A double-arm inter-plant weeding, deep-mulching and fertilizing integrated machine and a working method thereof

Abstract

The application discloses a double-arm inter-plant weeding, deep loosening and fertilizing integrated machine and a working method thereof. In the application, the shell is driven to move horizontally and vertically by a three-axis moving device, a ring gear box is fixed to the bottom end of the shell, when a sun gear rotates, the sun gear drives a feeding wheel to rotate through inner and outer engagement gear rings, and the inner and outer engagement gear rings and three planetary gears drive each blade of the three weeding and loosening mechanisms to rotate around the corresponding planetary gear central axis and rotate around the ring gear box central axis, the rotating disc of each weeding and loosening mechanism forms a rotating pair with a planetary carrier, a receiving disc is fixed to the middle part of the planetary carrier and is located directly below the central through hole of the ring gear box, a valve plug forms a rotating pair with the receiving disc and the planetary carrier and is driven to vertically move by a lifting mechanism, a feeding barrel is fixed to the ring gear box, the discharge port of the feeding barrel is communicated with the through hole, and a spiral feeder is arranged in the feeding barrel, forms a rotating pair with the feeding barrel and is coaxially fixed with the feeding wheel. The application can realize the inter-plant weeding, fertilizing and loosening work.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, specifically relating to a dual-arm inter-plant weeding, deep loosening and fertilization integrated machine and its working method. Background Technology

[0002] With the development of green agriculture and ecological agriculture, people are gradually abandoning the use of herbicides and other chemical pesticides for weed control. Weeding machines are often used instead. However, weeding between rows is relatively easy, while weeding between plants is more difficult. Moreover, existing weeding machines for plants have limited functions, only capable of weeding between plants and unable to loosen the soil between plants. They also do not consider returning the weeds to the field after cutting them. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of existing technologies and to propose a dual-arm inter-plant weeding, deep loosening and fertilization integrated machine and its working method.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] The present invention relates to a dual-arm inter-plant weeding, deep loosening and fertilizing integrated machine, comprising a mobile chassis, a support plate, a fertilizer box, a three-axis moving device, a camera and a weeding, deep loosening and fertilizing device.

[0006] The mobile chassis drives the support plate to move. The fertilizer box is fixed on the upper surface of the support plate, and the camera is fixed on the lower surface of the support plate. Two three-axis moving devices are symmetrically arranged at both ends of the support plate. Each of the two three-axis moving devices is equipped with a weeding, deep loosening and fertilization device.

[0007] The weeding, deep loosening, and fertilizing device includes a housing, a planetary gear mechanism, a weeding and loosening mechanism, and a fertilizing mechanism. The housing is driven to move horizontally and vertically by a corresponding three-axis moving device. The planetary gear mechanism includes a ring gearbox, an internal meshing gear ring, planetary gears, internal and external meshing gear rings, a sun gear, a feeding wheel, and a planet carrier. The ring gearbox is fixed to the bottom of the housing, and a coaxially arranged annular groove is provided at the bottom of the ring gearbox. The internal meshing gear ring and the internal and external meshing gear rings are both located inside the ring gearbox and are coaxially arranged with the ring gearbox. The planetary gears are located inside the annular gearbox, on the outer side of the annular groove. The inner and outer meshing gear rings form a rotating pair with the annular gearbox and are located on the inner side of the annular groove. The planetary gears are three evenly distributed around the circumference and mesh with the outer teeth of the inner and outer meshing gear rings and the inner meshing gear ring. The sun gear and the feeding wheel are both located inside the annular gearbox and form a rotating pair with the annular gearbox. They also mesh with the inner teeth of the inner and outer meshing gear rings. The sun gear is driven to rotate by a drive motor. The planetary carrier is located directly below the annular gearbox and is spaced apart from the annular gearbox.

[0008] Each planetary gear is equipped with a weeding and loosening mechanism. The weeding and loosening mechanism includes a planetary rod, a base, a rotating disk, blades, and connecting rods. The upper end of the vertically arranged planetary rod passes through an annular groove and is fixed coaxially with the corresponding planetary gear, while the lower end is fixed coaxially with the base. Multiple connecting rods are fixed on the base, which are vertically arranged and evenly distributed circumferentially. Each connecting rod passes through a through groove on the rotating disk and is hinged to one end of a blade, forming a sliding pair with the corresponding through groove. The middle part of each blade is hinged to the rotating disk, and the other end is a pointed tip. The blades are evenly distributed circumferentially along the rotating disk. The rotating disk and the circular holes on the planetary gear form a rotating pair.

