Agricultural robot capable of automatically and uniformly applying fertilizer

Abstract

The invention discloses an agricultural robot capable of automatically and uniformly applying fertilizer, which comprises a material storage box, a control unit, a pressurizing unit connected with the control unit, and two flow guide valves, one flow guide valve is arranged at the feeding end of the material storage box and is used for controlling the fertilizer to enter the material storage box, and the other flow guide valve is arranged at the discharging end of the material storage box. The other flow guide valve is arranged at the discharging end of the material storage box and used for controlling the fertilizer to be discharged from the material storage box, the control unit can control the flow guide valve to be switched between a flow guide state and a flow cutoff state, the control unit comprises a material supplementing process, a pressurizing process and a material discharging process, and when the control unit is in the pressurizing process, the control unit pressurizes the material storage box; the device can be adaptively adjusted according to the plant spacing of crops so as to achieve the purpose of precise fertilization, the pressurization unit is arranged, the pressure provided by the pressurization unit can be used for spraying the fertilizer to the roots and stems of the crops, and the problem that traditional fertilization is inaccurate is solved.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and in particular to an agricultural robot for evenly applying fertilizers. Background Art

[0002] Agricultural robots play an important role in the development of modern agriculture. Among them, fertilization and irrigation robots are the most commonly used. Agricultural robots can automatically perform tasks such as planting, irrigation, and fertilization as needed, greatly improving agricultural production efficiency and reducing dependence on manual labor. By replacing manpower to complete repetitive and heavy work, the labor intensity of agricultural labor is reduced and the working environment of agricultural construction is improved.

[0003] When fertilizing crops, existing conventional machinery usually applies fertilizer directly and indiscriminately. For crops such as corn with relatively constant plant spacing, indiscriminate fertilization will result in a large amount of fertilizer waste. The existing intermittent fertilization structure cannot effectively adjust the fertilization interval, and is difficult to adapt to common operations such as fertilization and irrigation. Summary of the invention

[0004] In order to solve the deficiencies in the prior art, the purpose of the present invention is to provide an agricultural robot that can freely adjust intermittent fertilization, which can be adaptively adjusted according to the spacing between crops to achieve the purpose of precise fertilization, and it is provided with a pressurizing unit. The pressure provided by the pressurizing unit can allow fertilizer to be sprayed onto the roots and stems of crops, solving the problem of inaccurate traditional fertilization, and it is wound around the feeding unit through a conveying pipe to achieve long-distance feeding, thereby ensuring continuous supply of fertilizer and covering a wide range.

[0005] In order to achieve the above technical objectives, the technical solution adopted by the present invention is as follows.

[0006] An agricultural robot for automatic and uniform fertilization comprises a storage box, a control unit, a pressurizing unit connected to the control unit, and two diverter valves, one of which is arranged at the feeding end of the storage box and used for controlling the fertilizer to enter the storage box, and the other is arranged at the discharging end of the storage box and used for controlling the fertilizer to be discharged from the storage box, the control unit can control the diverter valve to switch between a diversion state and a flow cut-off state, the control unit comprises a feeding process, a pressurizing process, and a discharging process, when the control unit is in the feeding process, the fertilizer will be transported to the storage box; when the control unit is in the pressurizing process, the control unit will pressurize the storage box; when the control unit is in the discharging process, the storage box will transport the fertilizer outward.

[0007] Based on the technical solution provided by the present invention, during large-area fertilization, a control unit is used to apply a force to a pressurizing unit or a diversion valve to realize the replenishment, pressurization, and discharge operations of the storage box. The fertilizer robot adopts a conveying pipeline to supply fertilizer to the feeding unit over a long distance, which greatly expands the activity range of the fertilizer robot and reduces the problem of pausing in the middle to wait for replenishment; and the control unit can freely adjust the discharge interval time, so as to achieve precise and directional fertilization.

[0008] The above technical features are further improved and optimized. The control unit includes a control shell fixedly arranged on the frame, a driving member with a fan-shaped structure is rotatably arranged in the control shell, and three driving elements are arranged on the control shell at equal intervals along its circumferential direction. The three driving elements are respectively a feeding driving element, a pressurizing driving element, and a discharging driving element. The driving element includes a control sleeve fixedly connected to the control shell and arranged along its radial extension, a driving piston is slidably sleeved in the control sleeve, and the upper end of the driving piston is connected to a pressure-bearing rod extending into the control shell; a guiding surface matching the pressure-bearing rod for pushing the pressure-bearing rod to slide into the control sleeve is arranged on the driving member; when the driving member rotates around its own axis, the guiding surface will push the pressure-bearing rods of the three driving elements in turn; its function is that the movement process of the control unit is divided into three and corresponds to the three driving elements, and when the control unit is in the feeding process, the driving member will drive the pressure-bearing rod of the feeding driving element to transmit the force to the guide valve arranged at the feeding end of the storage box, and realize the feeding of fertilizer to the storage box.

