Variable organic fertilizer applicator

Abstract

The invention provides an organic fertilizer variable-rate fertilizer applicator which is used for solving the problems that in the prior art, fertilizer application steps are tedious, the fertilizer application amount cannot be controlled, and the fertilizer applicator is difficult to adapt to different fruit trees in different growth stages. Comprising a walking mechanism, two variable fertilization mechanisms and a fertilizer storage mechanism, and the two variable fertilization mechanisms are symmetrically arranged on the left side and the right side of the walking mechanism; each variable rate fertilizing mechanism comprises a mechanical arm arranged on the walking mechanism, at least three groups of hole digging and fertilizing modules, at least three groups of variable rate conveying modules and an angle adjusting module, and the hole digging and fertilizing modules and the variable rate conveying modules are the same in number; the adjacent hole digging and fertilizing modules are connected through an angle adjusting module so as to adjust the included angle between the adjacent hole digging and fertilizing modules, and any hole digging and fertilizing module in the at least three hole digging and fertilizing modules is fixedly connected with the tail end of the mechanical arm; and the variable conveying module conveys the crushed organic fertilizer stored in the fertilizer storage mechanism to the hole digging and fertilizing module. The fertilizer applicator not only can improve the fertilizer application efficiency, but also can be suitable for different fruit trees in different growth stages.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to an organic fertilizer variable-rate applicator. Background Art

[0002] Fertilizing fruit trees is a key horticultural operation. With the continuous advancement of fruit tree cultivation technology, there are clearer standards for fertilizing fruit trees. Base fertilizer can be applied locally and concentratedly by ring ditch application, strip ditch application, radial ditch application, hole application, and surface covering. Among them, hole application is the most commonly used fertilization method. Existing hole fertilizer spreaders still have the following problems: 1. It can only complete mechanical drilling, with a single function. The fertilization process is still done manually, with complicated steps. The entire operation process has high costs, low production efficiency, and high labor intensity. 2. The hole-digging fertilizer spreader cannot crush large solid organic fertilizers into fine particles, resulting in poor absorption of organic fertilizers. It also cannot adjust the capacity of the organic fertilizers to be fed, and cannot control the amount of fertilizer applied. It cannot spread the organic fertilizers evenly, making it difficult to adapt to the different needs of different fruit trees at different stages. 3. When applying organic fertilizer, the organic fertilizer should not be moistened, which will result in low fertilizer utilization rate. Summary of the Invention

[0003] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide an organic fertilizer variable-rate applicator to solve the problems in the prior art of complicated fertilization process, inability to control the amount of fertilizer applied, and difficulty in adapting to different fruit trees at different growth stages.

[0004] To achieve the above-mentioned and other related purposes, the present invention provides an organic fertilizer variable-rate fertilizer applicator, comprising: A walking mechanism and two variable-rate fertilizing mechanisms, wherein the two variable-rate fertilizing mechanisms are symmetrically arranged on the left and right sides of the walking mechanism; Each variable-rate fertilization mechanism includes a mechanical arm provided on the walking mechanism, at least three groups of hole-digging fertilization modules, at least three groups of variable-rate conveying modules, and an angle adjustment module. The hole-digging fertilization modules and the variable-rate conveying modules are of the same number. Adjacent hole-digging fertilization modules are connected by the angle adjustment module to adjust the angle between adjacent hole-digging fertilization modules. Any of the at least three groups of hole-digging fertilization modules is fixedly connected to the end of the mechanical arm. The burial hopper is a unit that is designed to mate with the hopper and to mate with the hopper, and the burial hopper, when in operation, is adapted to move the hopper forwards and downwards relative to the hopper, and the burial hopper, when in operation, is adapted to move the hopper forwards and downwards relative to the hopper, and the burial hopper, when in operation, is adapted to move the hopper forwards and downwards relative to the hopper, The fertilizer storage mechanism, the variable conveying module conveys the crushed organic fertilizer stored in the fertilizer storage mechanism to the hole digging and fertilizing module.

[0005] Optionally, the variable-distance conveying module includes a bellows whose first end is connected to the bottom of the fertilizer storage mechanism, a variable-distance fertilizing part connected to the second end of the bellows, and a variable-distance conveying part connected to the variable-distance fertilizing part and arranged obliquely; The variable fertilizing unit includes a shell, a first adapter, a second adapter, a turntable, a first rotating shaft, an adjustment assembly, and a variable power part for driving the first rotating shaft to rotate. The first adapter and the second adapter are coaxially arranged on the shell, and both connect the inside and outside of the shell. The first adapter and the second adapter are coaxially fixedly connected to the second end of the bellows and the variable pitch conveying unit respectively. The first rotating shaft is rotatably mounted on the shell, and the central axis of the first rotating shaft is perpendicular to the central axis of the first adapter. The turntable is coaxially fixedly matched with the first rotating shaft, and the turntable is slidably matched with the inner wall of the shell, the first adapter and the second adapter. The side wall of the turntable has a plurality of fertilizer storage cavities circumferentially and toward its own axial direction. The adjustment component is used to simultaneously adjust the plurality of fertilizer storage cavities to extend toward the axis of the turntable to control the depth of the fertilizer storage cavities.

