Double-arm inter-plant weeding, deep scarification and fertilization all-in-one machine and working method thereof

Abstract

The invention discloses a double-arm inter-plant weeding, deep scarification and fertilization all-in-one machine and a working method thereof. A shell is driven by a three-axis moving device to move horizontally and ascend and descend, an annular gear box is fixed to the bottom end of the shell, and a sun gear drives a feeding wheel to rotate through an inner and outer meshing gear ring when rotating; the blades of the three weeding and soil loosening mechanisms are driven to rotate around the central axis of the corresponding planet gear and rotate around the central axis of the annular gear box through the inner and outer meshed gear rings and the three planet gears, the rotating discs of the weeding and soil loosening mechanisms and the planet carrier form a rotating pair, and the material receiving disc is fixed to the middle of the planet carrier; the planet carrier is arranged in the annular gear box and located under a through hole in the middle of the annular gear box, the valve plug, the material receiving disc and the planet carrier form a revolute pair and are driven by the lifting mechanism to ascend and descend, the feeding barrel is fixed to the annular gear box, a discharging opening of the feeding barrel is communicated with the through hole, and the spiral feeder is arranged in the feeding barrel, forms a revolute pair with the feeding barrel and is coaxially fixed to the feeding wheel. According to the invention, weeding, fertilization and soil loosening among plants can be realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural machinery, and particularly relates to a double-arm inter-row weeding, subsoiling and fertilizing integrated machine and its working method. Background Art

[0002] At present, with the development of green agriculture and ecological agriculture, people gradually abandon the use of herbicides and other drugs with chemical components for weeding, and often use weeders for weeding. However, inter-row weeding is relatively easy, while inter-plant weeding is more difficult. Moreover, the existing inter-plant weeders have a single function and can only achieve the function of inter-plant weeding, unable to achieve the function of inter-plant subsoiling. At the same time, the return of weeds to the field after cutting is not considered. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and propose a double-arm inter-row weeding, subsoiling and fertilizing integrated machine and its working method.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions:

[0005] A double-arm inter-row weeding, subsoiling and fertilizing integrated machine of the present invention includes a mobile chassis, a support plate, a fertilizer tank, a three-axis moving device, a camera, and a weeding, subsoiling and fertilizing device.

[0006] The mobile chassis drives the support plate to move. The fertilizer tank is fixed on the upper surface of the support plate, the camera is fixed on the lower surface of the support plate, and two symmetrically arranged three-axis moving devices are provided at both ends of the support plate. Weeding, subsoiling and fertilizing devices are provided on both three-axis moving devices.

[0007] The weeding, subsoiling and fertilizing device includes a housing, a planetary gear mechanism, a weeding and subsoiling mechanism, and a fertilizing mechanism; the housing is driven by the corresponding three-axis moving device to translate and lift; the planetary gear mechanism includes an annular gear box, an internal meshing gear ring, planetary gears, an internal and external meshing gear ring, a sun gear, a feeding wheel, and a planetary carrier; the annular gear box is fixed at the bottom end of the housing, and an annular groove arranged coaxially is opened at the bottom end of the annular gear box; both the internal meshing gear ring and the internal and external meshing gear ring are arranged in the annular gear box and are coaxially arranged with the annular gear box. The internal meshing gear ring is fixed in the annular gear box, located outside the annular groove, and the internal and external meshing gear ring forms a rotating pair with the annular gear box, located inside the annular groove; three planetary gears are circumferentially and evenly arranged and mesh with both the outer teeth of the internal and external meshing gear ring and the internal meshing gear ring; both the sun gear and the feeding wheel are arranged in the annular gear box and form a rotating pair with the annular gear box, and both mesh with the inner teeth of the internal and external meshing gear ring. The sun gear is driven to rotate by a driving motor I; the planetary carrier is arranged directly below the annular gear box and is spaced from the annular gear box.

[0008] Each of the planetary gears is provided with a weeding and soil loosening mechanism; the weeding and soil loosening mechanism includes a planetary rod, a base, a rotating disc, blades and a first connecting rod. The upper end of the vertically arranged planetary rod passes through the annular groove and is coaxially fixed with the corresponding planetary gear, and the lower end is coaxially fixed with the base. A plurality of first connecting rods which are vertical and circumferentially evenly distributed are fixed on the base. Each first connecting rod passes through a through groove opened on the rotating disc, is hinged to one end of a blade, and forms a sliding pair with the corresponding through groove. The middle parts of the blades are all hinged to the rotating disc, and the other ends are all pointed tips, and the blades are circumferentially evenly distributed along the rotating disc. The rotating disc forms a rotating pair with the circular hole opened on the planetary carrier.