[0009] As a further improvement measure, the control sleeve is filled with hydraulic oil, and the lower end of the control sleeve of the feeding drive element is connected to the guide valve arranged at the feeding end of the storage box through a hydraulic pipe; the lower end of the control sleeve of the pressurizing drive element is connected to the pressurizing unit through a hydraulic pipe; the lower end of the control sleeve of the discharge drive element is connected to the guide valve arranged at the discharge end of the storage box through a hydraulic pipe; its function is that when the control unit is in the pressurizing process, the driving member will apply a force to the pressurizing driving member, and the kinetic energy of the driving member will be transmitted to the pressurizing unit, and the pressurizing unit will apply pressure to the storage box, increasing the internal air pressure of the storage box, so that there is a short impact force when discharging the fertilizer, which is more conducive to precise fertilization and avoids fertilizer leakage from the outlet.

[0010] A more detailed improvement is that the diverter valve includes a cross-shaped valve housing, the left end of the valve housing is a feed pipe, and the right end is a discharge pipe, a diverter valve core for blocking the feed pipe and the discharge pipe is slidably arranged in the valve housing, the diverter valve core includes an active block and a flow limiting block slidably arranged in the valve housing, a connecting shaft is arranged between the active block and the flow limiting block, the area between the active block and the flow limiting block is a convection area, the central axis direction of the connecting shaft is perpendicular to the central axis direction of the feed pipe / discharge pipe, a diverter spring is arranged between the lower end of the flow limiting block and the bottom of the valve housing, the elastic force provided by the diverter spring pushes the flow limiting block to move upward and makes the flow limiting block contact the feed pipe , and the discharge pipe is blocked, and the upper end of the active block is the pressurized area; when the control unit is in the feeding process / discharging process, the control unit applies pressure to the pressurized area of ​​the guide valve and pushes the active block to move downward, thereby connecting the convection zone with the feed pipe and the discharge pipe, and switching the guide valve from the cut-off state to the guide state; its function is that when the control unit applies transmission pressure to the guide valve through the hydraulic pipe, it will push the active block to move in the direction of the flow limiting block and realize the contraction of the guide spring, and the convection zone is connected with the feed pipe and the discharge pipe, so that the guide valve is switched to the conduction state, and the fertilizer can enter the discharge pipe from the feed pipe and the convection zone.

[0011] A further improvement and optimization is that a pressurizing unit is arranged on the frame, and the control unit pushes the pressurizing unit to switch from a normal pressure state to a pressurized state, and the pressurizing unit realizes the pressurizing operation on the material storage box. Specifically, the pressurizing unit includes a pressure-applying element and a pressure-bearing element. The pressure-applying element includes a contracted state and an extended state and the initial state is the contracted state. The pressure-bearing element includes a state to be pressurized and a pressurized state and the initial state is the state to be pressurized. The control unit is connected to the pressure-applying element and can push the pressure-applying element to switch from the contracted state to the extended state; when the control unit is in the pressurizing process, the pressure-bearing element applies a force to the pressure-applying element and prompts the pressure-applying element to switch to the extended state, and the pressure-applying element will push the pressure-bearing element to switch from the state to be pressurized to the pressurized state, thereby completing the pressurizing operation on the material storage box; its function is that the pressure-applying element can accept the force of the control unit and switch from the contracted state to the extended state. When the pressure-applying element extends outward, it will apply a force to the pressure-bearing element, pushing the pressure-bearing element to switch to the pressurized state, and the pressure-bearing element completes the pressurizing operation on the material storage box.

[0012] More optimally, the pressurizing unit also includes a resetting element, the control unit is connected to the resetting element and the control unit pushes the resetting element to switch from the aggregation state to the material distribution state. When the control unit is in the feeding process, the control unit applies a force to the resetting element, and the resetting element pushes the pressure-bearing element to switch from the pressurized state to the state to be pressurized; the lower end of the control sleeve of the feeding drive element is also connected to the resetting element through a hydraulic pipe; its function is that after the pressure-applying element applies pressure to the storage box, the resetting element pushes the pressure-applying element to reset, thereby completing a complete process.

[0013] The above technical solution still needs to be improved in that the pressure element includes a cylindrical pressure shell fixedly mounted on a frame, a pressure piston that can slide along its own axial direction is slidably arranged in the pressure shell, the driving end of the pressure shell is connected to the control unit through a hydraulic pipe, the control unit transmits pressure to the pressure piston through the hydraulic pipe, a pressure spring is arranged between the output end of the pressure shell and the pressure piston, the elastic force of the pressure spring is used to push the pressure piston to deviate from the output end of the pressure shell, the output end of the pressure shell is provided with an avoidance hole for the piston rod on the pressure piston to pass through, the piston rod on the pressure piston is arranged coaxially with the pressure element and is used to transmit a force to the pressure element; its function is that the control unit applies a force to the driving end of the pressure shell, pushes the pressure piston to move in the direction of the pressure element, and pushes the piston rod on the pressure piston to extend outward.

