An intelligent agricultural machine suitable for fertilizing clay soil

Abstract

The present invention belongs to the technical field of agricultural topdressing, and in particular relates to an intelligent agricultural machine suitable for fertilizing clay soil. The machine comprises a fertilizer storage box, a walking platform, a regulating mechanism, and a fertilizer assembly. During the fertilization process, the outer tube and the inner tube in the fertilization assembly will be inserted into the soil. During the insertion process, the retaining ring will be squeezed by the soil and slide upward to seal the discharge port. When the outer tube and the inner tube are completely inserted around the root system of the seedling, the outer tube and the inner tube are controlled to move outward. At this time, the retaining ring opens under the action of soil resistance, and the fertilizer in the inner tube will be dispersed around the root system of the seedling. During this process, the external air pump is controlled to blow air into the air inlet shell. The gas entering the air inlet shell will enter the inner tube from the air inlet, blowing the fertilizer in the inner tube to ensure that the fertilizer in the inner tube can flow out smoothly. At the same time, the gas blown into the inner tube will be discharged from the discharge port along with the fertilizer, loosening the soil around the root system of the seedling.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural topdressing, and in particular relates to an intelligent agricultural machine suitable for fertilizing clay soil. Background Art

[0002] Vegetable fertilization generally includes two stages: fertilization before planting and fertilization during planting.

[0003] The urea in fertilizer is highly volatile and easy to burn seedlings. Therefore, urea is not suitable for fertilizing on the soil surface. It is best to dig holes and apply it deep, then cover the soil after fertilizing. When fertilizing, try to disperse the fertilizer around the root system as much as possible so that it can be better absorbed.

[0004] As for phosphorus fertilizer, it has low mobility and is easily absorbed by the soil, which reduces its fertilizer efficiency. When applying phosphorus fertilizer, the contact area with the soil should be reduced. It is best to use hole application to concentrate on the roots, and try to concentrate the phosphorus fertilizer as much as possible to prevent it from dispersing.

[0005] For the two fertilizers mentioned above, the process of topdressing is difficult to mechanize because it requires digging holes around the roots, which can easily damage the seedlings.

[0006] Using a thin tube to insert fertilizer near the roots is a better way to apply fertilizer, but it is impossible to disperse the fertilizer near the root system when applying urea fertilizer, and the thin tube is easily blocked by the fertilizer; if a thick tube is used, there will be greater resistance during insertion and the amount of fertilizer is difficult to control. If the amount is greater than required, it will cause seedling burn.

[0007] For clay soil, the surface of the soil is easily compacted and has poor water permeability. When it rains, the surface is prone to crusting, and fertilizers are not easily absorbed.

[0008] The current equipment has a certain degree of intelligence, but the degree of intelligence is not high. It cannot perform intelligent analysis and intelligent feeding of the amount and location of fertilizer for seedlings. However, the current relevant technology can identify the root position of seedlings through wireless methods above the ground, but the equipment is large and expensive and cannot be used on agricultural vehicles.

[0009] The present invention designs an intelligent agricultural machine suitable for fertilizing clay soil, which can realize the mechanized and intelligent fertilization of the above two fertilizers. Summary of the Invention

[0010] In order to achieve the above object, the present invention adopts the following technical solutions:

[0011] 14. The repairing kit for automotive dents, according to claim 13, wherein a bottom of the foot stand comprises a through-hole, and the two foot pieces comprise two bosses, wherein the bosses comprise a first motor, a first slide rail, a first slide bar, a connecting slide rail, a hydraulic rod, a mounting slide bar, a second motor, a first rotating shaft, a connecting rod, and a mounting slide rail. The bosses comprise a first motor, a first slide rail, a first slide bar, a connecting slide rail, and a mounting slide rail. The bosses comprise a first motor, a first slide rail, a first slide bar, a connecting slide rail, and a mounting slide rail. The bosses comprise a first motor, a first slide rail, a first slide bar, a connecting slide rail, and a mounting slide rail. The bosses

[0012] Five fixed sliding blocks are evenly installed on the installation slide rail, and a fertilizing component is fixedly installed on each of the five fixed sliding blocks.