[0009] The fertilizing mechanism includes a feeding barrel, a screw feeder, a valve plug, a receiving disc and a receiving slide rail; the feeding barrel is arranged in the housing and fixed to the top of the annular gearbox. The feeding port opened at the top of the feeding barrel is communicated with the fertilizer tank through a feeding pipe, and the discharging port opened at the bottom is communicated with the through hole in the middle of the annular gearbox; the screw feeder is vertically arranged in the feeding barrel, forms a rotating pair with the feeding barrel, and is coaxially fixed with the feeding wheel; the receiving disc is coaxially fixed with the planetary carrier and is located directly below the through hole. An integrally formed annular boss is arranged on the outer edge of the receiving disc; the valve plug is located above the receiving disc. The upper part of the valve plug is a frustum and the lower part is a hollow cylinder. The hollow cylinder forms a rotating pair with the receiving disc and the planetary carrier. The frustum is driven to lift by a lifting mechanism arranged in the through hole; a plurality of pushing blocks which are circumferentially evenly distributed are fixed on the outer edge of the hollow cylinder of the valve plug. The outer ends and the bottom ends of the pushing blocks are respectively attached to the inner wall of the annular boss and the receiving disc; three arc-shaped grooves which are circumferentially evenly distributed are opened on the receiving disc on the outer side of the valve plug, and one arc-shaped groove is arranged between every two adjacent weeding and soil loosening mechanisms; there are three receiving slide rails which are circumferentially evenly distributed. The two ends of each receiving slide rail are fixed to the receiving disc and the planetary carrier, and each arc-shaped groove is located directly above a receiving slide rail.

[0010] Preferably, the three-axis moving device includes an X-axis linear module, a Y-axis linear module and a Z-axis linear module. The X-axis linear module is arranged on the support plate and drives the Y-axis linear module to translate. The Y-axis linear module drives the Z-axis linear module to translate, and the direction in which the X-axis linear module drives the Y-axis linear module to translate is perpendicular to the direction in which the Y-axis linear module drives the Z-axis linear module to translate.

[0011] Preferably, a light supplementing device is arranged on the lower surface of the support plate.

[0012] Preferably, the sun gear and the feeding wheel are respectively fixed on a sun gear shaft and a feeding wheel shaft which are vertical and arranged at an interval. The sun gear shaft and the feeding wheel shaft respectively pass through two holes opened at the top of the annular gearbox and form rotating pairs with the two holes respectively. The sun gear shaft is driven to rotate by a first driving motor; the screw feeder is coaxially fixed with the feeding wheel shaft.

[0013] More preferably, a motor mount is fixed to the top end of the ring gearbox, the housing of the first driving motor is fixed to the motor mount, and the output shaft is coaxially fixed to the sun gear shaft.

[0014] Preferably, one end of the first connecting rod away from the base is hinged to one end of the second connecting rod, and the other end of the second connecting rod is fixed to the blade.

[0015] Preferably, the blade is hinged to the hinge frame, and the hinge frame is fixed to the rotating disc.

[0016] Preferably, the lifting mechanism includes a lead screw, a nut block and a slide rail. A support frame is fixed above the through hole at the top end of the ring gearbox. The vertically arranged lead screw forms a rotating pair with the support frame and is driven by the second driving motor. The nut block forms a screw pair with the lead screw and is coaxially fixed to the valve plug. The vertically arranged slide rail is fixed to the support frame and forms a sliding pair with the valve plug.

[0017] Preferably, a rubber ring is fixed to the valve plug.

[0018] The working method of a double-arm inter-row weeding, deep loosening and fertilizing machine of the present invention is as follows:

[0019] Put fertilizers into the fertilizer tank, and the fertilizers fall into each feeding bucket through each feeding pipe; the moving chassis drives the support plate to drive the fertilizer tank, the camera, each three-axis moving device and each weeding, deep loosening and fertilizing device to move along the ridge direction. The camera takes pictures of the ridge and each weeding, deep loosening and fertilizing device, gradually identifies the positions of each plant on the two ridges on both sides, and when the planet carrier of each weeding, deep loosening and fertilizing device moves to directly above the position of a plant in the corresponding ridge, the moving chassis stops moving, and each weeding, deep loosening and fertilizing device performs inter-row weeding, soil loosening and fertilizing work on the inter-row position of the corresponding plant.

[0020] The working process of inter-plant weeding, soil loosening and fertilizing is as follows: The controller controls the operation of each driving motor 1. In each weeding, deep loosening and fertilizing device, the driving motor 1 drives the sun gear to drive the internal and external meshing gear rings to rotate. The internal and external meshing gear rings are meshed with the feeding wheel and each planetary gear, thereby driving the feeding wheel and each planetary gear to rotate. And each planetary gear is meshed with the internal meshing gear ring, so that each planetary gear rotates while revolving around the central axis of the annular gearbox. Each planetary gear drives the rotating disc and each blade of the corresponding weeding and soil loosening mechanism to rotate around its central axis and around the central axis of the annular gearbox through the planetary rod, base and each connecting rod 1 of the corresponding weeding and soil loosening mechanism, and drives the planetary carrier, the receiving disc and each receiving slide rail to rotate around the central axis of the annular gearbox through each weeding and soil loosening mechanism. At the same time, the feeding wheel drives the spiral feeder to rotate. The spiral feeder stirs the fertilizer in the feeding barrel and conveys it downward to the discharge port. The fertilizer falls from the discharge port into the through hole, and at this time the valve plug blocks the lower end of the through hole; then the two three-axis moving devices drive the two outer shells to drive the two weeding, deep loosening and fertilizing devices to descend by a preset height 1. As each weeding, deep loosening and fertilizing device descends, each blade cuts the weeds at the inter-plant position of the corresponding plant to perform inter-plant weeding work.