[0014] As a further improvement, the pressure-bearing element includes a cylindrical pressure-bearing shell, in which a pressure-bearing piston is slidably arranged along its own axial direction. The pressure-bearing piston corresponds to the piston rod on the pressure-applying piston and is used to receive the thrust of the piston rod on the pressure-applying piston. The piston rod of the pressure-bearing piston extends toward the storage box and the suspended end of the piston rod of the pressure-bearing piston is connected to the pressurizing piston. The pressurizing piston is slidably arranged in the pressure-bearing shell, and the piston rod of the pressure-bearing piston is sleeved with a pressure spring, one end of the pressure spring abuts against the pressure-bearing piston and the other end abuts against a protrusion in the pressure-bearing shell. The elastic force provided by the pressure spring is used to push the pressure-bearing piston away from the storage box. Its function is that when the piston rod of the pressure-applying piston extends outward, it will push the pressure-bearing piston and the pressurizing piston toward the storage box, and make the pressure-bearing spring in an energy storage state, thereby pressurizing the inner cavity of the storage box.

[0015] For further improvement and optimization, a positioning hole is provided on the pressure-bearing shell, a positioning groove extending radially thereof is provided on the pressure-bearing piston, a sliding block matching with the pressure-bearing shell and sliding radially along the pressure-bearing piston is provided in the positioning groove, a spring sheet is provided at the bottom of the positioning groove, and the elastic force provided by the spring sheet is used to push the sliding block to deviate from the center of the pressure-bearing piston; when the piston rod on the pressure-applying piston pushes the pressure-bearing piston toward the storage box, the sliding block will match with the positioning hole under the action of the spring sheet; an inclined pressing base surface is provided on the positioning hole, and the reset element pushes the sliding block toward the center of the pressure-bearing piston by cooperating with the pressing base surface; its function is to utilize the cooperation between the sliding block and the positioning hole to stabilize the pressurizing operation of the pressurizing unit on the storage box, and under the elastic force of the spring sheet, the sliding block slides radially outward along the pressure-bearing piston and can maintain stable docking with the positioning hole.

[0016] A more detailed improvement and optimization lies in that the reset element includes a reset guide rod fixedly connected to the material storage box and parallel to the pressure-bearing piston, the reset guide rod is externally sleeved with a reset shell, a reset piston is slidably arranged in the reset shell, the reset piston is connected with a reset sleeve sleeved on the reset guide rod and connected to the moving block, the moving block is sleeved on the pressure-bearing shell, and a reset spring is sleeved on the reset guide rod. The elastic force provided by the reset spring is used to push the moving block toward the material storage box; a closed reset chamber is formed between the reset piston and the bottom of the reset shell, and the control unit is connected to the reset chamber; when the control unit is in the feeding process, the control unit applies pressure to the reset chamber through the hydraulic pipe. , and pushes the reset piston to move outward, and uses the moving block to push the slider to move toward the center of the pressure-bearing piston, so that the slider is disengaged from the positioning hole, and when the storage box returns to normal pressure, it quickly returns to the initial state; its function is that when the control unit is in the material filling process, the driving member applies a force to the material filling driving element, and the material filling driving element injects high-pressure hydraulic oil into the reset chamber of the reset element to drive the reset piston to move, and the moving block receives the force of the reset piston and transmits it to the slider, so that the slider shrinks inward and disengages from the positioning hole to realize the reset operation; in summary, it can be known that the material filling driving element is connected to the reset element and to the guide valve arranged at the feed end of the storage box. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 It is a schematic diagram of the structure that matches the feeding unit, control unit, and storage box.

[0019] Figure 3 It is a schematic diagram of the structure matching the central axis and the transition material box.

[0020] Figure 4 It is a schematic diagram of the structure that matches the control unit, storage box, and pressurizing unit.

[0021] Figure 5 It is a schematic diagram of the structure that matches the storage box, the pressurizing unit, and the diversion valve.

[0022] Figure 6 It is a schematic diagram of the structure in which the pressure-applying element, the pressure-bearing element, and the resetting element match each other.

[0023] Figure 7 It is a schematic diagram of the structure in which the pressure-bearing piston, the slider and the spring piece match each other.

[0024] Figure 8 It is a schematic diagram of the matching structure of the control housing, driving parts and pressure rod.