[0009] The fertilization mechanism includes a feeding hopper, a screw feeder, a valve plug, a receiving disc, and a receiving slide rail. The feeding hopper is located inside the outer casing and fixed to the top of the ring gearbox. The feeding port at the top of the feeding hopper is connected to the fertilizer box via a feeding pipe, and the discharging port at the bottom is connected to the through hole in the middle of the ring gearbox. The screw feeder is vertically installed inside the feeding hopper, forming a rotating pair with the feeding hopper, and is coaxially fixed with the feeding wheel. The receiving disc is coaxially fixed with the planetary carrier and located directly below the through hole. An integrally formed annular boss is provided on the outer edge of the receiving disc. The valve plug is located above the receiving disc, with a frustum at the top and a middle section at the bottom. A hollow cylinder, a receiving disc, and a planetary frame form a rotating pair. The truncated cone is driven to rise and fall by a lifting mechanism located in the through hole. Multiple push blocks are fixed along the outer edge of the hollow cylinder of the valve plug, and the outer and bottom ends of each push block are respectively in contact with the inner wall of the annular boss and the receiving disc. Three arc-shaped grooves are evenly distributed along the circumference on the outer side of the valve plug on the receiving disc, and an arc-shaped groove is provided between every two adjacent weeding and loosening mechanisms. There are three receiving slide rails evenly distributed along the circumference. The two ends of each receiving slide rail are fixed to the receiving disc and the planetary frame, 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 mounted 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, 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, the lower surface of the support plate is provided with a supplementary lighting device.

[0012] Preferably, the sun gear and the feeding wheel are respectively fixed on the sun gear shaft and the feeding wheel shaft arranged vertically and at intervals. The sun gear shaft and the feeding wheel shaft pass through two holes opened at the top of the ring gear box, forming a rotating pair with the two holes respectively. The sun gear shaft is driven to rotate by a drive motor. The screw feeder is fixed coaxially with the feeding wheel shaft.

[0013] More preferably, a motor frame is fixed to the top of the ring gearbox, the housing of the drive motor is fixed to the motor frame, and the output shaft is coaxially fixed with the sun gear shaft.

[0014] Preferably, the 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, which is fixed to the rotating disk.

[0016] Preferably, the lifting mechanism includes a lead screw, a nut block, and a slide rail. A support frame is fixed at the top of the ring gearbox directly above the through hole. The vertically arranged lead screw and the support frame form a rotating pair and are driven by a second drive motor. The nut block and the lead screw 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.

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

[0018] The working method of the dual-arm inter-plant weeding, deep loosening and fertilization integrated machine of the present invention is as follows:

[0019] Fertilizer is placed in the fertilizer box, and the fertilizer falls into the feed buckets through the feed pipes. The moving chassis drives the support plate to move the fertilizer box, camera, each three-axis moving device and each weeding, deep loosening and fertilizing device along the ridge direction. The camera takes pictures of the ridge and each weeding, deep loosening and fertilizing device, gradually identifying the position of each plant on the two ridges on both sides. When the planetary frame of each weeding, deep loosening and fertilizing device moves to directly above the position of a plant on the corresponding ridge, the moving chassis stops moving. Each weeding, deep loosening and fertilizing device performs weeding, loosening and fertilizing work between the plants.

[0020] The process of weeding, loosening soil, and fertilizing between plants is as follows: The controller controls the operation of each drive motor. In each weeding, deep loosening, and fertilizing device, the drive motor drives the sun gear to rotate the inner and outer meshing gear rings. The inner and outer meshing gear rings mesh with the feeding wheel and each planetary gear, thereby driving the feeding wheel and each planetary gear to rotate. Each planetary gear meshes with the inner meshing gear ring, causing each planetary gear to rotate on its own axis while revolving around the central axis of the ring gear box. Each planetary gear, through the planetary rod, base, and connecting rods of the corresponding weeding and loosening mechanism, drives the rotating disk and each blade of the corresponding weeding and loosening mechanism to rotate around its central axis while revolving around the ring gear box. The central axis of the ring gearbox rotates, which in turn drives the planetary frame, receiving disc, and receiving slide rails to rotate around the central axis of the ring gearbox through various weeding and loosening mechanisms. At the same time, the feeding wheel drives the screw feeder to rotate, which stirs the fertilizer in the feeding hopper 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, two three-axis moving devices drive two outer shells to lower two weeding, deep loosening, and fertilizing devices to a preset height. As each weeding, deep loosening, and fertilizing device descends, each blade cuts the weeds between the corresponding plants, performing weeding between plants.