[0021] When each weeding, deep loosening and fertilizing device completes the weeding work on the weeds at the inter-plant position of the corresponding plant, in each weeding, deep loosening and fertilizing device, the lifting mechanism drives the valve plug to descend by a preset height 2, the through hole is opened, and the fertilizer in the through hole falls onto the receiving disc along the circular table surface of the valve plug. And at this time, the receiving disc rotates relative to the valve plug and each pushing block on the valve plug. Each pushing block pushes the fertilizer on the receiving disc into each arc-shaped groove. The fertilizer falls from each arc-shaped groove onto each receiving slide rail and falls from each receiving slide rail onto the soil at the inter-plant position of the corresponding plant to perform inter-plant fertilizing work; in addition, when the valve plug descends, it drives the planetary carrier and the rotating disc of each weeding and soil loosening mechanism to descend through the receiving disc. Each connecting rod 1 of each weeding and soil loosening mechanism rises relative to the rotating disc and pulls each blade to rotate downward, so that the rotating blades are turned into a vertical state and contact the soil at the inter-plant position of the corresponding plant to perform inter-plant soil loosening work; at the same time, each blade stirs the fertilizer, the cut weeds and the soil together.

[0022] When each weeding, deep loosening and fertilizing device completes the soil loosening and fertilizing work at the inter-plant position of the corresponding plant, each lifting mechanism drives each valve plug to rise by a preset height 2. Each valve plug drives the planetary carrier and the rotating disc of each weeding and soil loosening mechanism to rise through the corresponding receiving disc. Each connecting rod 1 of each weeding and soil loosening mechanism descends relative to the rotating disc and pushes each blade to rotate upward to a horizontal state. At the same time, the two three-axis moving devices drive the two outer shells to rise to the initial height.

[0023] The present invention has the following beneficial effects:

[0024] 1. The present invention can achieve inter-row weeding, fertilizing, and soil loosening for plants, with diverse functions. Specifically, in the weeding, deep loosening, and fertilizing device of the present invention, the first driving motor drives the sun gear to drive the internal and external meshing gear ring to rotate around the central axis of the annular gearbox. The internal and external meshing gear ring drives each planet gear to rotate around its own central axis while revolving around the central axis of the annular gearbox. Each planet drives the blades on the corresponding weeding and soil loosening mechanism to rotate around the central axis of the corresponding planet gear while revolving around the central axis of the annular gearbox. The rotating blades cut the weeds around the plants, thereby achieving the inter-row weeding function. At the same time, each weeding and soil loosening mechanism drives the planet carrier and the material receiving disc to rotate around the valve plug. The valve plug blocks the lower end of the through hole in the middle of the annular gearbox. The internal and external meshing gear ring drives the feeding wheel to rotate. The feeding wheel drives the screw feeder to stir the fertilizer and convey the fertilizer into the through hole, thereby achieving the function of fertilizer conveyance. Further, after completing the inter-row weeding work of the plants, the lifting mechanism drives the valve plug to drive the material receiving disc and the planet carrier to descend. The planet carrier drives the rotating discs of each weeding and soil loosening mechanism to descend. In the weeding and soil loosening mechanism, each first connecting rod rises relative to the rotating disc and drives each blade to rotate downward to a vertical state. The rotating blades loosen the soil around the plants, thereby achieving the inter-row soil loosening function. And when the valve plug descends, the through hole opens, and the fertilizer in the through hole falls onto the material receiving disc. The material receiving disc rotates relative to the valve plug. Each pushing block on the valve plug pushes the fertilizer into each arc-shaped groove. The fertilizer falls onto each material receiving slide rail through each arc-shaped groove and falls from each material receiving slide rail to the periphery of the plants, thereby achieving the inter-row fertilizing function. And the rotating blades stir the fertilizer, the cut weeds, and the soil together, realizing the function of returning weeds to the field while making the fertilizer fully contact with the soil, which is more conducive to the growth of plants. The present invention can achieve inter-row weeding, fertilizing, and soil loosening for plants through two motors, reducing the redundancy of motors and lowering energy consumption.

[0025] 2. The present invention is provided with two symmetrically arranged weeding, deep loosening, and fertilizing devices, and each weeding, deep loosening, and fertilizing device is driven by a three-axis moving device for lifting and translation, which can achieve inter-row weeding, fertilizing, and soil loosening for two rows of plants with different row spacings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is the overall structural schematic diagram of the present invention;

[0027] Figure 2 is the structural schematic diagram of the support plate, three-axis moving device, and weeding, deep loosening, and fertilizing device in the present invention;

[0028] Figure 3 is the structural schematic diagram of the weeding, deep loosening, and fertilizing device after removing the outer shell in the present invention;

[0029] Figure 4This is a schematic structural diagram of the feeding bucket, screw feeder, lifting mechanism, and planetary gear mechanism after removing the planetary carrier in the present invention;

[0030] Figure 5 is Figure 3 A schematic structural diagram after removing the top of the ring gearbox and the components located at the top of the ring gearbox;

[0031] Figure 6 This is a schematic structural diagram of the weeding and soil loosening mechanism during the process of the blade rotating to the vertical state in the present invention;

[0032] Figure 7 This is the schematic structural diagram of the weeding and soil loosening mechanism when the blade rotates to the horizontal state in the present invention Figure 1 ;

[0033] Figure 8 This is the schematic structural diagram of the weeding and soil loosening mechanism when the blade rotates to the horizontal state in the present invention Figure 2 ;

[0034] Figure 9 This is a schematic structural diagram of the planetary carrier, valve plug, material receiving disc, and material receiving slide rail in the present invention. Detailed implementation manners

[0035] The present invention will be further described below with reference to the accompanying drawings.