[0025] Fig. 9 Schematic diagram of the internal structure of the diverter valve. DETAILED DESCRIPTION

[0026] like Figure 1 As shown, the agricultural fertilization robot is installed on a mechanical traveling device. The traveling device can be equipped with an unmanned driving system and use remote commands to automatically apply fertilizers at designated locations in different areas. The traveling device preferably uses a three-wheeled vehicle and the wheels of the vehicle are designed to be narrow to reduce the crushing of crops.

[0027] like Figure 1 , 2 As shown, the agricultural fertilization robot includes a feeding unit 10, which adopts a multi-layer wound feeding pipeline, and the feeding pipeline is connected to a feeding base station. The feeding base station conveys a steady stream of fertilizers to the feeding pipeline by pressurization, so as to realize the long-distance and uninterrupted operation of the fertilization robot. Under the regulation of the control unit 20, the feeding unit 10 intermittently supplies fertilizers to the storage box 40, and the fertilizer unit 30 sprays the fertilizer, so that the fertilizer unit 30 can directional fertilize crops.

[0028] The specific embodiment of the feeding unit 10 provided in the present invention may also be replaced by other forms, for example, a large storage barrel is provided on the traveling equipment, and the storage barrel supplies fertilizer to the storage box 40.

[0029] like Figure 1 As shown, under the control of the control unit 20, the storage box 40 will intermittently transport fertilizer to the fertilization unit 30. The fertilization unit 30 includes a wing frame fixedly connected to the frame, and the wing frame is provided with a material transport pipeline connected to the storage box 40. The lower end of the raw material pipeline is connected to a plurality of distribution pipes arranged at equal intervals along the extension direction of the wing frame. The lower end of the distribution pipe is connected to a V-shaped branch pipe (not shown in the figure). The V-shaped branch pipe can be used to transport fertilizer to the root and rhizome position of crops at an inclined angle to improve the fertilization effect.

[0030] like Figure 2 , 3 As shown, the agricultural fertilizing robot includes a frame, on which a feeding unit 10 is movably arranged, the feeding unit 10 includes an inner sleeve 11, to which a plurality of spokes 12 extending radially thereof are fixedly connected, a central shaft 13 fixed thereto is connected at the center of the inner sleeve, an outer sleeve for winding a feed pipe is sleeved on the outside of the central shaft 13, the outer sleeve is fixed to the spokes 12, a discharge end of the feed pipe passes through a avoidance hole on the outer sleeve and is connected to an inner cavity of the central shaft 13 through a conduit, both ends of the central shaft 13 are connected to transition boxes 14 coaxially arranged therewith, the inner cavity of the transition box 14 is connected to the inner cavity of the central shaft 13, and the transition box 14 is used to receive the fertilizer flowing out of the central shaft 13.

[0031] When the traveling equipment moves forward in the farmland, power is transmitted to the feeding unit 10 through the power mechanism to drive the feeding unit 10 to rotate around the central axis 13, and the feeding pipeline is gradually released outward. The discharge end of the feeding pipeline maintains a relatively static state with the central axis 13, thereby realizing continuous transportation of fertilizer to the inner cavity of the central axis 13. The transition box 14 receives the fertilizer flowing out of the central axis 13 and is responsible for transporting the fertilizer to the storage box 40.

[0032] like Figure 2 , 4 As shown, a control unit 20 and a storage box 40 are provided on the frame. The control unit 20 includes a feeding process, a pressurizing process, and a discharging process. When the control unit 20 is in the feeding process, the transition box 14 will transport fertilizer to the storage box 40; when the control unit 20 is in the pressurizing process, the control unit 20 will pressurize the storage box 40; when the control unit 20 is in the discharging process, the storage box 40 will transport fertilizer to the fertilizing unit 30.

[0033] like Figure 2 , 4 As shown, a diverter valve 60 is arranged between the transition box 14 and the storage box 40, and the control unit 20 is connected to the diverter valve 60 and can control the diverter valve 60 to switch between a diverting state and a shut-off state; when the control unit 20 is in the feeding process, the control unit 20 controls the diverter valve 60 to switch to the diverting state, so that the fertilizer in the transition box 14 flows into the storage box 40.

[0034] like Figure 2 , 4 As shown, a diverter valve 60 is provided between the storage box 40 and the material transport pipeline, and the control unit 20 is connected to the diverter valve 60 and can control the diverter valve 60 to switch between a diverting state and a flow-blocking state; when the control unit 20 is in the discharging process, the control unit 20 controls the diverter valve 60 to switch to the diverting state, so that the fertilizer in the storage box 40 is transported to the material transport pipeline.