[0013] The fertilizing assembly includes an air intake shell, an air pipe, a connecting support, an outer insert tube, an inner insert tube, a sensor, and a retaining ring, wherein the arc-shaped outer insert tube is fixedly installed on the corresponding fixed slider, the upper end of the outer insert tube is fixedly installed with an air intake shell, and the air pipe is installed on the air intake shell; the lower end of the outer insert tube has a conical plug; a circumferentially evenly distributed discharge port is opened between the plug and the outer insert tube; a retaining ring is slidably installed on the outer side of the discharge port through a guide block fixedly installed on the plug; a sensor is fixedly installed on the outer side of the outer insert tube; the inner insert tube is fixedly installed on the inner side of the outer insert tube through evenly distributed connecting supports, and the upper end of the inner insert tube passes through the upper end of the air intake shell; and evenly distributed and obliquely upwardly distributed air intake ports are opened between the inner insert tube and the outer insert tube.

[0014] As a preferred solution, a control device capable of independently controlling the speed of the walking wheels is installed on the lower side of the walking platform bottom plate.

[0015] As a preferred solution, a crank is fixedly mounted on the output shaft of the first motor, one end of the connecting rod is hingedly mounted on the crank; the other end of the connecting rod is hingedly connected to the mounting slider.

[0016] As a preferred solution, a supporting slide rail is fixedly installed on the upper side of the walking platform to support the first slide bar.

[0017] As a preferred solution, both ends of the hydraulic rod are hingedly mounted on the cross bar for mounting the slide bars and the cross bar for connecting the slide bars.

[0018] As a preferred solution, a telescopic rotating shaft is fixedly mounted on the output shaft of the second motor, the lower end of the telescopic rotating shaft passes through the mounting slide rod, and the first rotating shaft and the telescopic rotating shaft are connected via two first gear transmissions.

[0019] As a preferred solution, the fixed slider in the middle is fixedly installed on the mounting rail, and the remaining four fixed sliders are slidably installed on the mounting rail and are located on both sides of the fixed slider fixed in the middle; a spring is fixedly installed between two adjacent fixed sliders among the five fixed sliders, and the spring is a compression spring.

[0020] As a preferred solution, the two fixed sliders located at the edge are respectively fixed with a synchronization rack, the fourth motor is fixedly mounted on the mounting rail, and a synchronization gear is fixedly mounted on the output shaft of the fourth motor, and the synchronization gear is engaged with the two synchronization racks.

[0021] As a preferred solution, the external insert tubes in the two fertilization assemblies located on the same side of the five fertilization assemblies and the external insert tube in the fertilization assembly located in the middle have one end of the plug staggered up and down.

[0022] As a preferred solution, a fertilizer storage box and a rotating shell are fixedly installed on the upper side of the walking platform, and the fertilizer storage box and the rotating shell are connected by a discharge channel. A spiral conveying plate is rotatably installed in the discharge channel through a second rotating shaft; a third motor is fixedly installed on the walking platform, and the output shaft of the third motor is connected to the second rotating shaft through a second gear transmission; five evenly distributed discharge ports are opened on the lower side of the rotating shell, and a conical port is opened at the upper end of the discharge port, and the five conical ports are overlapped and connected; the five discharge ports and the five inner tubes are connected one by one through five hoses.

[0023] Compared with the existing technology, the advantages of the present invention are:

[0024] 1. During the fertilization process, the walking platform moves forward at a steady speed. However, during the fertilization process, the fertilization assembly and the seedlings need a relatively static period of time to ensure a better fertilization effect. In order to achieve this effect, the first motor, crank, connecting rod, mounting slider and first slide rail designed in the present invention form a crank slider assembly through the crank, connecting rod, mounting slider and first slide rail. During the fertilization process, the first motor can be controlled to make the fertilization assembly slide relative to the walking platform. This movement can offset the movement of the walking platform relative to the seedlings, so as to achieve the requirement that the fertilization assembly is stationary relative to the seedlings for a certain period of time.

[0025] 2. During the fertilization process, the outer tube and the inner tube in the fertilization assembly will be inserted into the soil. During the insertion process, the retaining ring will be squeezed by the soil and slide upward to seal the discharge port; when the outer tube and the inner tube are fully inserted around the root system of the seedling, the outer tube and the inner tube are controlled to move outward. At this time, the retaining ring opens under the action of soil resistance, and the fertilizer in the inner tube will be dispersed around the root system of the seedling. During this process, the external air pump is controlled to blow air into the air inlet shell. The gas entering the air inlet shell will enter the inner tube from the air inlet, blowing the fertilizer in the inner tube to ensure that the fertilizer in the inner tube can flow out smoothly. At the same time, the gas blown into the inner tube will be discharged from the discharge port along with the fertilizer, loosening the soil around the root system of the seedling.