[0036] As Figure 1 and Figure 2 shown, a double-arm inter-row weeding, deep loosening, and fertilizing integrated machine of the present invention includes a mobile chassis 1, a support plate 2, a fertilizer tank 3, a three-axis moving device 4, a weeding, deep loosening, and fertilizing device 5, and a camera 6. The mobile chassis 1 drives the support plate 2 to move. The fertilizer tank 3 is fixed on the upper surface of the support plate 2, and the camera 6 is fixed on the lower surface of the support plate 2; two symmetrically arranged three-axis moving devices 4 are provided at both ends of the support plate 2. The three-axis moving device 4 includes an X-axis linear module, a Y-axis linear module, and a Z-axis linear module. The X-axis linear module is arranged on the support plate 2 and drives the Y-axis linear module to translate. The Y-axis linear module drives the Z-axis linear module to translate, and the direction in which the X-axis linear module drives the Y-axis linear module to translate is perpendicular to the direction in which the Y-axis linear module drives the Z-axis linear module to translate; a weeding, deep loosening, and fertilizing device 5 is provided on each of the two Z-axis linear modules.

[0037] As Figure 2 shown, the weeding, deep loosening, and fertilizing device 5 includes a housing 5-1, a planetary gear mechanism 5-2, a weeding and soil loosening mechanism 5-3, and a fertilizing mechanism 5-4. The housing 5-1 is driven by the corresponding Z-axis linear module to move up and down. As Figure 3 , Figure 4 and Figure 5As shown in the figure, the planetary gear mechanism 5-2 includes an annular gearbox 5-2-1, an internal meshing gear ring 5-2-2, planetary gears 5-2-3, an internal and external meshing gear ring 5-2-4, a sun gear 5-2-5, a sun gear shaft, a loading wheel 5-2-6, a loading wheel shaft 5-2-7, and a planetary carrier 5-2-8; the annular gearbox 5-2-1 is fixed to the bottom end of the housing 5-1, and an annular groove arranged coaxially is opened at the bottom end of the annular gearbox 5-2-1; both the internal meshing gear ring 5-2-2 and the internal and external meshing gear ring 5-2-4 are arranged inside the annular gearbox 5-2-1 and are both arranged coaxially with the annular gearbox 5-2-1, and the internal meshing gear ring 5-2-2 is fixed inside the annular gearbox 5-2-1, located outside the annular groove, and the internal and external meshing gear ring 5-2-4 forms a rotating pair with the annular gearbox 5-2-1 and is located inside the annular groove; three planetary gears 5-2-3 are arranged circumferentially at equal intervals, and the planetary gears 5-2-3 are meshed with both the outer teeth of the internal and external meshing gear ring 5-2-4 and the internal meshing gear ring 5-2-2; the vertically and spaced sun gear shaft and the loading wheel shaft 5-2-7 respectively pass through two holes opened at the top end of the annular gearbox 5-2-1 and form rotating pairs with the two holes respectively, and the sun gear shaft is driven to rotate by a first driving motor 5-2-9; the sun gear 5-2-5 and the loading wheel 5-2-6 are both arranged inside the annular gearbox 5-2-1, are respectively fixed on the sun gear shaft and the loading wheel shaft 5-2-7, and are both meshed with the inner teeth of the internal and external meshing gear ring 5-2-4, and the planetary carrier 5-2-8 is arranged directly below the annular gearbox 5-2-1 and is spaced from the annular gearbox 5-2-1.

[0038] A weeding and soil loosening mechanism 5-3 is provided on each planetary gear 5-2-3; as Figure 3 , Figure 5 , Figure 6 , Figure 7 and Figure 8 shown in the figure, the weeding and soil loosening mechanism 5-3 includes a planetary rod 5-3-1, a base 5-3-2, a rotating disc 5-3-3, a hinge frame 5-3-4, a blade 5-3-5, a first connecting rod 5-3-6, and a second connecting rod 5-3-7. The upper end of the vertically arranged planetary rod 5-3-1 passes through the annular groove and is coaxially fixed to the corresponding planetary gear 5-2-3, and the lower end is coaxially fixed to the base 5-3-2. A plurality of first connecting rods 5-3-6 that are vertically arranged and circumferentially evenly distributed are fixed on the base 5-3-2. Each first connecting rod 5-3-6 passes through a through groove opened on the rotating disc 5-3-3, is hinged to one end of a second connecting rod 5-3-7, and forms a sliding pair with the corresponding through groove. The other end of each second connecting rod 5-3-7 is fixed to one end of a blade 5-3-5. The middle of each blade 5-3-5 is hinged to a hinge frame 5-3-4, and the other end is a tip. Each hinge frame 5-3-4 is fixed on the rotating disc 5-3-3 and is circumferentially evenly distributed on the rotating disc 5-3-3. The rotating disc 5-3-3 forms a rotating pair with the circular hole opened on the planetary carrier 5-2-8.

