Root fertilizing tool for agricultural orchard

Abstract

The invention discloses a root fertilization tool for an agricultural orchard, and relates to the technical field of fruit tree fertilization, the root fertilization tool comprises a self-propelled vehicle, a mechanical arm, a punching device, an adjusting device, a fertilizer bin and a material injection nozzle, the self-propelled vehicle is connected with the mechanical arm, the movable end of the mechanical arm is in transmission connection with the punching device, the adjusting device is connected with the punching device, and the material injection nozzle is connected with the mechanical arm. The fertilizer bin is arranged on the self-propelled vehicle, the fertilizer bin is fixedly connected with the self-propelled vehicle, the output end of the fertilizer bin is communicated with the injection nozzle through a pipeline, and the mechanical arm is in transmission connection with the injection nozzle through the punching device. The self-propelled vehicle serves as a power source and is used for driving other devices to move, the other devices are installed through the mechanical arm, the mechanical arm can adopt a hydraulic driving or motor driving mode, provides multiple degrees of freedom and is used for driving the punching device to move, automatic drilling is carried out through the punching device, and drilling guiding is carried out through the adjusting device in the drilling process. The fertilizer bin is used for containing waste materials, automatic material injection is conducted through the material injection nozzle, and the automatic fertilization efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of fruit tree fertilization, in particular to a root fertilization tool for agricultural orchards. Background Art

[0002] Fertilization generally refers to applying fertilizer to the soil or spraying it on plants to provide nutrients for plant growth. Compared with general plants, most fruit tree fertilization is done through the roots, that is, fertilizer is applied to the soil, then infiltrated by water and directed to the roots of the fruit trees for absorption.

[0003] In order to improve work efficiency, various industries have upgraded traditional machinery to automation. However, there are currently few tools for fertilizing the roots of fruit trees in orchards, and most fruit tree planting sites are on slopes, so drilling can only be done manually, and it is difficult to control the depth of the drilling.

[0004] In addition, in the current process of root fertilization, fertilizers are directly poured into the drilled holes. During the watering and infiltration process, due to the backfilling of the soil layer, in order to backfill evenly, the fertilizers are easily diffused to the surroundings, thereby reducing the utilization rate of the fertilizers. Summary of the invention

[0005] The object of the present invention is to provide a root fertilization tool for agricultural orchards to solve the problems raised in the prior art.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A root fertilization tool for agricultural orchards, comprising a self-propelled vehicle, a mechanical arm, a punching device, an adjusting device, a fertilizer bin and an injection nozzle, the self-propelled vehicle is connected to the mechanical arm, the movable end of the mechanical arm is transmission-connected to the punching device, the adjusting device is connected to the punching device, the fertilizer bin is placed on the self-propelled vehicle, the fertilizer bin and the self-propelled vehicle are tightly connected, the output end of the fertilizer bin is connected to the injection nozzle pipeline, and the mechanical arm is transmission-connected to the injection nozzle through the punching device.

[0008] The self-propelled vehicle is the power source, used to drive other devices to move, and other devices are installed through the robotic arm. The robotic arm can be hydraulically driven or motor-driven to provide multiple degrees of freedom, used to drive the punching device to move, and automatically drill holes through the punching device. During the drilling process, the drilling is guided by the adjustment device. The fertilizer bin is used to hold waste materials, and automatically injects materials through the injection nozzle to improve the efficiency of automated fertilization.

[0009] Furthermore, the punching device includes a mounting seat, a material guide tube, a leveling component and a punching motor. The output end of the mechanical arm is connected to the mounting seat in a transmission manner. The material guide tube includes a sleeve and an inner tube. The sleeve is fixedly connected to the mounting seat. The sleeve is built into the inner tube. The sleeve and the inner tube are movably connected. A limiting slide groove is provided on the inner wall of the sleeve. The punching motor is slidably connected to the limiting slide groove. The output end of the punching motor is connected to the inner tube in a transmission manner. The inner tube is built into a spiral blade. A leveling component is provided at the lower end of the sleeve.

[0010] The leveling assembly includes a leveling seat and a base plate. The leveling seat is tightly connected to the lower end of the sleeve. Four leveling cylinders are arranged between the leveling seat and the base plate. The two ends of the four leveling cylinders are respectively connected to the leveling seat and the base plate by ball joints.