[0026] 3. The external plugs in the two fertilizer assemblies on the same side of the five fertilizer assemblies and the external plug in the fertilizer assembly in the middle have one end of the plug staggered up and down in sequence; ensuring that the five fertilizer assemblies can wrap the roots of the seedlings during fertilization to ensure the fertilization effect.

[0027] 4. The present invention can control the relative sliding of the five fixed sliders. When the five fixed sliders are in a dispersed state, the fertilization assembly is suitable for fertilizing carbon ammonium fertilizers; when all the five fixed sliders are moved to the middle and concentrated together, the fertilization assembly is suitable for fertilizing phosphate fertilizers.

[0028] 5. The height and root depth of seedlings are judged by combining the camera system with the previous database, and the database is supplemented and updated with each measurement of the sensor, realizing the ability to realize root depth and precise fertilization with low-cost sensors. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall appearance of the components.

[0030] Figure 2 It is a schematic diagram of the installation of the regulating mechanism.

[0031] Figure 3 It is a schematic diagram of the regulatory agency structure.

[0032] Figure 4 This is a schematic diagram of installing the slide rail.

[0033] Figure 5 This is a schematic diagram of the installation of the feeding channel.

[0034] Figure 6 This is a schematic diagram of the installation of the spiral conveyor.

[0035] Figure 7 It is a schematic diagram of the connection between the hose and the transfer shell.

[0036] Figure 8 This is a schematic diagram of the fertilization component installation.

[0037] Figure 9 This is a schematic diagram of the distribution of fertilization components.

[0038] Figure 10 This is the second schematic diagram of the fertilization component distribution.

[0039] Figure 11 This is a schematic diagram of the fixed slider installation.

[0040] Figure 12 This is a schematic diagram of the appearance of the fertilization component.

[0041] Figure 13 It is a schematic diagram of the internal structure of the fertilization component.

[0042] Figure 14 It is a schematic diagram of the connection between the fertilization component and the fixed slider.

[0043] Figure 15 It is a schematic diagram of the fertilization component structure.

[0044] Figure 16 This is a schematic diagram of the discharge port distribution.

[0045] Figure 17 It is a schematic diagram of the discharge port structure.

[0046] Figure 18 It is a schematic diagram of the fertilization principle of the fertilization component.

[0047] Names in the figure: 1. Fertilizer storage box; 2. Walking platform; 3. Control mechanism; 4. Fertilizer application assembly; 5. Control device; 6. First motor; 7. First slide rail; 8. First slide rod; 9. Support slide rail; 10. Connecting slide rail; 11. Crank; 12. Connecting rod; 13. Mounting slide block; 14. Hydraulic rod; 15. Mounting slide rod; 16. Second motor; 17. Telescopic shaft; 18. First shaft; 19. Connecting rod; 20. First gear; 21. Unloading channel; 22. Third motor; 23. Rotating shell; 24 , spiral conveyor; 25, second rotating shaft; 26, second gear; 27, tapered mouth; 28, discharge port; 29, hose; 30, mounting slide rail; 31, fourth motor; 32, fixed slider; 33, spring; 34, fixed support; 35, synchronous gear; 36, synchronous rack; 37, air intake shell; 38, air pipe; 39, air intake; 40, connecting support; 41, external insert; 42, internal insert; 43, sensor; 44, retaining ring; 45, plug; 46, guide block; 47, discharge port; 48, seedling. DETAILED DESCRIPTION