[0006] Optionally, each side wall of the fertilizer storage chamber has a displacement groove along the axis direction of the turntable, and the first rotating shaft is hollow; The adjustment assembly includes a box plate slidingly arranged in the displacement groove, a second rotating shaft rotatably installed in the first rotating shaft, a plurality of winding drums coaxially fixedly fitted on the second rotating shaft, flexible pulling members equal to the number of the winding drums, a first elastic member for resetting the box plate away from the axis of the turntable, and a winding power member for driving the second rotating shaft to rotate, one end of the flexible pulling member passes through the side wall of the first rotating shaft and the turntable and is fixedly connected to the bottom of the box plate, and the other end is wound around the winding drum, and the bottom around the displacement groove has mounting holes for mounting the first elastic member.

[0007] Optionally, the variable-pitch conveying unit includes at least three nested fertilizer delivery pipes, a receiving bucket, a ball head, a ball socket, and a variable-pitch power assembly. A variable-pitch power assembly is provided between two adjacent fertilizer delivery pipes for adaptively adjusting the extension length of the adjacent fertilizer delivery pipes. The input ends of at least three groups of nested fertilizer delivery pipes are connected to the second adapter of the variable-pitch fertilizing unit, and the at least three groups of fertilizer delivery pipes are slidably sleeved in sequence from top to bottom. The receiving bucket is rotatably connected to the top of the hollow rod, the ball socket is fixed to the top of the receiving bucket input end, the ball head is arranged on the side wall of the fertilizer delivery pipe near the receiving bucket input end, and the ball head cooperates with the ball socket.

[0008] Optionally, the variable pitch power assembly includes a second elastic member for resetting the upper fertilizer delivery pipe to the lower fertilizer delivery pipe, and a rotating column rotatably arranged on the side wall of the lower fertilizer delivery pipe, one end of the second elastic member is coaxially fixedly matched with the rotating column, and the other end is fixedly connected to the side wall of the input end of the upper fertilizer delivery pipe; And / or the variable pitch power assembly includes a third elastic member for resetting the upper fertilizer delivery pipe to the lower fertilizer delivery pipe, and an annular groove concave inwardly along its own axial direction is provided between the inner wall and the outer wall of the input end of the lower fertilizer delivery pipe, one end of the third elastic member is fixedly connected to the bottom of the annular groove, and the other end is fixedly connected to the input end of the upper fertilizer delivery pipe.

[0009] Optionally, the angle adjustment module includes a protruding block fixed to one end of the receiving arm, a concave block fixed to one end of the other receiving arm, a rotating rod, and an angle power member that drives the rotating rod to rotate. The protruding part of the protruding block has a connecting hole, the protruding block is embedded in the concave block, the rotating rod rotates through the concave part of the concave block and passes through the connecting hole, the rotating rod has external teeth, and the connecting hole has internal teeth that engage with the external teeth of the rotating rod for transmission.

[0010] Optionally, the robotic arm includes a fixed arm vertically and fixedly connected above the walking mechanism, a telescopic arm slidably installed in the fixed arm, a support arm horizontally installed on the top of the telescopic arm, an extension arm installed inside the support arm, a lifting hydraulic cylinder installed in the fixed arm, the output end of the lifting hydraulic cylinder is fixedly connected to the inner wall of the telescopic arm, an extension hydraulic cylinder is installed in the support arm, the output end of the extension hydraulic cylinder is fixedly connected to the inner wall of the extension arm, and any one of the receiving arms in at least three groups of the hole-digging and fertilizing modules is installed at the end of the extension arm away from the support arm.

[0011] Optionally, the fertilizer storage mechanism includes a lifting arm fixedly connected to the top of the walking mechanism and arranged in a rectangular shape, a box fixedly connected to the top of the lifting arm, a crushing part rotatably arranged in the box and dividing the box into two upper and lower chambers, and a triangular partition, wherein the triangular partition divides the lower chamber of the box into a left fertilizer storage chamber and a right fertilizer storage chamber; The crushing part includes a first roller rotatably arranged in the box body, a second roller rotatably arranged in the box body, a plurality of roller cutters, a first gear fixedly matched with the first roller coaxially, a second gear fixedly matched with the second roller coaxially, and a crushing power part driving the first roller to rotate, and the plurality of roller cutters are arranged on the first roller and the second roller at equal intervals, and the roller cutters on the first roller and the second roller are staggered.