[0039] As Figure 3 , Figure 4 , Figure 5 and Figure 9 shown, the fertilizing mechanism 5-4 includes a feeding barrel 5-4-1, a screw feeder 5-4-2, a valve plug 5-4-3, a receiving disc 5-4-4 and a receiving slide rail 5-4-5; the feeding barrel 5-4-1 is arranged in the housing 5-1 and fixed to the top of the annular gearbox 5-2-1, and the feeding port opened at the top of the feeding barrel 5-4-1 is communicated with the fertilizer tank through a feeding pipe, and the discharging port opened at the bottom is communicated with the through hole in the middle of the annular gearbox 5-2-1; the screw feeder 5-4-2 is vertically arranged in the feeding barrel 5-4-1, forms a rotating pair with the feeding barrel 5-4-1, and is coaxially fixed with the feeding wheel shaft 5-2-7; the receiving disc 5-4-4 is coaxially fixed with the planet carrier 5-2-8 and is located directly below the through hole, and an integrally formed annular boss is provided on the outer edge of the receiving disc 5-4-4; the valve plug 5-4-3 is located above the receiving disc 5-4-4, the upper part of the valve plug 5-4-3 is a frustum of a cone and the lower part is a hollow cylinder, the hollow cylinder forms a rotating pair with the receiving disc 5-4-4 and the planet carrier 5-2-8, and the frustum of the cone is driven to lift by a lifting mechanism 5-4-6 arranged in the through hole; a plurality of pushing blocks 5-4-8 are fixedly arranged on the outer edge of the hollow cylinder of the valve plug 5-4-3 and are circumferentially distributed, and the outer ends and the bottom ends of the respective pushing blocks 5-4-8 are respectively in contact with the inner wall of the annular boss and the receiving disc 5-4-4; three arc-shaped grooves are circumferentially distributed on the receiving disc 5-4-4 on the outer side of the valve plug 5-4-3, and an arc-shaped groove is provided between every two adjacent weeding and soil loosening mechanisms 5-3; three receiving slide rails 5-4-5 are circumferentially distributed, and both ends of each receiving slide rail 5-4-5 are fixed to the receiving disc 5-4-4 and the planet carrier 5-2-8, and each arc-shaped groove is located directly above a receiving slide rail 5-4-5.

[0040] As a preferred embodiment, a supplementary lighting device (light source) is provided on the lower surface of the support plate 2, and the supplementary lighting device is used to supplement light for the camera 6 to improve the clarity during the recognition of the camera 6.

[0041] As a preferred embodiment, a motor bracket is fixed to the top of the annular gearbox 5-2-1, and the housing of the first driving motor 5-2-9 is fixed to the motor bracket, and the output shaft of the first driving motor 5-2-9 is coaxially fixed with the sun gear shaft.

[0042] As a preferred embodiment, the lifting mechanism 5-4-6 includes a lead screw, a nut block, and a slide rail. A support frame is fixed above the through hole at the top of the annular gearbox 5-2-1. The vertically arranged lead screw forms a rotating pair with the support frame and is driven by a second driving motor. The nut block forms a screw pair with the lead screw and is coaxially fixed to the valve plug 5-4-3. The vertically arranged slide rail is fixed to the support frame and forms a sliding pair with the valve plug 5-4-3.

[0043] As a preferred embodiment, a rubber ring 5-4-7 is fixed on the valve plug 5-4-3. The rubber ring 5-4-7 is used to ensure the sealing performance between the valve plug 5-4-3 and the through hole when the valve plug 5-4-3 blocks the through hole.

[0044] Among them, the power source of the mobile chassis 1 (for driving the wheels), the power sources of each X-axis linear module, each Y-axis linear module, and each Z-axis linear module, as well as each first driving motor 5-2-9 and each second driving motor are all controlled by a controller. The signal output ends of the cameras 6 are all connected to the controller.

[0045] The working method of the double-arm inter-row weeding, deep loosening, and fertilizing machine of the present invention is as follows:

[0046] Fertilizer is placed in the fertilizer tank 3, and the fertilizer falls into each feed bucket 5-4-1 through each feed pipe. The mobile chassis 1 drives the support plate 2 to drive the fertilizer tank 3, the cameras 6, each three-axis moving device 4, and each weeding, deep loosening, and fertilizing device 5 to move along the ridge direction. The cameras 6 take pictures of the ridge and each weeding, deep loosening, and fertilizing device 5, gradually identify the positions of each plant on the two ridges on both sides, and when the planet carrier 5-2-8 of each weeding, deep loosening, and fertilizing device 5 moves to directly above the position of a plant on the corresponding ridge, the mobile chassis 1 stops moving, and each weeding, deep loosening, and fertilizing device 5 performs inter-row weeding, soil loosening, and fertilizing work on the inter-row position of the corresponding plant.