[0011] The mechanical arm is used to drive the mounting seat to move. The guide tube is set in a split manner to fix the sleeve on the mounting seat. The limit slide groove inside is used to limit the drilling motor to prevent the drilling motor body from rotating, so that the output end drives the inner tube to rotate. The spiral leaves are fixed inside the inner tube, and the spiral leaves are driven to rotate through the inner tube. The inner tube is guided to rotate through the adjustment device, so as to mobilize the inner tube and the spiral leaves to move down for drilling. Before drilling, the leveling seat and the bottom plate are driven horizontally to the area near the root of the fruit tree by the mechanical arm. When the leveling seat and the bottom plate are driven to move down, the initial state of the leveling cylinder between the leveling seat and the bottom plate is equal length. When the bottom plate contacts the ground first, the bottom plate is arranged parallel to the ground. If the ground is horizontal, the drilling operation is directly performed; if the ground is tilted, the bottom plate is tilted at this time, and the leveling seat is also tilted under the action of the leveling cylinder. The two ends of the leveling cylinder are connected by ball joints to facilitate horizontal adjustment.

[0012] Furthermore, the leveling assembly also includes an electrode sheet and a power supply. A balancing groove is provided on the leveling seat. The balancing groove is an annular groove. There is a conductive medium in the balancing groove. The conductive medium in the balancing groove is not full of liquid. Four electrode sheets are provided. The four electrode sheets are arranged equidistantly along the circumference of the balancing groove. The power supply and the leveling seat are tightly connected. Two adjacent electrode sheets and the power supply constitute a leveling circuit.

[0013] The balancing groove is arranged in a ring shape, and is filled with a conductive medium that is not fully liquid. The conductive medium is used to connect two adjacent electrode sheets. The four electrode sheets are connected to two wiring terminals of the power supply in pairs to form a leveling circuit. When the leveling seat is in a horizontal state, the current in the four leveling circuits remains stable. When the leveling seat is tilted, the conductive medium in the balancing groove is in a fluid state. Under the action of gravity, it flows toward the low end of the balancing groove, so that the local conductive medium increases, thereby increasing the current value of the local leveling circuit, and the current value of the leveling circuit at other relative positions decreases. According to the increase in current, the corresponding leveling cylinder output displacement is controlled to lift the low end of the leveling seat until it tends to be horizontal, and the current value area of ​​each leveling circuit is stable.

[0014] Furthermore, the connection line between the two electrode sheets and the connection line of the leveling cylinder are in a vertical state in space, and the leveling circuit where the two adjacent electrode sheets are located is electrically connected to the leveling cylinder below.

[0015] The four leveling cylinders and the four electrode sheets are arranged in a staggered manner, and the two connecting lines at relative positions are arranged in space, that is, the leveling cylinder is located directly below the two electrode sheets, which is convenient for automatic adjustment of the leveling seat.

[0016] Furthermore, the regulating device includes a baffle, which is tightly connected to the inner cavity of the sleeve, a guide groove is provided on the inner tube, the guide groove is spirally arranged, the end of the baffle away from the wall of the sleeve passes through the guide groove and is inserted into the inner tube, the baffle is located on the side of the sleeve close to the root of the fruit tree, the injection nozzle is tightly connected to the sleeve, and the outlet of the injection nozzle faces the inner cavity of the inner tube;

[0017] During injection: the mechanical arm drives the mounting seat to move upward, and the inner tube rotates at the same height along the vertical position.

[0018] The baffle is fixed by the casing, and the baffle passes through the guide groove. Through the spiral arrangement, when the punching motor outputs torque to drive the inner tube to rotate, the inner tube moves downward in the spiral under the cooperation of the guide groove and the baffle, so that the spiral blade can drill automatically. The injection nozzle outlet is located below the guide groove direction close to the baffle. When the lower end of the spiral blade rotates to the bottom of the baffle, the mechanical arm drives the mounting seat to move upward to compensate for the downward rotation distance of the spiral blade, so that the inner tube is kept at a certain height. At this time, since it is no longer screwed into the soil, the injection nozzle and the screw-in A cavity is generated on the upper surface of the spiral blade between the upper surface of the soil and the fertilizer is injected into the cavity through the injection nozzle. After the injection is completed, the spiral blade continues to move downward. At this time, the mechanical arm no longer maintains the isopycnic rotation and continues to rotate into the soil. During the downward movement of the spiral blade, the fertilizer spirals upward along the upper surface of the spiral blade until the lower end of the spiral blade is located below the baffle again, and then the fertilizer is injected again. The two adjacent injections are one circle along the spiral line, so that the fertilizer is arranged vertically along the spiral blade after the drilling is completed, which is convenient for the vertical distribution of the fertilizer.