[0021] After each weeding, deep loosening, and fertilizing device completes the weeding work between the corresponding plants, the lifting mechanism in each device drives the valve plug to descend a preset height of two, opening the through hole. The fertilizer in the through hole falls along the truncated cone surface of the valve plug onto the receiving disc. At this time, the receiving disc rotates relative to the valve plug and the push blocks on the valve plug. The push blocks push the fertilizer on the receiving disc onto the arc-shaped grooves, from which the fertilizer falls onto the receiving slide rails, and then onto the soil between the corresponding plants, thus performing inter-plant fertilization. In addition, when the valve plug descends, the receiving disc drives the planetary frame and the rotating discs of each weeding and loosening mechanism to descend. Each connecting rod of each weeding and loosening mechanism rises relative to the rotating disc and pulls each blade downward to rotate, so that the rotating blades turn into a vertical state and contact the soil between the corresponding plants, thus loosening the soil between the plants. At the same time, each blade mixes the fertilizer and the cut weeds with the soil.

[0022] After each weeding, 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. Each valve plug drives the planetary frame and the rotating disk of each weeding and loosening mechanism to rise through the corresponding receiving disc. 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, 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. This invention enables weeding, fertilization, and soil loosening between plants, offering multiple functions. Specifically, in the weeding, deep loosening, and fertilization device of this invention, a drive motor drives a sun gear to rotate an inner and outer meshing gear ring around the central axis of a ring gear box. The inner and outer meshing gear rings drive each planetary gear to rotate on its own central axis while revolving around the central axis of the ring gear box. Each planetary gear drives the blades of the corresponding weeding and soil loosening mechanism to rotate on the central axis of the corresponding planetary gear while also rotating around the central axis of the ring gear box. The rotating blades cut the weeds around the plants, thus achieving the function of weeding between plants. Simultaneously, each weeding and soil loosening mechanism drives the planetary frame and the receiving disc to rotate around the valve plug. The valve plug blocks the lower end of the through hole in the middle of the ring gear box. The inner and outer meshing gear rings drive the feeding wheel to rotate, and the feeding wheel drives the screw feeder to stir the fertilizer and transport the fertilizer into the through hole, thus achieving the function of fertilizer delivery. Furthermore, after completing the weeding work between plants, the lifting mechanism drives... The moving valve plug drives the receiving disc and planetary frame to descend. The planetary frame drives the rotating discs of each weeding and loosening mechanism to descend. Each connecting rod in the weeding and loosening mechanism rises relative to the rotating disc and drives each blade to rotate downward to a vertical position. The rotating blades loosen the soil around the plants, thus achieving the function of loosening the soil between plants. At the same time as the valve plug descends, the through hole opens, and the fertilizer in the through hole falls onto the receiving disc. The receiving disc rotates relative to the valve plug, and each pusher block on the valve plug pushes the fertilizer into each arc-shaped groove. The fertilizer falls through each arc-shaped groove onto each receiving slide rail and then from each receiving slide rail to the area around the plants, thus achieving the function of fertilizing between plants. The rotating blades mix the fertilizer and the cut weeds with the soil, achieving the function of returning weeds to the field while ensuring that the fertilizer is in full contact with the soil, which is more conducive to plant growth. This invention can achieve weeding, fertilizing and loosening of the soil between plants with only two motors, reducing motor redundancy and reducing 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 to lift, move and translate, so as to realize weeding, fertilizing and loosening of soil between two rows of plants with different row spacing. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the present invention;

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

[0028] Figure 3 This is a schematic diagram of the weeding, deep loosening, and fertilization device after removing the outer shell in this invention;

[0029] Figure 4This is a schematic diagram of the structure of the feeding hopper, screw feeder, lifting mechanism, and planetary gear mechanism after removing the planetary carrier in this invention.