[0048] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following embodiments or drawings are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0049] An intelligent agricultural machine suitable for fertilizing clay soil, such as Figure 1 As shown, it includes a fertilizer storage box 1, a walking platform 2, a regulating mechanism 3, and a fertilizing component 4, wherein Figure 2 As shown, a control device 5 capable of independently controlling the speed of the walking wheels is installed on the lower side of the bottom plate of the walking platform 2; Figure 1 As shown, the walking platform 2 is equipped with a regulating mechanism 3, such as Figure 2 、 3 4, the regulating mechanism 3 includes a first motor 6, a first slide rail 7, a first slide rod 8, a supporting slide rail 9, a connecting slide rail 10, a crank 11, a connecting rod 12, a mounting slider 13, a hydraulic rod 14, a mounting slide rod 15, a second motor 16, a telescopic shaft 17, a first shaft 18, a connecting rod 19, a first gear 20, and a mounting slide rail 30, wherein Figure 2 As shown, the first motor 6 is fixedly mounted on the upper side of the walking platform 2, as shown in FIG. Figure 3 As shown, a crank 11 is fixedly mounted on the output shaft of the first motor 6, and one end of the connecting rod 12 is hingedly mounted on the crank 11; Figure 2 As shown, the first slide rail 7 is fixedly installed on the upper side of the walking platform 2, as shown in FIG. Figure 3 As shown, the mounting slider 13 is slidably mounted on the first slide rail 7, and the other end of the connecting rod 12 is connected to the mounting slider 13 by a hinged manner; the first slide bar 8 is fixedly mounted on the mounting slider 13, and the end of the first slide bar 8 away from the mounting slider 13 is fixedly mounted with an L-shaped connecting slide rail 10; the upper side of the walking platform 2 is fixedly mounted with a supporting slide rail 9 that supports the first slide bar 8; Figure 4 As shown, an L-shaped mounting slide bar 15 is slidably installed on the vertical track of the connecting slide rail 10, and a hydraulic rod 14 is installed between the cross bar of the mounting slide bar 15 and the cross bar of the connecting slide bar, and both ends of the hydraulic rod 14 are hingedly installed on the cross bar of the mounting slide bar 15 and the cross bar of the connecting slide bar; a second motor 16 is fixedly installed on the cross bar of the connecting slide rail 10, and a telescopic rotating shaft 17 is fixedly installed on the output shaft of the second motor 16, and the lower end of the telescopic rotating shaft 17 passes through the mounting slide bar 15, and one end of the first rotating shaft 18 is rotatably installed in the mounting slide bar 15, and the first rotating shaft 18 and the telescopic rotating shaft 17 are connected by two first gears 20; the other end of the first rotating shaft 18 is fixedly installed with a connecting rod 19, and a mounting slide rail 30 is fixedly installed on the connecting rod 19.

[0050] When the first motor 6 is working, it can drive the crank 11 to rotate, and the rotation of the crank 11 drives the connecting rod 12 to swing, and the swing of the connecting rod 12 drives the installation slide block 13 to slide along the first slide rail 7, and the sliding of the installation slide block 13 drives the first slide bar 8 to slide, and the sliding of the first slide bar 8 drives the connecting slide rail 10 to slide along the guide direction of the first slide rail 7 and the supporting slide rail 9; the sliding of the connecting slide rail 10 drives the installation slide bar 15 to slide, and the installation slide bar 15 can drive the connecting rod 19 to slide through the first rotating shaft 18, and the connecting rod 19 drives the installation slide rail 30 to slide; the installation slide rail 30 drives the fertilizing assembly 4 to slide; during the fertilizing process, the walking platform 2 is at a steady speed During the fertilization process, the fertilizer assembly 4 and the seedlings 48 need a relatively static period of time to ensure a good fertilization effect. To achieve this effect, the present invention is designed with a first motor 6, a crank 11, a connecting rod 12, a mounting slider 13 and a first slide rail 7. The crank 11, the connecting rod 12, the mounting slider 13 and the first slide rail 7 form a crank 11 slider assembly. During the fertilization process, the first motor 6 can be controlled to operate so that the fertilizer assembly 4 slides relative to the walking platform 2. This movement offsets the movement of the walking platform 2 relative to the seedlings 48, so that the fertilizer assembly 4 remains stationary relative to the seedlings 48 for a certain period of time. After one of the seedlings 48 is fertilized, the mounting slider 13 also moves to the rear of the first slide rail 7. At this time, the first motor 6 controls the crank 11 to rotate 180 degrees quickly, so that the fertilizer assembly 4 moves forward quickly to the next seedling 48 to fertilize the next seedling 48. That is, during the fertilization process, the walking platform 2 can always maintain a uniform forward speed and does not need to stop fertilizing.