[0012] Optionally, the hole-digging fertilization module further comprises a water spraying module, and the water spraying module is used to moisten the organic fertilizer delivered from the variable delivery module; The water spray module includes an annular tube, a water spray head, and a spiral water pipe arranged in the discharge end of the variable conveying module. There are multiple water spray heads, and the multiple water spray heads are arranged at equal intervals on the annular tube, and the water spraying directions are all toward the central axis of the hollow rod. The annular tube is connected to the external water source through the conveying pump and the spiral conveying pipe, and each water spray head is provided with a control valve.

[0013] Optionally, it further includes an obstacle avoidance mechanism, the obstacle avoidance mechanism including an L-shaped plate fixed to the front of the walking mechanism, and a plurality of obstacle avoidance parts arranged along the width direction of the L-shaped plate; The obstacle avoidance portion includes a U-shaped touch plate, a contact point fixed to the U-shaped touch plate, a contact block fixed to the front side of the L-shaped side plate, an elastic component for returning the U-shaped touch plate to the front, and a force sensor mounted on the front side of the L-shaped plate and fixed to the rear end of the elastic component, wherein the L-shaped plate has a sliding hole that slidably cooperates with the U-shaped touch plate; There are two elastic components, each of which includes a spring. The two springs are respectively sleeved on the arms at both ends of the U-shaped touch plate.

[0014] As described above, the variable-rate fertilizer spreader of the present invention has at least the following beneficial effects: The integrated design of the travel mechanism, variable fertilization mechanism, and fertilizer storage mechanism achieves efficient, precise, and intelligent agricultural fertilization operations. With two variable fertilization mechanisms symmetrically located on the left and right sides of the travel mechanism, fertilization can be performed on fruit trees on both sides simultaneously, reducing operation time, greatly increasing the coverage area and operation speed of a single operation, and improving operation efficiency. Each variable fertilization mechanism is equipped with at least three sets of hole-digging and fertilization modules, allowing multiple holes to be completed on a single side during fertilization operations, significantly saving manpower and time costs, and thus improving operation efficiency. Through the coordinated cooperation between the robotic arm, hole-digging and fertilization module, the variable conveying module, and the angle adjustment module, the angle and position of the hole-digging and fertilization module can be adjusted according to the actual planting spacing and growth conditions of the fruit trees, making it suitable for a variety of fruit trees at different growth stages and with different tree shapes. At least three groups of hole-digging and fertilizing modules are controlled by a mechanical arm and are located above the hole-digging position of the fruit tree so that the teeth on the spiral cutter arm contact the ground. The hole-digging power part drives the hollow rod to rotate and drives the wheel ring to rotate. The two ends of the spiral cutter arm are respectively fixed on the circular ring and the wheel ring. The spiral cutter arm also rotates with the hollow rod. The rotating spiral cutter arm uses the teeth thereon to cut the soil. The cut soil enters the hole-digging cylinder from the gap between the spiral cutter arms. The soil-feeding spiral piece cooperates with the inner wall of the hole-digging cylinder to continuously push upward the soil entering the hole-digging cylinder from the bottom. The soil pushed upward by the soil-feeding spiral piece is finally transported to the soil storage space between the top of the soil-feeding spiral piece and the top and circumferential side wall of the hole-digging cylinder. When the hole is dug, The robotic arm controls at least three sets of hole-digging and fertilizing modules to lift a certain distance. The variable conveying module conveys organic fertilizer from the fertilizer storage mechanism to the top of the hollow rod according to the different fertilizer amounts set for different fruit trees. Under the action of gravity, the fertilizer is directly conveyed to the bottom of the dug hole. The fertilizer conveying process can be a one-time conveying and then the hole-digging power part rotates the hollow rod in the opposite direction and the robotic arm is lifted to make the soil fall into the hole. It can also be conveying fertilizer while the hole-digging power part rotates the hollow rod in the opposite direction and the robotic arm is lifted to make the soil fall into the hole. Thus, the digging, fertilizing and covering operations are automatically completed in an integrated manner, thereby greatly reducing labor costs, reducing operating steps and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Shown is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 Shown is a schematic diagram of a three-dimensional structure from another perspective of the present invention; Figure 3 Shown is a schematic diagram of the three-dimensional structure of the variable fertilization mechanism of the present invention; Figure 4 Shown is a cross-sectional view of the burrowing tube of the present invention; Figure 5 Shown is a schematic diagram of the three-dimensional structure of the spiral blade arm of the present invention; Figure 6 Shown is a schematic diagram of the three-dimensional structure of the variable conveying module of the present invention; Figure 7 Shown is an exploded view of the variable fertilization portion of the present invention; Figure 8 Shown is an exploded view of the angle adjustment module of the present invention; Figure 9 Shown is a schematic diagram of the internal structure of the box of the present invention; Figure 10 Shown is a schematic diagram of the three-dimensional structure of the water spray module of the present invention; Figure 11 Shown is a schematic diagram of the three-dimensional structure of the obstacle avoidance mechanism of the present invention; Figure 12 Shown is a schematic diagram of the three-dimensional structure of the obstacle avoidance part of the present invention.