[0030] Figure 5 for Figure 3 A schematic diagram of the structure 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 diagram of the weeding and soil loosening mechanism in the present invention during the process of the blade rotating to a vertical position;

[0032] Figure 7 This is a schematic diagram of the weeding and soil loosening mechanism in this invention when the blade rotates to a horizontal position. Figure 1 ;

[0033] Figure 8 This is a schematic diagram of the weeding and soil loosening mechanism in this invention when the blade rotates to a horizontal position. Figure 2 ;

[0034] Figure 9 This is a schematic diagram of the structure of the planetary carrier, valve plug, receiving disc, and receiving slide rail in this invention. Detailed Implementation

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

[0036] like Figure 1 and Figure 2 As shown, this invention discloses a dual-arm inter-plant weeding, deep loosening, and fertilizing integrated machine, comprising 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 to the upper surface of the support plate 2, and the camera 6 is fixed to 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 located 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 of the X-axis linear module driving the Y-axis linear module to translate is perpendicular to the direction of the Y-axis linear module driving the Z-axis linear module to translate. The weeding, deep loosening, and fertilizing device 5 is provided on both Z-axis linear modules.

[0037] like Figure 2 As shown, the weeding, deep loosening, and fertilizing device 5 includes a housing 5-1, a planetary gear mechanism 5-2, a weeding and loosening mechanism 5-3, and a fertilizing mechanism 5-4. The housing 5-1 is driven to rise and fall by a corresponding Z-axis linear module. Figure 3 , Figure 4 and Figure 5As shown, 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, internal and external meshing gear rings 5-2-4, a sun gear 5-2-5, a sun gear shaft, a feed wheel 5-2-6, a feed wheel shaft 5-2-7, and a planet carrier 5-2-8. The annular gearbox 5-2-1 is fixed to the bottom end of the outer casing 5-1, and the bottom end of the annular gearbox 5-2-1 has a coaxially arranged annular groove. The internal meshing gear ring 5-2-2 and the internal and external meshing gear rings 5-2-4 are both located inside the annular gearbox 5-2-1 and are coaxially arranged with the annular gearbox 5-2-1. The internal meshing gear ring 5-2-2 is fixed inside the annular gearbox 5-2-1 and located outside the annular groove. The internal and external meshing gear rings 5-2-4 and the annular gearbox 5-2-1 form a rotating pair. Located inside the annular groove; three planetary gears 5-2-3 are evenly distributed circumferentially, and the planetary gears 5-2-3 mesh with the outer teeth of the inner and outer meshing gear rings 5-2-4 and the inner meshing gear ring 5-2-2; the vertically arranged sun gear shaft and the feeding wheel shaft 5-2-7 pass through two holes opened at the top of the annular gear box 5-2-1, and form a rotating pair with the two holes respectively. The sun gear shaft is driven to rotate by the drive motor 5-2-9; the sun gear 5-2-5 and the feeding wheel 5-2-6 are both located inside the annular gear box 5-2-1, and are fixed on the sun gear shaft and the feeding wheel shaft 5-2-7 respectively, and both mesh with the inner teeth of the inner and outer meshing gear rings 5-2-4. The planet carrier 5-2-8 is located directly below the annular gear box 5-2-1 and is arranged at a distance from the annular gear box 5-2-1.

[0038] Each planetary gear 5-2-3 is equipped with a weeding and soil-loosening mechanism 5-3; such as Figure 3 , Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown, the weeding and soil loosening mechanism 5-3 includes a planetary rod 5-3-1, a base 5-3-2, a rotating disk 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 an annular groove and is coaxially fixed to the corresponding planetary gear 5-2-3, while the lower end is coaxially fixed to the base 5-3-2. Multiple first connecting rods 5-3-6 are fixed vertically and evenly distributed circumferentially on the base 5-3-2. Each first connecting rod 5-3-6 passes through the rotating disk 5-3-4. A through slot is opened on -3-3, which is hinged to one end of a connecting rod 5-3-7 and forms a sliding pair with the corresponding through slot. The other end of each connecting rod 5-3-7 is fixed to one end of a blade 5-3-5. The middle part of each blade 5-3-5 is hinged to a hinge frame 5-3-4, and the other end is a pointed tip. Each hinge frame 5-3-4 is fixed on the rotating disk 5-3-3 and is evenly distributed around the circumference of the rotating disk 5-3-3. The rotating disk 5-3-3 and the circular hole opened on the planetary carrier 5-2-8 form a rotating pair.