[0019] Furthermore, a slot is provided on the inner tube, the lower end of the baffle is inserted into the slot, a slider is provided in the slot, the slider is arranged in a step-shaped manner, the slot and the slider are adapted, the slider and the slot are slidably connected, a clamping spring is provided at the upper end of the slider, and the upper end of the clamping spring is tightly connected to the baffle;

[0020] When punching: the baffle plate abuts against the lower wall of the guide groove.

[0021] By setting the slot, when drilling, the lower end of the baffle is inserted into the slot and connected to the slider through the clamping spring. The slider is set in a stepped longitudinal section, with a larger lower part and a smaller upper part, and is clamped with the slot so that the slider can only slide along the circumference of the slot and will not move vertically. Under the preload of the clamping spring, a crimping gap is created between the upper end of the baffle and the upper wall of the guide groove.

[0022] Furthermore, the adjusting device also includes a clamping assembly, which includes a pry bar and a lower pressure plate, the lower pressure plate is tightly connected to the inner cavity of the casing, the lower pressure plate is inserted into the inner cavity of the inner tube away from the side of the casing wall, the lower pressure plate is located above the baffle, a plurality of rotation grooves are provided on the spiral blade in the vertical direction, the pry bar is rotationally connected to the rotation groove, a tension spring is provided in the rotation groove, one end of the tension spring away from the rotation groove wall is tightly connected to the pry bar, a transmission surface is provided on the pry bar, and the lower pressure plate and the transmission surface rotate intermittently;

[0023] Initial state: The pry bar is arranged from the rotation center to the tail end along the upward spiral direction of the spiral blade.

[0024] When drilling, since the pry bar is arranged along the spiral direction of the spiral blade, the lower pressure plate is in contact with the back of the transmission surface and no transmission is performed; when fertilizing, the drilled soil gradually separates from the spiral blade under the action of the baffle. At this time, the transmission surface extends out of the spiral blade's rotation groove under the action of the tension spring elastic force, and drives the pry bar to rotate in the opposite direction through transmission. As the drilling motor continues to rotate, when the pry bar rotates in the opposite direction and is limited by the rotation groove wall, since the lower pressure plate is fixed, the spiral blade and the inner tube are driven downward through the lower pressure plate and the pry bar to compress the local soil, thereby improving the directional penetration ability of the fertilizer after fertilization.

[0025] As an optimization, the transmission surface is an inclined surface;

[0026] When pressing down: the spiral blade spirals up, the pry bar rotates in the opposite direction, the tension spring stretches, and the upper end of the pry bar is higher than the blade height at the same position of the spiral blade. The transmission surface is arranged obliquely, so that the transmission surface can extend out of the rotating groove under the elastic force of the tension spring and transmit to the lower pressure plate, which is convenient for local compression of the soil.

[0027] As an optimization, the lower pressure plate and the baffle are arranged relative to each other. Through the relative arrangement, the baffle is located in the direction of the inner cavity of the casing close to the root of the fruit tree, and the lower pressure plate is located in the direction away from the root of the fruit tree, so that when fertilizing, the fertilizer is located near the root of the fruit tree, and the soil layer far away from the root of the fruit tree is compressed, so that when the fertilizer subsequently penetrates, the density near the root of the fruit tree is relatively small, which facilitates penetration and improves the utilization rate of the fertilizer.

[0028] Compared with the prior art, the beneficial effects of the present invention are as follows: when the leveling seat is tilted, the conductive medium in the balancing groove is in a fluid state, and under the action of gravity, it flows toward the lower end of the balancing groove, so that the local conductive medium increases, thereby increasing the current value of the local leveling circuit, and reducing the current value of the leveling circuit at other relative positions. According to the increase in current, the corresponding leveling cylinder output displacement is controlled to lift the lower end of the leveling seat until it tends to be horizontal, and the current value area of ​​each leveling circuit is stable; when the lowermost end of the spiral blade rotates to below the baffle, the mechanical arm drives the mounting seat to move upward to compensate for the downward rotation distance of the spiral blade, so that the inner tube is maintained at a certain height. At this time, since it is no longer screwed into the soil, a cavity is generated on the upper surface of the spiral blade between the injection nozzle and the upper surface of the screwed-in soil, and fertilizer is injected into this cavity through the injection nozzle. After the injection is completed, the spiral blade continues to be driven downward. At this time, the mechanical arm no longer maintains the same height rotation, and continues to be screwed into the soil. During the downward movement of the spiral blade, the fertilizer spirally moves upward along the upper surface of the spiral blade until the lower end of the spiral blade is again After it is located below the baffle, it is injected again. The two adjacent injections are one circle along the spiral line, so that the fertilizer is arranged vertically along the spiral blade after the drilling is completed, which is convenient for vertical distribution of the fertilizer; when fertilizing, the drilled soil is gradually separated from the spiral blade under the action of the baffle. At this time, the transmission surface extends out of the spiral blade's rotating groove under the action of the tension spring elastic force, and drives the pry bar to rotate in the opposite direction through transmission. As the drilling motor continues to rotate, when the pry bar rotates in the opposite direction and is limited by the rotating groove wall, due to the downward pressure The plate is fixed and driven by the lower pressure plate and the pry rod to drive the spiral blade and the inner tube downward to compress the local soil, thereby improving the directional penetration ability of the fertilizer after fertilization; the baffle is located in the direction of the inner cavity of the casing close to the root of the fruit tree, and the lower pressure plate is located in the direction away from the root of the fruit tree, so that when fertilizing, the fertilizer is located close to the root of the fruit tree, and the soil layer away from the root of the fruit tree is compressed, so that when the fertilizer subsequently penetrates, it is easy to penetrate due to the lower density near the root of the fruit tree, thereby improving the utilization rate of the fertilizer. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 It is a schematic diagram of the drilling power transmission of the present invention;