[0016] Component number description Traveling mechanism 1, water tank 11; Variable fertilization mechanism 2, mechanical arm 21, fixed arm 211, telescopic arm 212, support arm 213, extension arm 214, digging and fertilizing module 22, receiving arm 221, digging tube 222, ring 223, outward extension tooth 2231, hollow rod 224, soil feeding spiral piece 2241, wheel ring 225, spiral cutter arm 226, cutter tooth 2261, digging power part 227, soil storage space 228, variable conveying module 23, bellows 231, variable fertilization part 232, shell 2321, first adapter 2322, second adapter 2323, turntable 2324, first rotating shaft 2325, adjustment component 2326, box plate 23261, second rotating shaft 23262, winding drum 23263, flexible Pulling member 23264, first elastic member 23265, winding power member 23266, variable power member 2327, variable pitch conveying portion 233, fertilizer delivery pipe 2331, humanoid baffle 23311, leak hole 23312, receiving bucket 2332, ball head 2333, ball socket 2334, variable pitch power assembly 2335, second elastic member 23351, rotating column 23352, angle adjustment module 24, protruding block 241, connecting hole 2411, inner concave block 242, rotating rod 243, angle power member 244, outer teeth 245, inner teeth 246, telescopic reinforcement member 247, water spraying module 25, annular pipe 251, water spraying head 252, spiral conveying pipe 253, delivery pump 254, control valve 255; Fertilizer storage mechanism 3, lifting arm 31, box body 32, crushing part 33, first roller 331, second roller 332, roller cutter 333, first gear 334, second gear 335, crushing power member 336, triangular partition 34, left fertilizer storage chamber 35, right fertilizer storage chamber 36; Obstacle avoidance mechanism 4, L-shaped plate 41, obstacle avoidance portion 42, U-shaped contact plate 421, contact point 422, contact block 423, elastic member 424, force sensor 425, sliding hole 426; Control mechanism 5. DETAILED DESCRIPTION

[0017] The following describes the implementation of the present invention through specific embodiments. People skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0018] See also Figures 1 to 12 . It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they have no substantive technical significance. Any modification of the structure, change in the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the efficacy and purpose that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0019] The following embodiments are for illustration only and can be combined with each other, and are not limited to the contents presented in the following single embodiments.

[0020] In this embodiment, please refer to Figures 1 to 12 The present invention provides an organic fertilizer variable-rate fertilizer applicator, comprising: A walking mechanism 1, two variable-rate fertilizing mechanisms 2, and a fertilizer storage mechanism 3. The two variable-rate fertilizing mechanisms 2 are symmetrically arranged on the left and right sides of the walking mechanism 1. The walking mechanism 1 includes a mobile chassis, which can be a crawler-type or a wheeled type. By symmetrically arranging the two variable-rate fertilizing mechanisms 2 on the left and right sides of the walking mechanism 1, multiple fertilizing tasks can be performed simultaneously, saving manpower and time costs and significantly improving fertilization efficiency. Each variable-rate fertilization mechanism 2 includes a mechanical arm 21 provided on the walking mechanism 1, at least three groups of hole-digging fertilization modules 22, at least three groups of variable-rate delivery modules 23, and an angle adjustment module 24. The hole-digging fertilization modules 22 and the variable-rate delivery modules 23 are the same in number. Adjacent hole-digging fertilization modules 22 are connected by the angle adjustment module 24 to adjust the angle between adjacent hole-digging fertilization modules 22. Any of the at least three groups of hole-digging fertilization modules 22 is fixedly connected to the end of the mechanical arm 21. The digging and fertilizing module 22 includes a receiving arm 221, a digging tube 222 vertically and fixedly mounted on the receiving arm 221, a circular ring 223 coaxially connected to the bottom of the digging tube 222, a hollow rod 224 rotatably mounted in the digging tube 222, a wheel ring 225 coaxially located below the circular ring 223, a plurality of spiral cutter arms 226 uniformly spaced along the circumference of the circular ring 223, and a digging power member 227 for driving the hollow rod 224 to rotate. The digging power member 227 includes an electric motor or a hydraulic motor, and the two ends of the spiral cutter arm 226 are respectively fixedly connected to the circular ring 223 and the wheel ring 225. The spiral cutter arm 226 has a plurality of cutter teeth 2261 along its own spiral direction, and the outer wall of the circular ring has at least two outwardly extending teeth 2231 extending to the outside of the side of the digging tube 222. The top of the hollow rod 224 The top of the burrowing tube 222 is extended to communicate with the variable conveying module 23, and the bottom end of the hollow rod 224 is coaxially fixedly connected to the wheel ring 225. The hollow rod 224 has a soil-feeding spiral piece 2241 that contacts and cooperates with the inner wall of the burrowing tube 222 along its own axial direction from bottom to top to its own middle position. A soil storage space 228 is formed between the top and circumferential side wall of the burrowing tube 222 and the top of the soil-feeding spiral piece 2241. At least three groups of burrowing and fertilizing modules 22 are located in the middle position. The receiving arm 221 of the burrowing and fertilizing module 22 is fixedly connected to the end of the mechanical arm 21; the wheel ring 225 is slightly lower than the circular ring 223. When in use, the blade teeth 2261 on the spiral knife arm 226 contact the ground, and the wheel ring 225 is higher than the ground. The variable conveying module 23 transports the crushed organic fertilizer stored in the fertilizer storage mechanism 3 to the burrowing and fertilizing module 22.