[0051] In the present invention, controlling the operation of the hydraulic rod 14 can control the installation slide rod 15 to slide up and down relative to the connecting slide rail 10. This design is because the heights of the seedlings 48 are different. During the fertilization process, the fertilizer assembly 4 can adjust the height of the fertilizer assembly 4 and the ground according to the specific height of the seedlings 48, ensuring that the fertilizer assembly 4 can better complete fertilization around the root system; during this process, the telescopic shaft 17 is extended and retracted, and the extension and retraction of the telescopic shaft 17 does not affect the rotation of the first shaft 18 driven by the second motor 16.

[0052] A control device 5 capable of independently controlling the speed of the traveling wheels is installed on the lower side of the bottom plate of the traveling platform 2. The control device 5 has the ability to control the active driving and steering of the traveling wheels.

[0053] like Figure 11As shown, five fixed sliders 32 are evenly installed on the mounting rail 30, the fixed slider 32 located in the middle is fixedly installed on the mounting rail 30, and the remaining four fixed sliders 32 are slidably installed on the mounting rail 30 and are located on both sides of the fixed slider 32 fixedly installed in the middle; a spring 33 is fixedly installed between two adjacent fixed sliders 32 of the five fixed sliders 32, and the spring 33 is a compression spring 33; the two fixed sliders 32 located at the edge are respectively fixedly installed with a synchronization rack 36, the fourth motor 31 is fixedly installed on the mounting rail 30, and a synchronization gear 35 is fixedly installed on the output shaft of the fourth motor 31, and the synchronization gear 35 is meshed with the two synchronization racks 36; as shown Figure 8 、 9 As shown in FIG. 11 , a fertilizer assembly 4 is fixedly mounted on each of the five fixed sliders 32 .

[0054] The fourth motor 31 can drive the synchronous gear 35 to rotate, and the rotation of the synchronous gear 35 drives the two synchronous racks 36 to slide. The sliding of the two synchronous racks 36 drives the two fixed sliders 32 located on the outermost side to slide. The sliding of these two fixed sliders 32 will drive the two adjacent fixed sliders 32 to slide through the spring 33, and the sliding of the fixed sliders 32 drives the fertilization assembly 4 installed thereon to slide; that is, the five fixed sliders 32 can be controlled to slide relative to each other in the present invention. When the five fixed sliders 32 are in a dispersed state, the fertilization assembly 4 is suitable for fertilizing carbon ammonium fertilizer; when all five fixed sliders 32 are moved to the middle and concentrated together, the fertilization assembly 4 is suitable for fertilizing phosphate fertilizer.

[0055] like Figure 12 、 13 As shown in Figures 14 and 15, the fertilizing assembly 4 includes an air inlet shell 37, an air pipe 38, a connecting support 40, an outer insert 41, an inner insert 42, a sensor 43, and a retaining ring 44. Figure 14 As shown, the arc-shaped outer insert 41 is fixedly mounted on the corresponding fixed slider 32, and the upper end of the outer insert 41 is fixedly mounted with an air intake shell 37, and the air intake shell 37 is mounted with an air pipe 38; Figure 15 As shown, the lower end of the outer tube 41 has a conical plug 45; Figure 16 As shown, there are discharge ports 47 evenly distributed circumferentially between the plug 45 and the outer insert 41; Figure 15 As shown, a retaining ring 44 is slidably installed on the outer side of the discharge port 47 through a guide block 46 fixedly installed on the plug 45; a sensor 43 is fixedly installed on the outer side of the outer tube 41; an inner tube 42 is fixedly installed on the inner side of the outer tube 41 through evenly distributed connecting supports 40, and the upper end of the inner tube 42 passes through the upper end of the air inlet shell 37; an air inlet 39 is evenly distributed and obliquely distributed upward between the inner tube 42 and the outer tube 41.

[0056] The air pipe 38 is externally connected to the air pump.

[0057] like Figure 8 、 9 As shown in FIG10 , the outer tubes 41 in the two fertilizer assemblies 4 on the same side of the five fertilizer assemblies 4 and the outer tube 41 in the fertilizer assembly 4 in the middle have one end of the plug 45 staggered up and down in sequence; ensuring that the five fertilizer assemblies 4 can wrap the root system of the seedling 48 during the fertilization process to ensure the fertilization effect.