[0035] like Fig. 9As shown, the guide valve 60 includes a cross-shaped valve housing 61, the left end of the valve housing 61 is a feed pipe 62, and the right end is a discharge pipe 63. A guide valve core for blocking the feed pipe 62 and the discharge pipe 63 is slidably arranged in the valve housing 61. The guide valve core includes an active block 64 and a flow limiting block 65 slidably arranged in the valve housing 61. A connecting shaft is arranged between the active block 64 and the flow limiting block 65. The area between the active block 64 and the flow limiting block 65 is a convection area. The central axis direction of the connecting shaft is perpendicular to the central axis direction of the feed pipe 62 / discharge pipe 63. A guide spring is arranged between the lower end of the flow block 65 and the bottom of the valve housing 61. The elastic force provided by the guide spring pushes the flow limiting block 65 to move upward and enables the flow limiting block 65 to block the feed pipe 62 and the discharge pipe 63. The upper end of the active block 64 is a pressurized area. When the control unit 20 is in the feeding process / discharging process, the control unit 20 applies pressure to the pressurized area of ​​the guide valve 60 and pushes the active block 64 to move downward, thereby connecting the convection area with the feed pipe 62 and the discharge pipe 63, and switching the guide valve 60 from the cut-off state to the guide state.

[0036] like Figure 5 , 6 As shown, a pressurizing unit 50 is arranged on the frame, and the control unit 20 pushes the pressurizing unit 50 to switch from a normal pressure state to a pressurized state, and the pressurizing unit 50 implements the pressurizing operation on the storage box 40. Specifically, the pressurizing unit 50 includes a pressure-applying element 510 and a pressure-bearing element 520. The pressure-applying element 510 includes a contracted state and an extended state, and the initial state is the contracted state. The pressure-bearing element 520 includes a state to be pressurized and a pressurized state, and the initial state is the state to be pressurized. The control unit 20 is connected to the pressure-applying element 510 and can push the pressure-applying element 510 to switch from the contracted state to the extended state; when the control unit 20 is in the pressurizing process, the pressure-bearing element 520 applies a force to the pressure-applying element 510 and prompts the pressure-applying element 510 to switch to the extended state, and the pressure-applying element 510 will push the pressure-bearing element 520 to switch from the state to be pressurized to the pressurized state, thereby completing the pressurizing operation on the storage box 40.

[0037] The pressurizing unit 50 also includes a reset element 530. The control unit 20 is connected to the reset element 530 and the control unit 20 pushes the reset element 530 to switch from the aggregation state to the material distribution state. When the control unit 20 is in the feeding process, the control unit 20 applies a force to the reset element 530, and the reset element 530 pushes the pressure-bearing element 520 to switch from the pressurized state to the state to be pressurized.

[0038] Specifically, see Appendix Figure 6The pressure element 510 includes a cylindrical pressure shell fixedly mounted on the frame, a pressure piston 511 is slidably arranged in the pressure shell and can slide along its own axis direction, the driving end of the pressure shell is connected to the control unit 20 through a hydraulic pipe, the control unit 20 transmits pressure to the pressure piston 511 through the hydraulic pipe, a pressure spring is arranged between the output end of the pressure shell and the pressure piston 511, the elastic force of the pressure spring is used to push the pressure piston 511 away from the output end of the pressure shell, the output end of the pressure shell is provided with an avoidance hole for the piston rod of the pressure piston 511 to pass through, the piston rod of the pressure piston 511 is coaxially arranged with the pressure element 520 and is used to transmit the force to the pressure element 520.

[0039] For more optimal use, see Appendix Figure 6 , 7 The pressure-bearing element 520 includes a cylindrical pressure-bearing shell, in which a pressure-bearing piston 521 is slidably arranged and can slide along its own axial direction. The pressure-bearing piston 521 corresponds to the piston rod on the pressure-applying piston 511 and is used to receive the thrust of the piston rod on the pressure-applying piston 511. The piston rod of the pressure-bearing piston 521 extends toward the storage box 40 and the suspended end of the piston rod of the pressure-bearing piston 521 is connected with a pressurizing piston 522. The pressurizing piston 522 is slidably arranged in the pressure-bearing shell, and the piston rod of the pressure-bearing piston 521 is sleeved with a pressure-bearing spring, one end of the pressure-bearing spring abuts against the pressure-bearing piston and the other end abuts against a protrusion in the pressure-bearing shell. The elastic force provided by the pressure-bearing spring is used to push the pressure-bearing piston 521 away from the storage box 40. When the control unit 20 is in the pressurizing process, the control unit 20 is connected to the driving end of the pressure-bearing shell through a hydraulic pipe and drives the pressure-bearing piston 521 to move toward the storage box 40.

[0040] More optimally, a positioning hole 523 is provided on the pressure-bearing shell, and a positioning groove extending radially thereof is provided on the pressure-bearing piston 521, a slider 524 matching with the pressure-bearing piston 521 and sliding radially along the pressure-bearing piston 521 is provided in the positioning groove, and a spring piece 525 is provided at the bottom of the positioning groove, and the elastic force provided by the spring piece 525 is used to push the slider 524 away from the center of the pressure-bearing piston 521; when the piston rod on the pressure piston 511 pushes the pressure-bearing piston 521 toward the storage box, the slider 524 will match with the positioning hole 523 under the action of the spring piece 525.