[0021] The system also includes a control mechanism 5 and a path component for planning the travel path of the travel mechanism 1. The control mechanism 5 is connected to the travel mechanism 1, the two variable-rate fertilizing mechanisms 2, the travel component, and the fertilizer storage mechanism 3. The operating state and parameters of each component can be automatically adjusted according to different working requirements and environmental conditions, achieving intelligent control of the entire fertilizer spreader and improving the degree of automation and working efficiency of the fertilizer spreader.

[0022] The integrated design of the walking mechanism 1, the variable fertilizing mechanism 2, and the fertilizer storage mechanism 3 achieves high efficiency, precision, and intelligence in agricultural fertilization operations. With two variable fertilizing mechanisms 2 symmetrically arranged on the left and right sides of the walking mechanism 1, fertilization operations can be performed on fruit trees on both sides simultaneously, reducing operation time, greatly increasing the coverage area and operation speed of a single operation, and improving operation efficiency. Each variable fertilizing mechanism 2 is equipped with at least three sets of hole-digging fertilizing modules 22, so that multiple hole-digging operations can be completed on one side at a time during fertilization operations, thereby significantly saving manpower and time costs, and thus improving operation efficiency. Through the coordinated cooperation between the robotic arm 21, the hole-digging fertilizing module 22, the variable conveying module 23, and the angle adjustment module 24, the angle and position of the hole-digging fertilizing module 22 can be adjusted according to the actual planting spacing and growth conditions of the fruit trees, thereby being applicable to a variety of fruit trees at different growth periods, with different tree shapes, and other fruit trees. At least three groups of digging and fertilizing modules 22 are controlled by the mechanical arm 21 to be located above the digging position of the fruit tree and to make the teeth 2261 on the spiral cutter arm 226 contact the ground. The digging power part 227 drives the hollow rod 224 to rotate and drives the wheel ring 225 to rotate. The two ends of the spiral cutter arm 226 are respectively fixed on the circular ring 223 and the wheel ring 225. The spiral cutter arm 226 also rotates with the hollow rod 224. The rotating spiral cutter arm 226 uses the teeth 2261 thereon to cut the soil. The cut soil enters the digging tube 222 from the gap between the spiral cutter arms 226. The soil sending spiral piece 2241 cooperates with the inner wall of the digging tube 222 to continuously push upward the soil entering the digging tube 222 from the bottom. The soil pushed upward by the soil sending spiral piece 2241 is finally transported to the top of the soil sending spiral piece 2241 and the top of the digging tube 222 and In the soil storage space 228 between the circumferential side walls, when the hole is dug, the robotic arm 21 controls at least three groups of hole digging and fertilizing modules 22 to lift a certain distance, and the variable conveying module 23 conveys organic fertilizer from the fertilizer storage mechanism 3 to the top of the hollow rod 224 according to the different fertilizer amounts set according to the needs of different fruit trees. Under the action of gravity, the fertilizer is directly conveyed to the bottom of the dug hole. During the fertilizer conveying process, it can be a one-time conveying process and then the hole digging power part 227 is used to reversely rotate the hollow rod 224 and the robotic arm 21 to lift and cooperate to make the soil fall into the hole. It can also be that the fertilizer is conveyed while the hole digging power part 227 is used to reversely rotate the hollow rod 224 and the robotic arm 21 to lift and cooperate to make the soil fall into the hole, thereby realizing the integrated automatic completion of hole digging, fertilizing and soil covering operations, thereby greatly reducing labor costs, reducing operating steps and improving work efficiency.