[0058] like Figure 1 As shown, a fertilizer storage box and a transfer shell 23 are fixedly installed on the upper side of the walking platform 2. Figure 6 As shown, the fertilizer storage box and the rotating shell 23 are connected by a discharge channel 21, and a spiral conveying piece 24 is rotatably installed in the discharge channel 21 through a second rotating shaft 25; the third motor 22 is fixedly installed on the walking platform 2, and the output shaft of the third motor 22 and the second rotating shaft 25 are connected by a second gear 26; the lower side of the rotating shell 23 is provided with five evenly distributed discharge ports 28, as shown in FIG. Figure 7 、 17 As shown, a tapered opening 27 is formed at the upper end of the discharge port 28 , and the five tapered openings 27 are overlapped and connected to each other; the five discharge ports 28 and the five inner insert pipes 42 are connected one to one via five hoses 29 .

[0059] The third motor 22 rotates the second shaft 25 via the second gear 26, which in turn rotates the spiral conveyor 24, conveying fertilizer from the feed channel 21 downward. During use, the third motor 22 controls the rotational speed of the spiral conveyor 24, intelligently adjusting the feed rate based on the fertilizer application requirements of the seedlings 48. Fertilizer from the feed channel 21 enters the feed housing 23, which then flows through the hose 29 into the inner tubes 42 of the five fertilizer application assemblies 4.

[0060] The specific structure of the transfer shell 23 of the present invention is as follows Figure 17 As such Figure 17 As shown, the five conical openings 27 on the material transfer shell 23 are evenly distributed, and the five conical openings 27 are overlapped and connected, and adjacent conical openings 27 are connected at sharp angles without steps; such a design can ensure that the fertilizer entering the material transfer shell 23 can be smoothly discharged from the five conical openings 27 without accumulating on the inner bottom surface of the material transfer shell 23.

[0061] When fertilizing, the second motor 16 is controlled to work, and the second motor 16 can drive the telescopic shaft 17 to rotate. The telescopic shaft 17 drives the first shaft 18 to rotate through the first gear 20. The rotation of the first shaft 18 drives the connecting rod 19 to rotate. The rotation of the connecting rod drives the installation slide 30 to rotate. The installation slide 30 drives the fertilizing assembly 4 to rotate around the axis of the first shaft 18. The outer insert 41 and the inner insert 42 in the fertilizing assembly 4 will be inserted into the soil. During the insertion process, the retaining ring 44 will be squeezed by the soil and slide upward to seal the discharge port 47 to prevent the sticky soil from blocking the outlet. Figure 18 As shown, after the outer tube 41 and the inner tube 42 are fully inserted around the root system of the seedling 48, the outer tube 41 and the inner tube 42 are controlled to move outward. At this time, the retaining ring 44 opens under the action of soil resistance, and the fertilizer in the inner tube 42 will be dispersed around the root system of the seedling 48. During this process, the external air pump is controlled to blow air into the air inlet shell 37. The gas entering the air inlet shell 37 will enter the inner tube 42 from the air inlet 39, blowing the fertilizer in the inner tube 42 to ensure that the fertilizer in the inner tube 42 can flow out smoothly. At the same time, the gas blown into the inner tube 42 will be discharged from the discharge port 47 along with the fertilizer, loosening the soil around the root system of the seedling 48.

[0062] The present invention can intelligently apply fertilizers, and the fertilization method is as follows:

[0063] First, the height of the seedling 48 is obtained through the camera system, and the estimated root depth of the seedling 48 is obtained by linear interpolation using two sets of data in the database that are close to the measured height.

[0064] Second, during the fertilization process, the sensor 43 closely identifies the distance between the lower end of the fertilization component 4 and the root system of the seedling 48, and then uses the measured data to correct the estimated value, and updates the database of the height size and root depth of the seedling 48.

[0065] Third, based on the new database, the next root depth is estimated and fertilizer is applied. At the same time, the root depth is measured again and the database is updated.

[0066] After the early storage and update of the database, the ability to achieve root extent and precise fertilization with low-cost sensors 43 was achieved.

[0067] The sensor 43 in the present invention is relatively small, only needs to detect at a short distance, and has a relatively low cost.

[0068] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification or equivalent change made to the above embodiment based on the technical essence of the present invention shall fall within the scope of protection of the present invention.