[0041] Preferably, an inclined pressing base surface is provided on the positioning hole 523 , and the reset element 530 pushes the sliding block 524 toward the center of the pressure-bearing piston 521 by cooperating with the pressing base surface.

[0042] It should also be noted that an energy storage element (not shown in the figure) is also connected to the material storage box 40, and the energy storage element is used to store energy transmitted by the pressure-bearing element 520. When the pressure-bearing element 520 applies pressure to the material storage box 40, the material storage box 40 is in a closed state. At this time, the kinetic energy applied by the pressure-bearing element 520 needs to be stored by the energy storage element. Specifically, the energy storage element includes a cylindrical energy storage shell connected to the material storage box 40, an energy storage piston is slidably arranged in the energy storage shell, and an energy storage spring is arranged between the energy storage piston and the energy storage shell; when the pressurizing piston 522 applies pressure to the material storage box 40, the energy storage piston will overcome the elastic force of the energy storage spring and push the energy storage spring to contract, thereby realizing an increase in the elastic potential energy of the energy storage spring. When the pressure in the material storage box 40 returns to normal, the energy storage spring will release the elastic potential energy.

[0043] More specifically, see Appendix Figure 6 The reset element 530 includes a reset guide rod 532 fixedly connected to the material storage box 40 and parallel to the pressure-bearing piston 521. The reset guide rod 532 is sleeved with a reset shell on the outside. A reset piston 531 is slidably arranged in the reset shell. The reset piston 531 is connected to a reset sleeve sleeved on the reset guide rod 532 and connected to the moving block 540. The moving block 540 is sleeved on the pressure-bearing shell. The reset guide rod 532 is sleeved with a reset spring. The elastic force provided by the reset spring is used to push the moving block 540 toward the material storage box. The box 40 is brought closer; a closed reset chamber is formed between the reset piston 531 and the bottom of the reset shell, and the control unit 20 is connected to the reset chamber; when the control unit 20 is in the feeding process, the control unit 20 applies pressure to the reset chamber through the hydraulic pipe, and pushes the reset piston 531 to move outward, and uses the moving block 540 to push the slider 524 to move toward the center of the pressure-bearing piston 521, so that the slider 524 is disengaged from the positioning hole 523, and when the storage box 40 returns to the normal pressure state, it quickly returns to the initial state.

[0044] like Figure 5 , 8 As shown, the control unit 20 includes a control shell 21 fixedly arranged on the frame, a driving member 22 with a fan-shaped structure is rotatably arranged in the control shell 21, and three driving elements arranged at equal intervals along its circumferential direction are arranged on the control shell 21, and the three driving elements are respectively a feeding driving element, a pressurizing driving element, and a discharging driving element. The driving element includes a control sleeve 24 fixedly connected to the control shell 21 and arranged to extend radially thereof, a driving piston is slidably sleeved in the control sleeve 24, and the upper end of the driving piston is connected to a pressure rod 23 extending into the control shell 21; a guiding surface 25 matching the pressure rod 23 for pushing the pressure rod 23 to slide into the control sleeve 24 is provided on the driving member 22; when the driving member 22 rotates around its own axis, the guiding surface 25 will push the pressure rods 23 of the three driving elements in turn.

[0045] The control sleeve 24 is filled with hydraulic oil, and the lower end of the control sleeve of the feeding drive element is connected to the guide valve 60 arranged between the transition box 14 and the storage box 40 through a hydraulic pipe, and the lower end of the control sleeve of the feeding drive element is also connected to the reset element 530 through a hydraulic pipe; the lower end of the control sleeve of the pressurizing drive element is connected to the pressure element 510 through a hydraulic pipe; the lower end of the control sleeve of the discharging drive element is connected to the guide valve 60 arranged between the storage box 40 and the material transport pipeline for external fertilization through a hydraulic pipe.

[0046] When the driving member 22 in the control unit 20 rotates around its own axis, the driving member 22 pushes the pressure rod to move radially outward, and transfers kinetic energy to the target element through hydraulics, and realizes the state switching of the target element. When the driving member 22 eliminates the force applied to the pressure rod, under the action of the spring of the target element, the pressure rod is pushed to serve quickly, and the cycle repeats.

[0047] The applicant also needs to explain that in the actual irrigation or fertilization process, the plant spacing in a large planting area, such as a corn planting area, is relatively constant, and the rotation speed of the drive member 22 can be adjusted to match the plant spacing, thereby achieving more precise directional fertilization.