[0023] In this embodiment, please refer to Figure 3 and Figure 6The variable-distance conveying module 23 includes a bellows 231 whose first end is connected to the bottom of the fertilizer storage mechanism 3, a variable-distance fertilizing unit 232 connected to the second end of the bellows 231, and a variable-distance conveying unit 233 connected to the variable-distance fertilizing unit 232 and arranged obliquely. The bellows 231 has a certain degree of flexibility, hardness, and length, allowing the variable-distance fertilizing unit 232 to have a certain position adjustment space relative to the fertilizer storage mechanism 3. The variable fertilizing unit 232 includes a housing 2321, a first adapter 2322, a second adapter 2323, a turntable 2324, a first rotating shaft 2325, an adjustment assembly 2326, and a variable power member 2327 for driving the first rotating shaft 2325 to rotate. The variable power member 2327 includes an electric motor or a hydraulic motor. The housing 2321 can be cylindrical or disc-shaped. The first adapter 2322 and the second adapter 2323 are coaxially arranged on the housing 2321 and both connect the inside and outside of the housing 2321. The first adapter 2322 and the second adapter are respectively connected to the second end of the bellows 231. The first end is coaxially fixedly connected to the variable-pitch conveying part 233, the first rotating shaft 2325 is rotatably mounted on the shell 2321, and the central axis of the first rotating shaft 2325 is perpendicular to the central axis of the first adapter 2322, the turntable 2324 is coaxially fixedly matched with the first rotating shaft 2325, the turntable 2324 is slidably matched with the inner wall of the shell 2321, the first adapter 2322 and the second adapter 2323, and the side wall of the turntable 2324 has a plurality of fertilizer storage cavities in the circumferential direction and toward the axis direction of itself; the parts of the turntable 2324 and the shell 2321 that contact the fertilizer can be made of wear-resistant materials or coatings to extend their service life.

[0024] The adjustment component 2326 is used to simultaneously adjust the plurality of fertilizer storage cavities to extend toward the axis of the turntable 2324 to control the depth of the fertilizer storage cavities.

[0025] During fertilization, the crushed organic fertilizer flows out from the bottom of the fertilizer storage mechanism 3, and the fertilizer flows into the first adapter 2322 of the variable fertilizing part 232 through the bellows 231, enters the interior of the shell 2321, and then enters the fertilizer storage chamber on the turntable 2324. The first rotating shaft 2325 is driven to rotate by the variable power member 2327 to drive the turntable 2324 to rotate, and the fertilizer storage chamber filled with fertilizer leaves the feed port position. When the fertilizer storage chamber rotates to a position aligned with the second adapter 2323, the fertilizer is discharged from the fertilizer storage chamber under the action of gravity, and flows into the variable fertilizer storage chamber through the second adapter 2323. The variable-distance conveying section 233, which is tilted, receives the fertilizer discharged from the variable-distance fertilizing section 232 and transports the fertilizer from the variable-distance fertilizing section 232 to the entrance of the hollow rod 224 of the target hole-digging and fertilizing module 22. The fertilizer is transported to the bottom of the dug hole through the hollow rod 224. The depth of the fertilizer storage chamber is controlled by the adjustment component 2326, so that each fertilizer storage chamber completes a cycle and delivers a set volume of fertilizer. This can flexibly match the precise needs of different fruit trees, different growth stages or different soil conditions, avoiding fertilizer waste or excessive application. The speed of the turntable 2324 is controlled by the variable power component 2327, and the depth of the fertilizer storage chamber is controlled by the adjustment component 2326, so that high-precision variable fertilization control can be achieved. It can also enable intermittent and continuous fertilizer transportation and smooth passage through the hollow rod 224 into the hole bottom, reducing blockage.

[0026] In this embodiment, please refer to Figure 6 and Figure 7 , each of the side walls of the fertilizer storage chamber has a displacement groove along the axis direction of the rotating disk 2324, and the first rotating shaft 2325 is hollow; The adjustment assembly 2326 includes a box plate 23261 slidably arranged in the displacement groove, a second shaft 23262 rotatably installed in the first shaft 2325, a plurality of winding drums 23263 coaxially fixedly fitted on the second shaft 23262, a number of flexible pulling members 23264 equal to the number of the winding drums 23263, a first elastic member 23265 for resetting the box plate 23261 away from the axis of the turntable 2324, and a plurality of flexible pulling members 23264 for driving the box plate 23261 to move away from the axis of the turntable 2324. The second rotating shaft 23262 rotates a winding power member 23266, which includes a motor. One end of the flexible pulling member 23264 passes through the side wall of the first rotating shaft 2325 and the turntable 2324, and is fixedly connected to the bottom of the box plate 23261. The other end is wound around the winding drum 23263. The flexible connecting member can be a high-strength steel wire rope or a pull wire. The displacement slot has mounting holes around the bottom for mounting the first elastic member 23265. The box plate 23261 can be plate-shaped or block-shaped; the first elastic member 23265 includes a spring, with its ends fixedly connected to the bottom of the box plate 23261 and the bottom of the mounting hole, respectively.