[0047] The working process of inter-plant weeding, soil loosening and fertilizing is as follows: The controller controls the driving motor 1 of each weeding, subsoiling and fertilizing device 5 to work. In each weeding, subsoiling and fertilizing device 5, the driving motor 1 drives the sun gear 5 to rotate. The sun gear 5 meshes with the internal and external meshing gear ring 4, thereby driving the internal and external meshing gear ring 4 to rotate. The internal and external meshing gear ring 4 meshes with the feeding wheel 6 and each planet gear 3, thereby driving the feeding wheel 6 and each planet gear 3 to rotate. And each planet gear 3 meshes with the internal meshing gear ring 2, so that each planet gear 3 rotates around its own axis and revolves around the central axis of the annular gearbox 1. Each planet gear 3 drives the rotating disc 3 and each blade 5 of the corresponding weeding and soil loosening mechanism 3 to rotate around its central axis and around the central axis of the annular gearbox 1 through the planet rod 1, the base 2 and each connecting rod 6 of the corresponding weeding and soil loosening mechanism 3, and drives the planet carrier 8, the receiving disc 4 and each receiving slide rail 5 to rotate around the central axis of the annular gearbox 1 through each weeding and soil loosening mechanism 3. At the same time, the feeding wheel 6 drives the spiral feeder to rotate through the feeding wheel shaft 7. The spiral feeder stirs the fertilizer in the feeding barrel 1 and conveys it downward to the discharge port. The fertilizer falls from the discharge port into the through hole, and at this time the valve plug 3 blocks the through hole. Then the two three-axis moving devices 4 drive the two outer shells 1 to drive the two weeding, subsoiling and fertilizing devices 5 to descend a preset height 1 (at this time, the plants are at the bottom of the planet carrier 8 but the planet carrier 8 does not touch the plants, and each blade 5 is located around the plants and is lower than the plants, close to the soil). As each weeding, subsoiling and fertilizing device 5 descends, each blade 5 cuts the weeds at the inter-plant position (around the plants) of the corresponding plants, realizing the function of inter-plant weeding.

[0048] When each weeding subsoiling and fertilizing device 5 finishes the weeding work at the inter-plant position of the corresponding plant, in each weeding subsoiling and fertilizing device 5, the lifting mechanism 5-4-6 drives the valve plug 5-4-3 to descend by a preset height two, the through hole is opened, and the fertilizer in the through hole falls onto the receiving disc 5-4-4 along the conical surface of the valve plug 5-4-3. At this time, the receiving disc 5-4-4 rotates relative to the valve plug 5-4-3 and each pushing block 5-4-8 on the valve plug 5-4-3. Each pushing block 5-4-8 pushes the fertilizer on the receiving disc 5-4-4 into each arc-shaped groove. The fertilizer falls from each arc-shaped groove onto each receiving slide rail 5-4-5 and then falls from each receiving slide rail 5-4-5 onto the soil at the inter-plant position of the corresponding plant, realizing the function of inter-plant fertilization. Moreover, the planet carrier 5-2-8 and each receiving slide rail 5-4-5 rotate, so that the fertilizer can be evenly distributed onto the soil at the inter-plant position of the corresponding plant. When the valve plug 5-4-3 descends, it drives the planet carrier 5-2-8 and the rotating disc 5-3-3 of each weeding and soil-loosening mechanism 5-3 to descend through the receiving disc 5-4-4. Each first connecting rod 5-3-6 of each weeding and soil-loosening mechanism 5-3 rises relative to the rotating disc 5-3-3 and pulls each blade 5-3-5 to rotate downward through each second connecting rod 5-3-7, so that the rotating blades 5-3-5 turn into a vertical state and contact the soil at the inter-plant position of the corresponding plant to loosen the soil, realizing the function of inter-plant soil loosening. As Figure 6 shown, and each blade 5-3-5 mixes the fertilizer and the cut weeds with the soil. While realizing the function of returning weeds to the field, it makes the fertilizer fully contact the soil, which is more conducive to the growth of plants.

[0049] When each weeding subsoiling and fertilizing device 5 finishes the soil loosening and fertilizing work at the inter-plant position of the corresponding plant, each lifting mechanism 5-4-6 drives each valve plug 5-4-3 to rise by a preset height two. Each valve plug 5-4-3 drives the planet carrier 5-2-8 and the rotating disc 5-3-3 of each weeding and soil-loosening mechanism 5-3 to rise through the corresponding receiving disc 5-4-4. Each first connecting rod 5-3-6 of each weeding and soil-loosening mechanism 5-3 descends relative to the rotating disc 5-3-3 and pushes each blade 5-3-5 to rotate upward to a horizontal state through each second connecting rod 5-3-7, as Figure 7 and Figure 8 shown. At the same time, the two three-axis moving devices 4 drive the two outer shells 5-1 to drive the two weeding subsoiling and fertilizing devices 5 to rise to the initial height.