[0069] Implementation method: When the equipment designed by the present invention is used, the walking platform 2 is controlled to move forward at a steady speed during fertilization, and the first motor 6 is controlled to work at the same time. The first motor 6 can drive the crank 11 to rotate, and the rotation of the crank 11 drives the connecting rod 12 to swing, and the swing of the connecting rod 12 drives the installation slider 13 to slide along the first slide rail 7, and the sliding of the installation slider 13 drives the first slide bar 8 to slide, and the sliding of the first slide bar 8 drives the connecting slide rail 10 to slide along the guide direction of the first slide rail 7 and the support slide rail 9; the sliding of the connecting slide rail 10 drives the installation slide bar 15 to slide, and the installation slide bar 15 can drive the connecting rod 19 to slide through the first rotating shaft 18, and the connecting rod 19 drives the installation slide rail 30 to slide; the installation slide rail 30 drives fertilization Component 4 slides; during the fertilization process, the walking platform 2 moves forward at a steady speed. However, during the fertilization process, the fertilization component 4 and the seedlings 48 need a relatively static period of time to ensure a good fertilization effect. To achieve this effect, the present invention is designed with a first motor 6, a crank 11, a connecting rod 12, a mounting slider 13 and a first slide rail 7. The crank 11, the connecting rod 12, the mounting slider 13 and the first slide rail 7 form a crank 11 slider assembly. During the fertilization process, the first motor 6 can be controlled to operate so that the fertilization component 4 slides relative to the walking platform 2. This movement offsets the movement of the walking platform 2 relative to the seedlings 48, so that the fertilization component 4 remains stationary relative to the seedlings 48 for a certain period of time. After fertilizing one seedling 48, the mounting slider 13 also moves to the rear of the first slide rail 7. At this time, the first motor 6 controls the crank 11 to quickly rotate 180 degrees, causing the fertilization component 4 to quickly move forward to the next seedling 48 for fertilizing the next seedling 48. That is, during the fertilization process, the walking platform 2 can always maintain a uniform speed and does not need to stop fertilizing.

[0070] During the fertilization process, when the fertilization component 4 moves to align with the seedling 48, the second motor 16 is controlled to work, and the second motor 16 can drive the telescopic shaft 17 to rotate. The telescopic shaft 17 drives the first shaft 18 to rotate through the first gear 20. The rotation of the first shaft 18 drives the connecting rod 19 to rotate. The rotation of the connecting rod drives the installation slide 30 to rotate. The installation slide 30 drives the fertilization component 4 to rotate around the axis of the first shaft 18. The outer insert 41 and the inner insert 42 in the fertilization component 4 will be inserted into the soil. During the insertion process, the retaining ring 44 will be squeezed by the soil and slide upward to seal the discharge port 47. Figure 18As shown, after the outer tube 41 and the inner tube 42 are fully inserted around the root system of the seedling 48, the outer tube 41 and the inner tube 42 are controlled to move outward. At this time, the retaining ring 44 opens under the action of soil resistance, and the fertilizer in the inner tube 42 will be dispersed around the root system of the seedling 48. During this process, the external air pump is controlled to blow air into the air inlet shell 37. The gas entering the air inlet shell 37 will enter the inner tube 42 from the air inlet 39, blowing the fertilizer in the inner tube 42 to ensure that the fertilizer in the inner tube 42 can flow out smoothly. At the same time, the gas blown into the inner tube 42 will be discharged from the discharge port 47 along with the fertilizer, loosening the soil around the root system of the seedling 48 and supplementing oxygen at the same time.