[0039] like Figure 3 , Figure 4 , Figure 5 and Figure 9 As shown, the fertilizer application mechanism 5-4 includes a feed hopper 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 feed hopper 5-4-1 is located inside the outer casing 5-1 and fixed to the top of the annular gearbox 5-2-1. The feed inlet at the top of the feed hopper 5-4-1 is connected to the fertilizer box via a feed pipe, and the discharge outlet at the bottom is connected to the annular gearbox 5-2-1. The central through-hole is connected; the screw feeder 5-4-2 is vertically installed inside the feed hopper 5-4-1, forming a rotating pair with the feed hopper 5-4-1, and is coaxially fixed with the loading wheel shaft 5-2-7; the receiving disc 5-4-4 is coaxially fixed with the planetary carrier 5-2-8 and is located directly below the through-hole, and the outer edge of the receiving disc 5-4-4 is provided with an integrally formed annular boss; the valve plug 5-4-3 is located above the receiving disc 5-4-4, and the valve... The upper part of the valve plug 5-4-3 is a frustum, and the lower part is a hollow cylinder. The hollow cylinder, the receiving disc 5-4-4, and the planetary carrier 5-2-8 form a rotating pair. The frustum is driven to rise and fall by a lifting mechanism 5-4-6 located in the through hole. Multiple pusher blocks 5-4-8 are fixed along the outer edge of the hollow cylinder of the valve plug 5-4-3. The outer end and bottom end of each pusher block 5-4-8 are respectively attached to the inner wall of the annular boss and the receiving disc 5-4-4. The receiving disc 5-4-4 has three arc-shaped grooves evenly distributed around its circumference on the outer side of the valve plug 5-4-3, and there is one arc-shaped groove between every two adjacent weeding and loosening mechanisms 5-3; the receiving slide rail 5-4-5 has three arc-shaped grooves evenly distributed around its circumference, and the two ends of each receiving slide rail 5-4-5 are fixed to the receiving disc 5-4-4 and the planetary frame 5-2-8, and each arc-shaped groove is located directly above a receiving slide rail 5-4-5.

[0040] In a preferred embodiment, the lower surface of the support plate 2 is provided with a supplementary lighting device (light source), which is used to supplement the light for the camera 6 and improve the clarity of the camera 6 when it is recognizing objects.

[0041] In a preferred embodiment, a motor frame is fixed to the top of the ring gearbox 5-2-1, the housing of the drive motor 5-2-9 is fixed to the motor frame, and the output shaft of the drive motor 5-2-9 is coaxially fixed with the sun gear shaft.

[0042] In 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 at the top of the ring gearbox 5-2-1 directly above the through hole. The vertically arranged lead screw and the support frame form a rotating pair and are driven by a second drive motor. The nut block and the lead screw form a threaded pair and are coaxially fixed with the valve plug 5-4-3. The vertically arranged slide rail is fixed on the support frame and forms a sliding pair with the valve plug 5-4-3.

[0043] In 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 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 (used to drive the wheels), the power source of each X-axis linear module, each Y-axis linear module and each Z-axis linear module, as well as each drive motor 5-2-9 and each drive motor 2 are all controlled by the controller, and the signal output terminal of the camera 6 is connected to the controller.

[0045] The working method of the dual-arm inter-plant weeding, deep loosening and fertilization integrated machine of the present invention is as follows:

[0046] Fertilizer is placed in fertilizer bin 3, and the fertilizer falls into each feed hopper 5-4-1 through each feed pipe. The moving chassis 1 drives the support plate 2 to move fertilizer bin 3, camera 6, each three-axis moving device 4 and each weeding, deep loosening and fertilizing device 5 along the ridge direction. Camera 6 takes pictures of the ridge and each weeding, deep loosening and fertilizing device 5, gradually identifying the position of each plant on the two ridges on both sides. When the planetary frame 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 moving chassis 1 stops moving. Each weeding, deep loosening and fertilizing device 5 performs weeding, loosening and fertilizing work between the plants.