[0031] Figure 3 It is a schematic diagram of the structure of the leveling circuit of the present invention;

[0032] Figure 4 It is a schematic diagram of the structure of the regulating device of the present invention;

[0033] Figure 5 It is a schematic diagram of the baffle structure of the present invention;

[0034] Figure 6It is a schematic diagram of the structure of the clamping assembly of the present invention.

[0035] In the figure: 1. self-propelled vehicle; 2. mechanical arm; 3. punching device; 31. mounting seat; 32. guide pipe; 321. sleeve; 3211. limit slide; 322. inner tube; 3221. slot; 3222. guide slot; 323. spiral blade; 3231. rotating slot; 33. leveling assembly; 331. leveling seat; 3311. balance slot; 332. leveling cylinder; 333. bottom plate; 334. electrode sheet; 335. power supply; 34. punching motor; 4. adjusting device; 41. baffle; 42. clamping spring; 43. clamping assembly; 431. pry bar; 4311. transmission surface; 432. lower pressure plate; 433. tension spring; 44. slider; 5. fertilizer bin; 6. injection nozzle. DETAILED DESCRIPTION

[0036] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

[0037] Example: Figure 1-Figure 6 As shown, the present invention provides a technical solution for a root fertilization tool for agricultural orchards.

[0038] A root fertilization tool for agricultural orchards, comprising a self-propelled vehicle 1, a mechanical arm 2, a punching device 3, an adjusting device 4, a fertilizer bin 5 and an injection nozzle 6. The self-propelled vehicle 1 is connected to the mechanical arm 2, a movable end of the mechanical arm 2 is transmission-connected to the punching device 3, the adjusting device 4 is connected to the punching device 3, a fertilizer bin 5 is placed on the self-propelled vehicle 1, the fertilizer bin 5 and the self-propelled vehicle 1 are tightly connected, an output end of the fertilizer bin 5 is connected to the injection nozzle 6 through a pipeline, and the mechanical arm 2 is transmission-connected to the injection nozzle 6 through the punching device 3.

[0039] The self-propelled vehicle 1 is a power source, used to drive other devices to move. Other devices are installed through the mechanical arm 2. The mechanical arm 2 can be hydraulically driven or motor-driven to provide multiple degrees of freedom, used to drive the punching device 3 to move, and automatically drill holes through the punching device 3. During the drilling process, the drilling is guided by the adjustment device 4. The fertilizer bin 5 is used to hold waste materials and automatically injects materials through the injection nozzle 6 to improve the efficiency of automated fertilization.

[0040] Further, the punching device 3 includes a mounting seat 31, a material guide tube 32, a leveling assembly 33 and a punching motor 34. The output end of the robot arm 2 is connected to the mounting seat 31 in a transmission manner. The material guide tube 32 includes a sleeve 321 and an inner tube 322. The sleeve 321 is tightly connected to the mounting seat 31. The sleeve 321 has an inner tube 322 built in. The sleeve 321 and the inner tube 322 are movably connected. A limiting slide groove 3211 is provided on the inner wall of the sleeve 321. The punching motor 34 is slidably connected to the limiting slide groove 3211. The output end of the punching motor 34 is connected to the inner tube 322 in a transmission manner. The inner tube 322 has a spiral blade 323 built in. The lower end of the sleeve 321 is provided with a leveling assembly 33.

[0041] The leveling assembly 33 includes a leveling seat 331 and a base plate 333 . The leveling seat 331 is fastened to the lower end of the sleeve 321 . Four leveling cylinders 332 are arranged between the leveling seat 331 and the base plate 333 . The two ends of the four leveling cylinders 332 are respectively connected to the leveling seat 331 and the base plate 333 by ball joints.