Claims

1. An agricultural robot for automatic and uniform fertilization, comprising a storage box (40), a control unit (20), a pressurizing unit (50) connected to the control unit (20), and two diverter valves (60), one diverter valve being arranged at a feeding end of the storage box (40) and used for controlling fertilizer to enter the storage box (40), and the other diverter valve being arranged at a discharging end of the storage box (40) and used for controlling fertilizer to be discharged from the storage box (40), characterized in that: The control unit (20) can control the diversion valve (60) to switch between a diversion state and a flow cut-off state. The control unit (20) includes a feeding process, a pressurizing process, and a discharging process. When the control unit (20) is in the feeding process, the fertilizer is transported to the storage box (40); when the control unit (20) is in the pressurizing process, the control unit (20) will pressurize the storage box (40); when the control unit (20) is in the discharging process, the storage box (40) will transport the fertilizer outward.

2. The agricultural robot for automatic and uniform fertilization according to claim 1, characterized in that: The control unit (20) comprises a control shell (21) fixedly arranged on a frame, a driving member (22) with a fan-shaped structure rotatably arranged in the control shell (21), three driving elements arranged at equal intervals along its circumferential direction are arranged on the control shell (21), and the three driving elements are respectively a feeding driving element, a pressurizing driving element, and a discharging driving element, and the driving element comprises a control sleeve (24) fixedly connected to the control shell (21) and arranged to extend radially thereof, a driving piston is slidably sleeved in the control sleeve (24), and the upper end of the driving piston is connected to a pressure-bearing rod (23) extending into the control shell (21); the driving member (22) is provided with a guiding surface (25) matching with the pressure-bearing rod (23) for pushing the pressure-bearing rod (23) to slide into the control sleeve (24); when the driving member (22) rotates around its own axis, the guiding surface (25) will push the pressure-bearing rods (23) of the three driving elements in sequence.

3. The agricultural robot for automatic and uniform fertilization according to claim 2, characterized in that: The control sleeve (24) is filled with hydraulic oil, and the lower end of the control sleeve of the replenishing drive element is connected to the guide valve (60) arranged at the feeding end of the storage box (40) through a hydraulic pipe; the lower end of the control sleeve of the pressurizing drive element is connected to the pressurizing unit (50) through a hydraulic pipe; and the lower end of the control sleeve of the discharging drive element is connected to the guide valve (60) arranged at the discharging end of the storage box through a hydraulic pipe.

4. The agricultural robot for automatic and uniform fertilization according to claim 2, characterized in that: The flow guide valve (60) comprises a cross-shaped valve housing (61), the left end of the valve housing (61) is a feed pipe (62), and the right end is a discharge pipe (63), a flow guide valve core for blocking the feed pipe (62) and the discharge pipe (63) is slidably arranged in the valve housing (61), the flow guide valve core comprises an active block (64) and a flow limiting block (65) slidably arranged in the valve housing (61), a connecting shaft is arranged between the active block (64) and the flow limiting block (65), the area between the active block (64) and the flow limiting block (65) is a convection area, and the central axis direction of the connecting shaft is perpendicular to the central axis direction of the feed pipe (62) / the discharge pipe (63). A flow guide spring is arranged between the lower end of the flow limiting block (65) and the bottom of the valve housing (61). The elastic force provided by the flow guide spring pushes the flow limiting block (65) to move upward and enables the flow limiting block (65) to block the feed pipe (62) and the discharge pipe (63). The upper end of the active block (64) is a pressurized area. When the control unit (20) is in the feeding process / discharging process, the control unit (20) applies pressure to the pressurized area of ​​the flow guide valve (60) and pushes the active block (64) to move downward, thereby realizing the connection between the convection area and the feed pipe (62) and the discharge pipe (63), and realizing the switching of the flow guide valve (60) from the cut-off state to the flow guide state.

5. The agricultural robot for automatic and uniform fertilization according to claim 3, characterized in that: A pressurizing unit (50) is arranged on the frame, and the control unit (20) drives the pressurizing unit (50) to switch from a normal pressure state to a pressurized state, and the pressurizing unit (50) realizes the pressurizing operation on the storage box (40). Specifically, the pressurizing unit (50) includes a pressure-applying element (510) and a pressure-bearing element (520), the pressure-applying element (510) includes a contracted state and an extended state, and the initial state is a contracted state, and the pressure-bearing element (520) includes a state to be pressurized and a pressurized state, and the initial state is When the control unit (20) is in a state to be pressurized, the control unit (20) is connected to the pressure-applying element (510) and is capable of pushing the pressure-applying element (510) to switch from a contracted state to an extended state; when the control unit (20) is in the pressurization process, the pressure-bearing element (520) applies a force to the pressure-applying element (510) and prompts the pressure-applying element (510) to switch to an extended state, and the pressure-applying element (510) pushes the pressure-bearing element (520) to switch from a state to be pressurized to a pressurized state, thereby completing the pressurization operation on the storage box (40).