[0047] The process of weeding, loosening soil, and fertilizing between plants is as follows: The controller controls the drive motor 5-2-9 of each weeding, deep loosening, and fertilizing device 5. In each weeding, deep loosening, and fertilizing device 5, the drive motor 5-2-9 drives the sun gear 5-2-5 to rotate. The sun gear 5-2-5 meshes with the inner and outer meshing gear ring 5-2-4, thereby driving the inner and outer meshing gear ring 5-2-4 to rotate. The inner and outer meshing gear ring 5-2-4 meshes with the feeding wheel 5-2-6 and each planetary gear 5-2-3, thereby driving the feeding wheel 5- 2-6 and each planetary gear 5-2-3 rotate, and each planetary gear 5-2-3 meshes with the internal meshing gear ring 5-2-2, thereby causing each planetary gear 5-2-3 to rotate on its own axis and revolve around the central axis of the ring gear box 5-2-1. Each planetary gear 5-2-3 drives the rotating disk 5-3-3 and each blade 5-3-5 of the corresponding weeding and loosening mechanism 5-3 around its central axis through the planetary rod 5-3-1, base 5-3-2 and each connecting rod 5-3-6 of the corresponding weeding and loosening mechanism 5-3. The rotating edge rotates around the central axis of the ring gearbox 5-2-1, and through each weeding and loosening mechanism 5-3, drives the planetary carrier 5-2-8, the receiving disc 5-4-4, and each receiving slide rail 5-4-5 to rotate around the central axis of the ring gearbox 5-2-1. Simultaneously, the feeding wheel 5-2-6 drives the screw feeder to rotate through the feeding wheel shaft 5-2-7. The screw feeder agitates the fertilizer in the feed hopper 5-4-1 and conveys it downwards to the discharge port. The fertilizer falls from the discharge port into the through hole, and at this time, the valve... Plug 5-4-3 to block the through hole; then the two three-axis moving devices 4 drive the two outer shells 5-1 to lower the two weeding, deep loosening and fertilizing devices 5 to a preset height (at this time, the plant is at the bottom of the planetary frame 5-2-8 but the planetary frame 5-2-8 does not touch the plant, while each blade 5-3-5 is located around the plant and lower than the plant, close to the soil). As each weeding, deep loosening and fertilizing device 5 descends, each blade 5-3-5 cuts the weeds in the inter-plant position (around the plant) of the corresponding plant, realizing the inter-plant weeding function.

[0048] After each weeding, deep loosening, and fertilizing device 5 completes the weeding work between the corresponding plants, the lifting mechanism 5-4-6 in each device 5 drives the valve plug 5-4-3 to descend a preset height of two, opening the through hole. The fertilizer in the through hole falls along the frustum surface of the valve plug 5-4-3 onto the receiving disc 5-4-4. At this time, the receiving disc 5-4-4 rotates relative to the valve plug 5-4-3 and the pusher blocks 5-4-8 on the valve plug 5-4-3. The pusher blocks 5-4-8 push the fertilizer on the receiving disc 5-4-4 to the arc-shaped grooves. The fertilizer falls from the arc-shaped grooves onto the receiving slide rails 5-4-5, and then from the receiving slide rails 5-4-5 onto the soil between the corresponding plants. This system enables inter-plant fertilization, and the planetary frame 5-2-8 and each receiving slide rail 5-4-5 rotate, allowing fertilizer to fall evenly onto the soil between the corresponding plants. When the valve plug 5-4-3 descends, it drives the planetary frame 5-2-8 and the rotating discs 5-3-3 of each weeding and loosening mechanism 5-3 to descend via the receiving disc 5-4-4. Each connecting rod 5-3-6 of each weeding and loosening mechanism 5-3 rises relative to the rotating disc 5-3-3, and pulls each blade 5-3-5 downwards via connecting rod 5-3-7, causing the rotating blades 5-3-5 to become vertical, contacting the soil between the corresponding plants and loosening the soil, thus achieving the inter-plant loosening function. Figure 6 As shown, each blade 5-3-5 mixes the fertilizer and cut weeds with the soil, achieving the effect of returning weeds to the field while ensuring that the fertilizer is in full contact with the soil, which is more conducive to plant growth.

[0049] After each weeding, deep loosening, and fertilizing device 5 completes the loosening and fertilizing work at the corresponding plant positions, each lifting mechanism 5-4-6 drives each valve plug 5-4-3 to rise to a preset height two. Each valve plug 5-4-3, through its corresponding receiving disc 5-4-4, drives the planetary frame 5-2-8 and the rotating disc 5-3-3 of each weeding and loosening mechanism 5-3 to rise. Each connecting rod 5-3-6 of each weeding and loosening mechanism 5-3 descends relative to the rotating disc 5-3-3, and through each connecting rod 5-3-7, pushes each blade 5-3-5 to rotate upward to a horizontal state. Figure 7 and Figure 8 As shown, at the same time, two three-axis moving devices 4 drive two outer shells 5-1 to raise two weeding, deep loosening and fertilizing devices 5 to the initial height.