[0027] When the depth of the fertilizer storage chamber is adjusted, the second rotating shaft 23262 is driven to rotate by the winding power member 23266, which drives the winding drum 23263 to rotate, and the flexible pulling member 23264 begins to be wound. The flexible pulling member 23264 is wound, generating a pulling force. The pulling force overcomes the elastic force of the first elastic member 23265, and pulls the box plate 23261 along the displacement groove toward the axis direction of the turntable 2324, so that the depth of the fertilizer storage chamber becomes deeper and can accommodate more organic fertilizers, so that the amount of fertilizer applied can be adjusted in real time according to the growth of the fruit trees, thereby improving the efficiency and targetedness of fertilization. Since all the winding drums 23263 are fixed on the same second rotating shaft 23262, they rotate and reel synchronously, realizing complete synchronous and equal adjustment of the depth of all fertilizer storage chambers, thereby achieving precise synchronous adjustment, compact structure and high integration, and the winding power part 23266 can accurately control the rotation angle of the second rotating shaft 23262, thereby accurately controlling the moving distance of the box plate 23261, realizing stepless and continuous adjustment of the depth of the fertilizer storage chamber, and high precision in controlling the amount of fertilizer applied.

[0028] In this embodiment, please refer to Figure 3 and Figure 6 The variable-pitch conveying portion 233 includes at least three nested fertilizer delivery pipes 2331, a receiving bucket 2332, a ball head 2333, a ball socket 2334, and a variable-pitch power assembly 2335. A variable-pitch power assembly 2335 is provided between two adjacent fertilizer delivery pipes 2331 for adaptively adjusting the extension length of the adjacent fertilizer delivery pipes 2331. The input ends of at least three groups of nested fertilizer delivery pipes 2331 are connected to the second adapter 2323 of the variable-pitch fertilizing portion 232. The at least three groups of fertilizer delivery pipes 2331 are slidably sleeved in sequence from top to bottom, wherein the diameter of the fertilizer delivery pipes 2331 gradually increases from top to bottom, and the inner wall of the next fertilizer delivery pipe 2331 is slidably sleeved on the outer wall of the previous fertilizer delivery pipe 2331. The receiving bucket 2332 is rotatably connected to the top of the hollow rod 224, the ball socket 2334 is fixed to the top of the input end of the receiving bucket 2332, and the ball head 2333 is provided on the side wall of the fertilizer delivery pipe 2331 near the input end of the receiving bucket 2332, and the ball head 2333 cooperates with the ball socket 2334; Each fertilizer delivery pipe 2331 has a human-shaped baffle 23311 on the inner wall of the output port. The human-shaped baffle 23311 has a leakage hole 23312 along its own height direction, which divides the falling fertilizer flow into multiple thin streams, ensuring that the fertilizer enters the receiving bucket 2332 at a low speed and uniform state.

[0029] The fertilizer delivered through the second adapter 2323 enters the input end of the top fertilizer delivery pipe 2331, and the fertilizer flows through the nested fertilizer delivery pipes 2331 step by step, and is diverted by the human-shaped baffle 2331 at the outlet of each level. The variable pitch power component 2335 passively and adaptively adjusts the extension length of adjacent fertilizer delivery pipes through the movement of the robotic arm 21. The length of the fertilizer delivery pipe 2331 can be accurately adjusted according to different working environments and delivery distances to achieve the best delivery effect. The ball head 2333 rotates in the ball socket 2334 to compensate for the angular deviation of the bottom fertilizer delivery pipe 2331. The fertilizer enters the receiving bucket 2332 through the fertilizer delivery pipe 2331 and then enters the hollow rod 224.

[0030] In this embodiment, please refer to Figure 6 The variable pitch power assembly 2335 includes a second elastic member 23351 for resetting the upper fertilizer delivery tube 2331 to the lower fertilizer delivery tube 2331, and a rotating column 23352 rotatably arranged on the side wall of the lower fertilizer delivery tube 2331. One end of the second elastic member 23351 is coaxially fixedly matched with the rotating column 23352, and the other end is fixedly connected to the side wall of the input end of the upper fertilizer delivery tube 2331; the second elastic member 23351 is a clockwork spring, and the protective cover covers the clockwork spring on the rotating column 2335 2, the other end of the clockwork spring passes through the protective cover and extends out of the protective cover; when working, when the mechanical arm 21 extends, the fertilizer delivery pipe 2331 is extended, and the clockwork spring is stretched at this time. When the mechanical arm 21 retracts, the clockwork spring uses its own elastic restoring force to pull the fertilizer delivery pipe 2331 back to a suitable length for conveying fertilizer. Through the design of the clockwork spring and relying on the elastic potential energy of the clockwork spring, the length between adjacent fertilizer delivery pipes 2331 can automatically adapt to different telescopic working requirements, thereby improving the practicality and flexibility of the variable-length conveying part 233.