[0042] The robotic arm 2 is used to drive the mounting base 31 to move. The guide tube 32 is split to fix the sleeve 321 on the mounting base 31. The limiting slide groove 3211 therein is used to limit the punching motor 34 to prevent the punching motor 34 from rotating, so that the output end can drive the inner tube 322 to rotate. The spiral blade 323 is fixedly connected to the inner tube 322, and the spiral blade 323 is driven to rotate by the inner tube 322. The inner tube 322 is rotated and guided by the adjusting device 4, so as to mobilize the inner tube 322 and the spiral blade 323 to move downward for drilling. Before drilling, the robot arm 2 drives the leveling seat 331 and the base plate 333 to a horizontal position near the root of the fruit tree. When the leveling seat 331 and the base plate 333 are driven to move downward, the leveling cylinder 332 between the leveling seat 331 and the base plate 333 is initially in an equal length state. When the base plate 333 first contacts the ground, the base plate 333 is arranged parallel to the ground. If the ground is horizontal, the drilling operation is performed directly. If the ground is tilted, the base plate 333 is in an inclined state at this time, and the leveling seat 331 is also in an inclined state under the action of the leveling cylinder 332. The two ends of the leveling cylinder 332 are connected by a ball joint to facilitate horizontal adjustment.

[0043] Furthermore, the leveling component 33 also includes an electrode sheet 334 and a power supply 335. A balancing groove 3311 is provided on the leveling seat 331. The balancing groove 3311 is an annular groove. There is a conductive medium in the balancing groove 3311. The conductive medium in the balancing groove 3311 is not full of liquid. Four electrode sheets 334 are provided. The four electrode sheets 334 are equidistantly arranged along the circumference of the balancing groove 3311. The power supply 335 and the leveling seat 331 are fastened together. Two adjacent electrode sheets 334 and the power supply 335 constitute a leveling circuit.

[0044] The balancing groove 3311 is arranged in a ring shape and is filled with a conductive medium that is not fully liquid. The conductive medium is used to connect two adjacent electrode sheets 334. The four electrode sheets 334 are connected to the two terminals of the power supply 335 in pairs to form a leveling circuit. When the leveling seat 331 is in a horizontal state, the currents in the four leveling circuits remain stable. When the leveling seat 331 is tilted, the conductive medium in the balancing groove 3311 is in a fluid state. Under the action of gravity, it flows toward the low end of the balancing groove 3311, so that the local conductive medium increases, thereby increasing the current value of the local leveling circuit, and reducing the current values ​​of the leveling circuits at other relative positions. According to the increase in current, the corresponding leveling cylinder 332 is controlled to output displacement, so that the low end of the leveling seat 331 is lifted until it tends to be horizontal, and the current value area of ​​each leveling circuit is stable.

[0045] Furthermore, the connection line between the two electrode sheets 334 and the connection line of the leveling cylinder 332 are in a spatially vertical state, and the leveling circuit where the two adjacent electrode sheets 334 are located is electrically connected to the leveling cylinder 332 below.

[0046] The four leveling cylinders 332 and the four electrode sheets 334 are arranged in a staggered manner, and the two connecting lines at relative positions are arranged in space, that is, the leveling cylinder 332 is located directly below the two electrode sheets 334, which is convenient for automatic adjustment of the leveling seat 331.

[0047] Furthermore, the regulating device 4 includes a baffle 41, which is tightly connected to the inner cavity of the sleeve 321. A guide groove 3222 is provided on the inner tube 322, and the guide groove 3222 is spirally arranged. The end of the baffle 41 away from the wall of the sleeve 321 passes through the guide groove 3222 and is inserted into the inner tube 322. The baffle 41 is located on the side of the sleeve 321 close to the root of the fruit tree. The injection nozzle 6 is tightly connected to the sleeve 321, and the outlet of the injection nozzle 6 faces the inner cavity of the inner tube 322.

[0048] During the injection process: the mechanical arm 2 drives the mounting seat 31 to move upward, and the inner tube 322 rotates along the vertical position at the same height.

