the agitator (11) to cover the fertilizer; the controller controls the ground film laying mechanism to convey the ground film on the laying film cylinder (7) downward through the conveyor belt 2 to lay the ground film during the movement of the chassis (1); the camera (28) of the ground nail fixing mechanism transmits the signal to the controller (29), and the controller (29) controls the arm drive motor 2 and the claw drive motor 2 to drive the mechanical arm 2 (16) and the mechanical claw 2 (17) to move and install the ground nails in the ground nail storage box (18) at the specified position.

Images