Claims

1. A double-arm inter-row weeding and deep tillage fertilization integrated machine, comprising a mobile chassis, a support plate, a fertilizer box, a three-axis mobile device and a camera, characterized in that: It also includes a weeding and deep tillage and fertilization device; the mobile chassis drives the support plate to move, the fertilizer box is fixed to the upper surface of the support plate, the camera is fixed to the lower surface of the support plate, and two three-axis moving devices are symmetrically arranged at both ends of the support plate, and the two three-axis moving devices are each provided with a weeding and deep tillage and fertilization device; the weeding and deep tillage and fertilization device includes a shell, a planetary gear mechanism, a weeding and loosening mechanism, and a fertilization mechanism; the shell is driven to translate and lift by the corresponding three-axis moving device; the planetary gear mechanism includes an annular gear box, an internal meshing gear ring, a planetary wheel, an internal and external meshing gear ring, a sun wheel, a feeding wheel, and a planetary carrier; the annular gear box is fixed to the bottom end of the shell, and a coaxial gear is provided at the bottom end of the annular gear box annular groove; the inner meshing gear ring and the inner and outer meshing gear rings are both arranged in the annular gear box and are coaxially arranged with the annular gear box, and the inner meshing gear ring is fixed in the annular gear box and is located on the outside of the annular groove, and the inner and outer meshing gear rings and the annular gear box form a rotating pair and are located on the inside of the annular groove; the planetary gear is provided with three evenly distributed along the circumferential direction, and meshes with the outer gear teeth of the inner and outer meshing gear rings and the inner meshing gear ring; the sun gear and the feeding wheel are both arranged in the annular gear box and form a rotating pair with the annular gear box, and mesh with the inner gear teeth of the inner and outer meshing gear rings, and the sun gear is driven to rotate by a driving motor; the planetary frame is arranged directly below the annular gear box and is spaced apart from the annular gear box; Each planetary wheel is provided with a weeding and loosening mechanism; the weeding and loosening mechanism includes a planetary rod, a base, a rotating disc, a blade and a connecting rod. The upper end of the vertically arranged planetary rod passes through an annular groove and is coaxially fixed to the corresponding planetary wheel, and the lower end is coaxially fixed to the base. A plurality of connecting rods are fixed vertically and evenly distributed along the circumference on the base. Each connecting rod passes through a through groove opened on the rotating disc, is hinged to one end of a blade, and forms a sliding pair with the corresponding through groove. The middle part of each blade is hinged to the rotating disc, and the other end is a pointed end, and each blade is evenly distributed along the circumference of the rotating disc, and the rotating disc and the circular hole opened on the planetary frame form a rotating pair; the fertilizing mechanism includes a feeding barrel, a spiral feeder, a valve plug, a material receiving disc and a material receiving slide rail; the feeding barrel is arranged in the outer shell and fixed to the top of the annular gear box, and the feeding port opened at the top of the feeding barrel is connected to the fertilizer box through a feeding pipe, and the discharge port opened at the bottom is connected to the through groove in the middle of the annular gear box. The screw feeder is vertically arranged in the feed barrel, forming a rotating pair with the feed barrel, and is coaxially fixed with the feeding wheel; the receiving disc is coaxially fixed with the planetary frame and is located directly below the through hole, and an integrally formed annular boss is provided on the outer edge of the receiving disc; the valve plug is located above the receiving disc, the upper part of the valve plug is a round table, and the lower part is a hollow cylinder, the hollow cylinder, the receiving disc and the planetary frame form a rotating pair, and the round table is driven to rise and fall by a lifting mechanism arranged in the through hole; the center of the valve plug A plurality of pushing blocks evenly distributed along the circumferential direction are fixed to the outer edge of the hollow cylinder, and the outer end and bottom end of each pushing block are respectively fitted with the inner wall of the annular boss and the material receiving disc; three arc grooves evenly distributed along the circumferential direction are opened on the material receiving disc on the outer side of the valve plug, and an arc groove is provided between every two adjacent weeding and loosening mechanisms; three material receiving slide rails evenly distributed along the circumferential direction are provided, and both ends of each material receiving slide rail are fixed to the material receiving disc and the planetary frame, and each arc groove is located directly above a material receiving slide rail.

2. The double-arm inter-row weeding and deep tillage fertilization integrated machine according to claim 1, characterized in that: The three-axis moving device includes an X-axis linear module, a Y-axis linear module and a Z-axis linear module. The X-axis linear module is arranged on a support plate and drives the Y-axis linear module to translate. The Y-axis linear module drives the Z-axis linear module to translate. The direction in which the X-axis linear module drives the Y-axis linear module to translate is perpendicular to the direction in which the Y-axis linear module drives the Z-axis linear module to translate.

3. The double-arm inter-row weeding and deep tillage fertilization integrated machine according to claim 1, characterized in that: A fill light device is provided on the lower surface of the support plate.

4. The double-arm inter-row weeding and deep tillage fertilization integrated machine according to claim 1, characterized in that: The sun gear and the feeding wheel are respectively fixed on a sun gear shaft and a feeding wheel shaft which are arranged vertically and at intervals. The sun gear shaft and the feeding wheel shaft respectively pass through two holes opened at the top of the annular gear box, and form a rotating pair with the two holes respectively. The sun gear shaft is driven to rotate by a driving motor 1. The screw feeder is coaxially fixed with the feeding wheel shaft.