[0049] The baffle plate 41 is fixed by the sleeve 321, and the baffle plate 41 passes through the guide groove 3222. Through the spiral arrangement, when the punching motor 34 outputs torque to drive the inner tube 322 to rotate, the inner tube 322 moves downward in the spiral under the cooperation of the guide groove 3222 and the baffle plate 41, so that the spiral blade 323 can drill automatically, and the outlet of the injection nozzle 6 is located below the guide groove 3222 close to the baffle plate 41. When the lower end of the spiral blade 323 rotates to the bottom of the baffle plate 41, the robot arm 2 drives the mounting seat 31 to move upward to compensate for the downward rotation distance of the spiral blade 323, so that the inner tube 322 is maintained at a certain height. The spiral blade 323 is screwed into the soil, so that a cavity is generated on the upper surface of the spiral blade 323 between the injection nozzle 6 and the upper surface of the screwed-in soil. Fertilizer is injected into the cavity through the injection nozzle 6. After the injection is completed, the spiral blade 323 continues to move downward. At this time, the robot arm 2 no longer maintains the isopycnic rotation and continues to screw into the soil. During the downward movement of the spiral blade 323, the fertilizer spirally moves upward along the upper surface of the spiral blade 323 until the lower end of the spiral blade 323 is located below the baffle 41 again, and then it is injected again. The two adjacent injections are one circle along the spiral line, so that the fertilizer is arranged vertically along the spiral blade 323 after the drilling is completed, which is convenient for vertical distribution of the fertilizer.

[0050] Furthermore, a slot 3221 is provided on the inner tube 322, the lower end of the baffle 41 is inserted into the slot 3221, a slider 44 is provided in the slot 3221, the slider 44 is a step-shaped arrangement, the slot 3221 and the slider 44 are adapted, the slider 44 and the slot 3221 are slidably connected, a clamping spring 42 is provided at the upper end of the slider 44, and the upper end of the clamping spring 42 is tightly connected to the baffle 41;

[0051] When punching holes: the baffle 41 abuts against the lower wall of the guide groove 3222 .

[0052] By setting the slot 3221, when drilling, the lower end of the baffle 41 is inserted into the slot 3221 and is connected to the slider 44 through the clamping spring 42. The slider 44 is set in a stepped longitudinal section, with a larger lower part and a smaller upper part, and is clamped with the slot 3221, so that the slider 44 can only slide circumferentially along the slot 3221 and will not move vertically. Under the pre-tightening force of the clamping spring 42, a crimping gap is created between the upper end of the baffle 41 and the upper wall of the guide slot 3222.

[0053] Furthermore, the adjusting device 4 also includes a clamping assembly 43, which includes a pry bar 431 and a lower pressing plate 432. The lower pressing plate 432 is tightly connected to the inner cavity of the sleeve 321. The lower pressing plate 432 is inserted into the inner cavity of the inner tube 322 away from the wall of the sleeve 321. The lower pressing plate 432 is located above the baffle 41. A plurality of rotating grooves 3231 are provided on the spiral blade 323 in the vertical direction. The pry bar 431 is rotatably connected to the rotating groove 3231. A tension spring 433 is provided in the rotating groove 3231. The tension spring 433 is tightly connected to the pry bar 431 at one end away from the wall of the rotating groove 3231. A transmission surface 4311 is provided on the pry bar 431. The lower pressing plate 432 and the transmission surface 4311 rotate intermittently.

[0054] Initial state: the pry bar 431 is arranged along the upward spiral direction of the spiral blade 323 from the rotation center to the tail end.

[0055] When drilling, since the pry bar 431 is arranged along the spiral direction of the spiral blade 323, the lower pressure plate 432 is in contact with the back of the transmission surface 4311, and no transmission is performed; when fertilizing, the drilled soil gradually separates from the spiral blade 323 under the action of the baffle 41. At this time, the transmission surface 4311 extends out of the rotation groove of the spiral blade 323 under the elastic force of the tension spring 433, and drives the pry bar 431 to rotate in the opposite direction through transmission. As the drilling motor 34 continues to rotate, when the pry bar 431 rotates in the opposite direction and is limited by the wall of the rotation groove 3231, since the lower pressure plate 432 is fixed, the transmission is driven by the lower pressure plate 432 and the pry bar 431, driving the spiral blade 323 and the inner tube 322 to move downward, compressing the local soil, thereby improving the directional penetration ability of the fertilizer after fertilization.

[0056] As an optimization, the transmission surface 4311 is an inclined surface;

[0057] When pressing down: the spiral blade 323 spirals upward, the pry bar 431 rotates in the opposite direction, the tension spring 433 stretches, and the upper end of the pry bar 431 is higher than the blade surface height of the spiral blade 323. The transmission surface 4311 is arranged obliquely, so that the transmission surface 4311 can extend out of the rotating groove 3231 under the elastic force of the tension spring 433, and transmit with the lower pressure plate 432, so as to facilitate local compression of the soil.