Claims

1. A dual-arm inter-plant weeding, deep loosening, and fertilizing integrated machine, comprising a mobile chassis, a support plate, a fertilizer tank, a three-axis moving device, and a camera, characterized in that: It also includes a weeding, deep loosening, and fertilizing 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 symmetrically arranged three-axis moving devices are provided at both ends of the support plate, each of which is equipped with a weeding, deep loosening, and fertilizing device; the weeding, deep loosening, and fertilizing device includes a housing, a planetary gear mechanism, a weeding and loosening mechanism, and a fertilizing mechanism; the housing is driven to translate and lift by the corresponding three-axis moving devices; the planetary gear mechanism includes a ring gear box, an internal meshing gear ring, planetary gears, internal and external meshing gear rings, a sun gear, a feeding wheel, and a planet carrier; the ring gear box is fixed to the bottom of the housing, and a coaxial cloth is provided at the bottom of the ring gear box. The annular groove is provided; the inner meshing gear ring and the inner and outer meshing gear rings are both located inside the annular gear box and are arranged coaxially with the annular gear box. The inner meshing gear ring is fixed inside the annular gear box and located on the outer side of the annular groove. The inner and outer meshing gear rings and the annular gear box form a rotating pair and are located on the inner side of the annular groove. The planetary gear has three evenly distributed circumferentially and meshes with the outer teeth of the inner and outer meshing gear rings and the inner meshing gear ring. The sun gear and the loading wheel are both located inside the annular gear box and form a rotating pair with the annular gear box. They also mesh with the inner teeth of the inner and outer meshing gear rings. The sun gear is driven to rotate by a drive motor. The planetary carrier is located directly below the annular gear box and is spaced apart from the annular gear box. Each planetary gear is equipped with a weeding and loosening mechanism. This mechanism includes a planetary rod, a base, a rotating disk, blades, and connecting rods. The upper end of the vertically positioned planetary rod passes through an annular groove and is coaxially fixed to the corresponding planetary gear, while the lower end is coaxially fixed to the base. Multiple vertically positioned connecting rods are evenly distributed circumferentially on the base. Each connecting rod passes through a slot on the rotating disk and is hinged to one end of a blade, forming a sliding pair with the corresponding slot. The middle of each blade is hinged to the rotating disk, and the other end is a pointed tip. The blades are evenly distributed circumferentially along the rotating disk. The rotating disk and the circular holes on the planetary gear form a rotating pair. The fertilization mechanism includes a feeding hopper, a screw feeder, a valve plug, a receiving disk, and a receiving slide rail. The feeding hopper is located inside the outer casing and fixed to the top of the annular gearbox. The feeding port at the top of the feeding hopper connects to the fertilizer box via a feeding pipe, and the discharge port at the bottom connects to the through hole in the middle of the annular gearbox. The feeder is vertically mounted inside the feed hopper, forming a rotating pair with the feed hopper and fixed coaxially with the feeding wheel; the receiving disc is fixed coaxially with the planetary carrier and located directly below the through hole, with an integrally formed annular boss on the outer edge of the receiving disc; the valve plug is located above the receiving disc, with a frustum at the top and a hollow cylinder at the bottom, the hollow cylinder forming a rotating pair with the receiving disc and the planetary carrier, and the frustum being driven to rise and fall by a lifting mechanism located in the through hole; the hollow valve plug... Multiple push blocks are fixed along the outer edge of the cylinder and are evenly distributed around the circumference. The outer end and bottom end of each push block are respectively attached to the inner wall of the annular boss and the receiving disc. Three arc-shaped grooves are evenly distributed around the circumference on the outer side of the valve plug on the receiving disc, and an arc-shaped groove is provided between every two adjacent weeding and loosening mechanisms. There are three receiving slide rails evenly distributed around the circumference. The two ends of each receiving slide rail are fixed to the receiving disc and the planetary frame, and each arc-shaped groove is located directly above a receiving slide rail.

2. The dual-arm inter-plant weeding, deep loosening, and fertilizing 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 mounted 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, 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.

3. The dual-arm inter-plant weeding, deep loosening, and fertilizing integrated machine according to claim 1, characterized in that: The lower surface of the support plate is equipped with a supplementary lighting device.

4. The dual-arm inter-plant weeding, deep loosening, and fertilizing integrated machine according to claim 1, characterized in that: The sun gear and the feeding wheel are respectively fixed on the sun gear shaft and the feeding wheel shaft arranged vertically and at intervals. The sun gear shaft and the feeding wheel shaft pass through two holes opened at the top of the ring gear box, forming a rotating pair with the two holes respectively. The sun gear shaft is driven to rotate by a drive motor. The screw feeder is fixed coaxially with the feeding wheel shaft.