Claims

1. An intelligent agricultural machine suitable for fertilizing clay soil, characterized by: The control mechanism comprises a first motor, a first slide rail, a first slide bar, a connecting slide rail, a hydraulic rod, a mounting slide bar, a second motor, a first rotating shaft, a connecting rod, and a mounting slide rail, wherein the first motor is fixedly mounted on the upper side of the walking platform, the first slide rail is fixedly mounted on the upper side of the walking platform, the mounting slide bar is slidably mounted on the first slide rail, and the mounting slide bar is fixedly mounted with the first slide bar, and the first motor can control the mounting slide bar to slide; the first slide bar is fixedly mounted on an L-shaped connecting slide rail at one end away from the mounting slide rail; an L-shaped mounting slide rail is slidably mounted on the vertical rail of the connecting slide rail, a hydraulic rod is installed between a cross bar of the mounting slide rail and a cross bar of the connecting slide rail, the second motor is fixedly mounted on the cross bar of the connecting slide rail, one end of the first rotating shaft is rotatably mounted in the mounting slide rail, and the second motor can control the rotation of the first rotating shaft through gear transmission; the other end of the first rotating shaft is fixedly mounted with a connecting rod, and the mounting slide rail is fixedly mounted on the connecting rod; Five fixed sliders are evenly installed on the installation slide rail, and a fertilizer assembly is fixedly installed on each of the five fixed sliders; The fertilizing assembly includes an air intake shell, an air pipe, a connecting support, an outer insert tube, an inner insert tube, a sensor, and a retaining ring, wherein the arc-shaped outer insert tube is fixedly mounted on the corresponding fixed slider, the upper end of the outer insert tube is fixedly mounted with an air intake shell, and the air pipe is mounted on the air intake shell; the lower end of the outer insert tube has a conical plug; circumferentially evenly distributed discharge ports are opened between the plug and the outer insert tube; a retaining ring is slidably mounted on the outer side of the discharge port through a guide block fixedly mounted on the plug; a sensor is fixedly mounted on the outer side of the outer insert tube; an inner insert tube is fixedly mounted on the inner side of the outer insert tube through evenly distributed connecting supports, and the upper end of the inner insert tube passes through the upper end of the air intake shell; evenly distributed and obliquely upwardly distributed air intake ports are opened between the inner and outer insert tubes; A crank is fixedly mounted on the output shaft of the first motor, one end of the connecting rod is hingedly mounted on the crank; the other end of the connecting rod is hingedly connected to the mounting slider; The fixed slider in the middle is fixedly mounted on the mounting rail, and the remaining four fixed sliders are slidably mounted on the mounting rail and are located on both sides of the fixed slider in the middle; a spring is fixedly mounted between two adjacent fixed sliders among the five fixed sliders, and the spring is a compression spring; The two fixed sliders at the edge are respectively fixed with a synchronous rack, the fourth motor is fixedly mounted on the mounting rail, and a synchronous gear is fixedly mounted on the output shaft of the fourth motor, and the synchronous gear is meshed with the two synchronous racks; The external plugs of the two fertilization assemblies located on the same side of the five fertilization assemblies and the external plug of the fertilization assembly located in the middle are staggered in the upper and lower directions. The five fixed sliders can be controlled to slide relative to each other. When the five fixed sliders are in a dispersed state, the fertilization assembly is suitable for fertilizing carbon ammonium fertilizer; when all the five fixed sliders are moved to the middle and concentrated together, the fertilization assembly is suitable for fertilizing phosphate fertilizer.

2. The intelligent agricultural machine suitable for fertilizing clay soil according to claim 1, characterized in that: A regulating device capable of independently controlling the speed of the walking wheels is installed on the lower side of the walking platform bottom plate.

3. The intelligent agricultural machine suitable for fertilizing clay soil according to claim 1, characterized in that: A supporting slide rail for supporting the first slide bar is fixedly installed on the upper side of the walking platform.

4. The intelligent agricultural machine suitable for fertilizing clay soil according to claim 1, characterized in that: Both ends of the hydraulic rod are hingedly mounted on a cross bar for mounting the slide bars and a cross bar for connecting the slide bars.

5. The intelligent agricultural machine suitable for fertilizing clay soil according to claim 1, characterized in that: A telescopic rotating shaft is fixedly mounted on the output shaft of the second motor, the lower end of the telescopic rotating shaft penetrates into the mounting slide rod, and the first rotating shaft and the telescopic rotating shaft are connected via two first gears.

6. The intelligent agricultural machine suitable for fertilizing clay soil according to claim 1, characterized in that: A fertilizer storage box and a rotating shell are fixedly installed on the upper side of the walking platform, and the fertilizer storage box and the rotating shell are connected by a discharge channel. A spiral conveying piece is rotatably installed in the discharge channel through a second rotating shaft; a third motor is fixedly installed on the walking platform, and the output shaft of the third motor is connected to the second rotating shaft through a second gear transmission; five evenly distributed discharge ports are opened on the lower side of the rotating shell, and a conical port is opened at the upper end of the discharge port, and the five conical ports are overlapped and connected; the five discharge ports and the five inner tubes are connected one by one through five hoses.

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