[0058] As an optimization, the lower pressure plate 432 and the baffle plate 41 are arranged relative to each other. Through the relative arrangement, the baffle plate 41 is located in the direction of the inner cavity of the sleeve 321 close to the root of the fruit tree, and the lower pressure plate 432 is located in the direction away from the root of the fruit tree, so that when fertilizing, the fertilizer is located near the root of the fruit tree, and the soil layer far away from the root of the fruit tree is compressed, so that when the fertilizer subsequently penetrates, the density near the root of the fruit tree is small, which facilitates penetration and improves the utilization rate of the fertilizer.

[0059] The working principle of the present invention is as follows: when the leveling seat 331 is tilted, the conductive medium in the balancing groove 3311 is in a fluid state, and under the action of gravity, it flows toward the lower end of the balancing groove 3311, so that the local conductive medium increases, thereby increasing the current value of the local leveling circuit, and reducing the current value of the leveling circuit at other relative positions. According to the increase in current, the corresponding leveling cylinder 332 is controlled to output displacement, so that the lower end of the leveling seat 331 is lifted until it tends to be horizontal, and the current value area of ​​each leveling circuit is stable; when the lower end of the spiral leaf 323 rotates to below the baffle 41, the mechanical arm 2 The mounting seat 31 is driven to move upward to compensate for the downward rotation distance of the spiral blade 323, so that the inner tube 322 is maintained at a certain height. At this time, since it is no longer screwed into the soil, a cavity is generated on the upper surface of the spiral blade 323 between the injection nozzle 6 and the upper surface of the screwed-in soil, and fertilizer is injected into this cavity through the injection nozzle 6. After the injection is completed, the spiral blade 323 is continuously driven to move downward. At this time, the mechanical arm 2 no longer maintains the same height rotation and continues to screw into the soil. During the downward movement of the spiral blade 323, the fertilizer spirally moves upward along the upper surface of the spiral blade 323 until the lower end of the spiral blade 323 is again located under the baffle 41 After the drilling is completed, the fertilizer is injected again, and the two adjacent injections are circled along the spiral line for one circle, so that the fertilizer is arranged vertically along the spiral blade 323 after the drilling is completed, which is convenient for vertical distribution of the fertilizer; when fertilizing, the drilled soil is gradually separated from the spiral blade 323 under the action of the baffle 41, and at this time, the transmission surface 4311 extends out of the rotating groove of the spiral blade 323 under the elastic force of the tension spring 433, and drives the pry bar 431 to rotate in the opposite direction through transmission. As the drilling motor 34 continues to rotate, when the pry bar 431 rotates in the opposite direction and is limited by the wall of the rotating groove 3231, due to the lower The pressure plate 432 is fixed and driven by the lower pressure plate 432 and the pry bar 431 to drive the spiral blade 323 and the inner tube 322 downward to compress the local soil and improve the directional penetration ability of the fertilizer after fertilization; the baffle 41 is located in the inner cavity of the sleeve 321 close to the root of the fruit tree, and the lower pressure plate 432 is located away from the root of the fruit tree, so that when fertilizing, the fertilizer is located near the root of the fruit tree, and the soil layer away from the root of the fruit tree is compressed, so that when the fertilizer subsequently penetrates, it is easy to penetrate due to the lower density near the root of the fruit tree, thereby improving the utilization rate of the fertilizer.

[0060] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A root fertilization tool for agricultural orchards, characterized by: The root fertilization tool comprises a self-propelled vehicle (1), a mechanical arm (2), a punching device (3), an adjusting device (4), a fertilizer bin (5) and an injection nozzle (6); the self-propelled vehicle (1) is connected to the mechanical arm (2); the movable end of the mechanical arm (2) is transmission-connected to the punching device (3); the adjusting device (4) is connected to the punching device (3); the fertilizer bin (5) is placed on the self-propelled vehicle (1); the fertilizer bin (5) and the self-propelled vehicle (1) are tightly connected; the output end of the fertilizer bin (5) and the injection nozzle (6) are connected by a pipeline; and the mechanical arm (2) is transmission-connected to the injection nozzle (6) via the punching device (3).