5. The dual-arm inter-plant weeding, deep loosening, and fertilizing integrated machine according to claim 4, characterized in that: The top of the ring gearbox is fixed with a motor frame, the housing of the drive motor is fixed on the motor frame, and the output shaft is fixed coaxially with the sun gear shaft.

6. The dual-arm inter-plant weeding, deep loosening, and fertilizing integrated machine according to claim 1, characterized in that: The 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.

7. The dual-arm inter-plant weeding, deep loosening, and fertilizing integrated machine according to claim 1, characterized in that: The blade is hinged to the hinge frame, which is fixed to the rotating disk.

8. The dual-arm inter-plant weeding, deep loosening, and fertilizing integrated machine according to claim 1, characterized in that: The lifting mechanism includes a lead screw, a nut block, and a slide rail. A support frame is fixed at the top of the ring gearbox directly above the through hole. The vertically arranged lead screw and the support frame form a rotating pair and are driven by a second drive motor. The nut block and the lead screw 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. A dual-arm inter-plant weeding, deep loosening, and fertilizing integrated machine according to claim 1, characterized in that: A rubber ring is fixed on the valve plug.

10. The working method of a dual-arm inter-plant weeding, deep loosening, and fertilizing integrated machine according to any one of claims 1 to 9, characterized in that: Specifically as follows: Fertilizer is placed in the fertilizer box, and the fertilizer falls into the feed bucket through each feed pipe; the moving chassis drives the support plate to move the fertilizer box, camera, each three-axis moving device and each weeding, deep loosening and fertilizing device along the ridge direction. The camera takes pictures of the ridge and each weeding, deep loosening and fertilizing device, gradually identifying the position of each plant on the two ridges on both sides. When the planetary frame of each weeding, deep loosening and fertilizing device moves to the position of a plant on the corresponding ridge, the moving chassis stops moving. Each weeding, deep loosening and fertilizing device performs weeding, loosening and fertilizing work between the plants. The process of weeding, loosening soil, and fertilizing between plants is as follows: The controller controls the operation of each drive motor. In each weeding, deep loosening, and fertilizing device, the drive motor drives the sun gear to rotate the inner and outer meshing gear rings. The inner and outer meshing gear rings mesh with the feeding wheel and each planetary gear, thereby driving the feeding wheel and each planetary gear to rotate. Each planetary gear meshes with the inner meshing gear ring, causing each planetary gear to rotate on its own axis while revolving around the central axis of the ring gear box. Each planetary gear, through the planetary rod, base, and connecting rods of the corresponding weeding and loosening mechanism, drives the rotating disk and each blade of the corresponding weeding and loosening mechanism to rotate around its central axis while revolving around the ring gear box. The central axis of the ring gearbox rotates, and through each weeding and loosening mechanism, it drives the planetary frame, receiving disc, and each receiving slide rail to rotate around the central axis of the ring gearbox. At the same time, the feeding wheel drives the screw feeder to rotate. The screw feeder stirs the fertilizer in the feeding bucket 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, two three-axis moving devices drive two outer shells to lower two weeding, deep loosening and fertilizing devices to a preset height. As each weeding, deep loosening and fertilizing device descends, each blade cuts the weeds between the corresponding plants to carry out weeding work between plants. After each weeding, deep loosening, and fertilizing device completes the weeding work between the corresponding plants, the lifting mechanism in each device drives the valve plug to descend to a preset height of two, opening the through hole. The fertilizer in the through hole falls along the truncated cone of the valve plug onto the receiving disc. At this time, the receiving disc rotates relative to the valve plug and the push blocks on the valve plug. The push blocks push the fertilizer on the receiving disc to the arc-shaped grooves, from which the fertilizer falls onto the receiving slide rails, and then onto the soil between the corresponding plants, thus performing inter-plant fertilization. In addition, when the valve plug descends, the receiving disc drives the planetary frame and the rotating discs of each weeding and loosening mechanism to descend. Each connecting rod of each weeding and loosening mechanism rises relative to the rotating disc and pulls each blade downward to rotate, so that the rotating blades turn to a vertical position and contact the soil between the corresponding plants, thus loosening the soil between the plants. At the same time, each blade mixes the fertilizer and the cut weeds with the soil. After each weeding, 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. Each valve plug drives the planetary frame and the rotating disk of each weeding and loosening mechanism to rise through the corresponding receiving disc. 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, two three-axis moving devices drive the two outer shells to rise to the initial height.

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