6. The agricultural robot for automatic and uniform fertilization according to claim 5, characterized in that: The pressurizing unit (50) further comprises a reset element (530), the control unit (20) is connected to the reset element (530), and the control unit (20) pushes the reset element (530) to switch from a polymerization state to a material distribution state; when the control unit (20) is in a feeding process, the control unit (20) applies a force to the reset element (530), and the reset element (530) pushes the pressure-bearing element (520) to switch from a pressurized state to a state to be pressurized; the lower end of the control sleeve of the feeding drive element is also connected to the reset element (530) via a hydraulic pipe.

7. The agricultural robot for automatic and uniform fertilization according to claim 6, characterized in that: The pressure element (510) comprises a cylindrical pressure shell fixedly mounted on a frame, a pressure piston (511) slidably arranged in the pressure shell and capable of sliding along its own axis direction, a driving end of the pressure shell being connected to a control unit (20) via a hydraulic pipe, the control unit (20) transmitting pressure to the pressure piston (511) via the hydraulic pipe, a pressure spring being arranged between the output end of the pressure shell and the pressure piston (511), the elastic force of the pressure spring being used to push the pressure piston (511) away from the output end of the pressure shell, a avoidance hole being provided at the output end of the pressure shell for the piston rod of the pressure piston (511) to pass through, the piston rod of the pressure piston (511) being arranged coaxially with the pressure element (520) and being used to transmit a force to the pressure element (520).

8. The agricultural robot for automatic and uniform fertilization according to claim 7, characterized in that: The pressure-bearing element (520) comprises a cylindrical pressure-bearing shell, in which a pressure-bearing piston (521) is slidably arranged and can slide along its own axial direction. The pressure-bearing piston (521) corresponds to the piston rod on the pressure-applying piston (511) and is used to receive the thrust of the piston rod on the pressure-applying piston (511). The piston rod of the pressure-bearing piston (521) extends toward the material storage box (40) and the suspended end of the piston rod of the pressure-bearing piston (521) is connected to a pressurizing piston (522). The pressurizing piston (522) is slidably arranged in the pressure-bearing shell. The piston rod of the pressure-bearing piston (521) is sleeved with a pressure-bearing spring, one end of the pressure-bearing spring abuts against the pressure-bearing piston and the other end abuts against a protrusion in the pressure-bearing shell. The elastic force provided by the pressure-bearing spring is used to push the pressure-bearing piston (521) away from the material storage box (40). The material storage box (40) is also connected to an energy storage element, which is used to store energy transmitted by the pressure-bearing element 520.

9. The agricultural robot for automatic and uniform fertilization according to claim 8, characterized in that: A positioning hole (523) is provided on the pressure-bearing shell, a positioning groove extending radially thereof is provided on the pressure-bearing piston (521), a slider (524) matching the pressure-bearing piston (521) and sliding radially along the pressure-bearing piston (521) is provided in the positioning groove, and a spring sheet (525) is provided at the bottom of the positioning groove, and the elastic force provided by the spring sheet (525) is used to push the slider (524) away from the center of the pressure-bearing piston (521); when the piston rod on the pressure-applying piston (511) pushes the pressure-bearing piston (521) toward the storage box, the slider (524) will match the positioning hole (523) under the action of the spring sheet (525); an inclined pressing base surface is provided on the positioning hole (523), and the reset element (530) pushes the slider (524) toward the center of the pressure-bearing piston (521) by cooperating with the pressing base surface.

10. The agricultural robot for automatic and uniform fertilization according to claim 9, characterized in that: The reset element (530) comprises a reset guide rod (532) fixedly connected to the material storage box (40) and parallel to the pressure-bearing piston (521); the reset guide rod (532) is sleeved with a reset shell on the outside; a reset piston (531) is slidably arranged in the reset shell; a reset sleeve sleeved with the reset guide rod (532) and connected to the moving block (540) is connected to the reset piston (531); the moving block (540) is sleeved with the pressure-bearing shell; a reset spring is sleeved with the reset guide rod (532); the elastic force provided by the reset spring is used to push the moving block (540) toward the material storage box (40) close together; a closed reset chamber is formed between the reset piston (531) and the bottom of the reset shell, and the control unit (20) is connected to the reset chamber; when the control unit (20) is in the process of replenishing, the control unit (20) applies pressure to the reset chamber through the hydraulic pipe, and pushes the reset piston (531) to move outward, and uses the moving block (540) to push the slider (524) to move toward the center of the pressure-bearing piston (521), so that the slider (524) is disengaged from the positioning hole (523), and when the storage box (40) returns to the normal pressure state, it quickly returns to the initial state.

Images