2. The root fertilization tool for agricultural orchards according to claim 1, characterized in that: The punching device (3) comprises a mounting seat (31), a material guide tube (32), a leveling assembly (33) and a punching motor (34); the output end of the mechanical arm (2) is transmission-connected to the mounting seat (31); the material guide tube (32) comprises a sleeve (321) and an inner tube (322); the sleeve (321) and the mounting seat (31) are tightly connected; the sleeve (321) has an inner tube (322) built in; the sleeve (321) and the inner tube (322) are movably connected; a limiting slide groove (3211) is provided on the inner wall of the sleeve (321); the punching motor (34) and the limiting slide groove (3211) are slidably connected; the output end of the punching motor (34) and the inner tube (322) are transmission-connected; the inner tube (322) has a spiral blade (323) built in; and the lower end of the sleeve (321) is provided with a leveling assembly (33); The leveling assembly (33) comprises a leveling seat (331) and a base plate (333); the leveling seat (331) and the lower end of the sleeve (321) are tightly connected; four leveling cylinders (332) are arranged between the leveling seat (331) and the base plate (333); two ends of the four leveling cylinders (332) are respectively connected to the leveling seat (331) and the base plate (333) by ball joints.

3. The root fertilization tool for agricultural orchards according to claim 2, characterized in that: The leveling assembly (33) further comprises an electrode sheet (334) and a power supply (335); a balancing groove (3311) is provided on the leveling seat (331); the balancing groove (3311) is an annular groove; a conductive medium is contained in the balancing groove (3311); the conductive medium in the balancing groove (3311) is not full of liquid; four electrode sheets (334) are provided; the four electrode sheets (334) are arranged equidistantly along the circumference of the balancing groove (3311); the power supply (335) and the leveling seat (331) are tightly connected; two adjacent electrode sheets (334) and the power supply (335) form a leveling circuit.

4. The root fertilization tool for agricultural orchards according to claim 3, characterized in that: The connection line of the two electrode sheets (334) and the connection line of the leveling cylinder (332) are in a spatially vertical state, and the leveling circuit where the two adjacent electrode sheets (334) are located is electrically connected to the leveling cylinder (332) below.

5. The root fertilization tool for agricultural orchards according to claim 4, characterized in that: The regulating device (4) comprises a baffle (41), the baffle (41) and the inner cavity of the sleeve (321) are tightly connected, the inner tube (322) is provided with a guide groove (3222), the guide groove (3222) is spirally arranged, the end of the baffle (41) away from the wall of the sleeve (321) passes through the guide groove (3222) and is inserted into the inner tube (322), the baffle (41) is located on the side of the sleeve (321) close to the root of the fruit tree, the injection nozzle (6) and the sleeve (321) are tightly connected, and the outlet of the injection nozzle (6) faces the inner cavity of the inner tube (322); During injection, the mechanical arm (2) drives the mounting seat (31) to move upward, and the inner tube (322) rotates at the same height along the vertical position.

6. The root fertilization tool for agricultural orchards according to claim 5, characterized in that: The inner tube (322) is provided with a slot (3221), the lower end of the baffle (41) is inserted into the slot (3221), a slider (44) is provided in the slot (3221), the slider (44) is arranged in a step-shaped manner, the slot (3221) and the slider (44) are adapted to each other, the slider (44) and the slot (3221) are slidably connected, a clamping spring (42) is provided at the upper end of the slider (44), and the upper end of the clamping spring (42) is tightly connected to the baffle (41); When punching holes: the baffle (41) and the lower side wall of the guide groove (3222) are in contact with each other.

7. The root fertilization tool for agricultural orchards according to claim 6, characterized in that: The regulating device (4) further comprises a clamping assembly (43), wherein the clamping assembly (43) comprises a pry bar (431) and a lower pressing plate (432), wherein the lower pressing plate (432) is tightly connected to the inner cavity of the sleeve (321), and the lower pressing plate (432) is inserted into the inner cavity of the inner tube (322) at a side away from the wall of the sleeve (321), and the lower pressing plate (432) is located above the baffle (41), and the spiral blade (323) is vertically extended. A plurality of rotating grooves (3231) are provided, the pry bar (431) and the rotating grooves (3231) are rotatably connected, a tension spring (433) is provided in the rotating groove (3231), one end of the tension spring (433) away from the wall of the rotating groove (3231) is tightly connected to the pry bar (431), a transmission surface (4311) is provided on the pry bar (431), and the lower pressure plate (432) and the transmission surface (4311) rotate intermittently; Initial state: the pry bar (431) is arranged from the rotation center to the tail end along the upward spiral direction of the spiral blade (323).

8. The root fertilization tool for agricultural orchards according to claim 7, characterized in that: The transmission surface (4311) is an inclined surface; When pressed downward: the spiral leaf (323) spirals upward, the pry bar (431) rotates in the opposite direction, the tension spring (433) stretches, and the upper end of the pry bar (431) is higher than the leaf surface height of the spiral leaf (323) at the same position.

9. The root fertilization tool for agricultural orchards according to claim 8, characterized in that: The lower pressing plate (432) and the baffle plate (41) are arranged opposite to each other.

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