5. The double-arm inter-row weeding and deep tillage fertilization integrated machine according to claim 4, characterized in that: A motor frame is fixed on the top of the annular gear box, a housing of the driving motor 1 is fixed on the motor frame, and an output shaft is coaxially fixed with the sun gear shaft.

6. The double-arm inter-row weeding and deep tillage fertilization integrated machine according to claim 1, characterized in that: One end of the connecting rod 1 away from the base is hinged to one end of the connecting rod 2, and the other end of the connecting rod 2 is fixed to the blade.

7. The double-arm inter-row weeding and deep tillage fertilization integrated machine according to claim 1, characterized in that: The blade is hinged to the hinge frame, and the hinge frame is fixed on the rotating disc.

8. The double-arm inter-row weeding and deep tillage fertilization integrated machine according to claim 1, characterized in that: The lifting mechanism includes a screw rod, a nut block and a slide rail. A support frame is fixed to the top of the annular gear box just above the through hole. The vertically arranged screw rod and the support frame form a rotating pair and are driven by a second driving motor. The nut block and the screw rod form a threaded pair and are coaxially fixed with the valve plug. The vertically arranged slide rail is fixed on the support frame and forms a sliding pair with the valve plug.

9. The double-arm inter-row weeding and deep tillage fertilization integrated machine according to claim 1, characterized in that: A rubber ring is fixed on the valve plug.

10. A working method of a double-arm inter-row weeding and deep tillage fertilization integrated machine according to any one of claims 1 to 9, characterized in that: The details are as follows: Fertilizer is put into the fertilizer box, and the fertilizer falls into each feeding barrel through each feeding pipe; the mobile chassis drives the support plate to drive the fertilizer box, the camera, each three-axis moving device and each weeding and deep loosening and fertilizing device to move along the ridge direction, the camera takes pictures of the ridge and each weeding and deep loosening and fertilizing device, and gradually identifies the position of each plant on the two ridges on both sides, and when the planetary frame of each weeding and deep loosening and fertilizing device moves to the position of a plant on the corresponding ridge, the mobile chassis stops moving, and each weeding and deep loosening and fertilizing device performs weeding, loosening and fertilizing work on the position between the corresponding plants; The working process of weeding, loosening and fertilizing between rows is as follows: the controller controls each driving motor to work, and in each weeding and deep loosening and fertilizing device, the driving motor drives the sun gear to drive the inner and outer meshing gear rings to rotate, and the inner and outer meshing gear rings are meshed with the feeding wheel and each planetary gear, thereby driving the feeding wheel and each planetary gear to rotate, and each planetary gear is meshed with the inner meshing gear ring, so that each planetary gear rotates while revolving around the central axis of the annular gear box, and each planetary gear drives the rotating disk and each blade of the corresponding weeding and loosening mechanism to rotate around its central axis while revolving around the annular gear box through the planetary rod, base and connecting rod of the corresponding weeding and loosening mechanism. The central axis of the annular gear box rotates, and through each weeding and loosening mechanism, the planetary frame, the material receiving disc and each material receiving slide rail rotate around the central axis of the annular gear box. At the same time, the feeding wheel drives the spiral feeder to rotate, and the spiral feeder stirs the fertilizer in the feed barrel and transports it downward to the discharge port. The fertilizer falls into the through hole from the discharge port, and the valve plug blocks the lower end of the through hole at this time; then the two three-axis moving devices drive the two shells to drive the two weeding and deep loosening fertilization devices to descend to a preset height of one. As each weeding and deep loosening fertilization device descends, each blade cuts the weeds between the corresponding plants to perform weeding between the plants; When each weeding and deep loosening and fertilizing device completes the weed cutting work at the inter-plant position of the corresponding plant, in each weeding and deep loosening and fertilizing device, the lifting mechanism drives the valve plug to descend to a preset height of two, the through hole opens, and the fertilizer in the through hole falls onto the material receiving disc along the round table surface of the valve plug, and at this time, the material receiving disc rotates relative to the valve plug and the pushing blocks on the valve plug, and the pushing blocks push the fertilizer on the material receiving disc to the arc grooves, and the fertilizer falls from the arc grooves to the material receiving slide rails, and then falls from the material receiving slide rails to the soil at the inter-plant position of the corresponding plant, so as to carry out the inter-plant fertilization work; in addition, when the valve plug descends, the planetary frame and the rotating discs of each weeding and loosening mechanism are driven to descend through the material receiving disc, and each connecting rod of each weeding and loosening mechanism rises relative to the rotating disc, and pulls each blade to rotate downward, so that each rotating blade turns to a vertical state, contacts with the soil at the inter-plant position of the corresponding plant, and carries out the inter-plant loosening work; at the same time, each blade mixes the fertilizer and the cut weeds with the soil; When each weeding and deep loosening and fertilizing device completes the loosening and fertilizing work between the corresponding plants, each lifting mechanism drives each valve plug to rise to a preset height of two, and each valve plug drives the planetary frame and the rotating disk of each weeding and loosening mechanism to rise through the corresponding material receiving disk. Each connecting rod of each weeding and loosening mechanism descends relative to the rotating disk and pushes each blade to rotate upward to a horizontal state. At the same time, the two three-axis moving devices drive the two outer shells to rise to the initial height.

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