[0031] And / or the variable pitch power assembly 2335 includes a third elastic member for resetting the upper fertilizer delivery pipe 2331 to the lower fertilizer delivery pipe 2331, and an annular groove is provided between the inner wall and the outer wall of the input end of the lower fertilizer delivery pipe 2331 and along its own axial direction. One end of the third elastic member is fixedly connected to the bottom of the annular groove, and the other end is fixedly connected to the input end of the upper fertilizer delivery pipe 2331. The third elastic member is a coil spring. When the robot arm 21 is extended, it drives the adjacent fertilizer delivery pipe 2331 to extend. At this time, the coil spring is stretched. When the robot arm 21 retracts, the coil spring uses its own elastic restoring force to pull the adjacent fertilizer delivery pipe 2331 back to the appropriate length to transport fertilizer. Through the design of the coil spring, relying on the elastic potential energy of the coil spring, the length of the adjacent fertilizer delivery pipe 2331 can automatically adapt to different telescopic working requirements, thereby improving the practicality and flexibility of the variable pitch conveying part 233.

[0032] In this embodiment, please refer to Figure 1 and Figure 8 The angle adjustment module 24 includes a protruding block 241 fixed to one end of the receiving arm 221, an inner concave block 242 fixed to one end of the other receiving arm 221, a rotating rod 243, and an angle power member 244 that drives the rotating rod 243 to rotate. The angle power member 244 includes an electric motor and a hydraulic motor. The protruding part of the protruding block 241 is provided with a connecting hole 2411. The protruding block 241 is embedded in the inner concave block 242. The rotating rod 243 rotates through the inner concave part of the inner concave block 242 and passes through the connecting hole 2411. The rotating rod 243 has external teeth 245, and the connecting hole 2411 has internal teeth 246 that engage and transmit with the external teeth 245 of the rotating rod 243.

[0033] The angle adjustment module 24 also includes a telescopic reinforcement 247, both ends of which are hinged to the adjacent receiving arms 221 through hinged seats. The telescopic reinforcement 247 includes a hydraulic cylinder, a pneumatic cylinder or an electric push rod. The telescopic reinforcement 247 can be used to adjust the angle between adjacent hole-digging and fertilizing modules 22 to be more stable, and can also stably transmit force when the hole-digging and fertilizing modules 22 dig holes.

[0034] The rotating rod 243 is driven to rotate by the angle power member 244, and the outer teeth 245 on the rotating rod 243 are engaged with the inner teeth 246 in the connecting hole 2411 for transmission, driving the receiving arm 221 to rotate to achieve the angle adjustment between adjacent receiving arms 221, so that the variable fertilization mechanism 2 can flexibly adapt to different fruit trees at different growth stages, ensuring accurate alignment of the fertilization position, and by cooperating with the telescopic reinforcement member 247, it can not only enhance the strength and stability of the connection part, but also stably transmit the force.

[0035] In this embodiment, please refer to Figure 1 and Figure 3The mechanical arm 21 includes a fixed arm 211 vertically and fixedly connected above the walking mechanism 1, a telescopic arm 212 slidably installed in the fixed arm 211, a support arm 213 horizontally installed on the top of the telescopic arm 212, and an extension arm 214 installed inside the support arm 213. A lifting hydraulic cylinder is installed in the fixed arm 211, and the output end of the lifting hydraulic cylinder is fixedly connected to the inner wall of the telescopic arm 212. An extension hydraulic cylinder is installed in the support arm 213, and the output end of the extension hydraulic cylinder is fixedly connected to the inner wall of the extension arm 214. Any receiving arm 221 of at least three groups of the digging and fertilizing modules 22 is installed on the end of the extension arm 214 away from the support arm 213. It is fixed vertically above the walking mechanism 1 and serves as the basic support structure of the mechanical arm 21. The lifting hydraulic cylinder pushes the telescopic arm 212 to slide up and down in the fixed arm 211 to adjust the working height of the digging and fertilizing module 22. The extending hydraulic cylinder pushes the extending arm 214 to extend and retract horizontally in the support arm 213 to control the horizontal distance of the digging point, so that it can adapt to the position of the fertilization point at different growth stages of different fruit trees.

[0036] In this embodiment, please refer to Figure 1 、 Figure 2 and Figure 9 The fertilizer storage mechanism 3 includes a lifting arm 31 fixedly connected to the top of the walking mechanism 1 and arranged in a rectangular shape, a box body 32 fixedly connected to the top of the lifting arm 31, a crushing part 33 rotatably arranged in the box body 32 and dividing the box body 32 into two upper and lower chambers, and a triangular partition 34. The triangular partition 34 divides the lower chamber of the box body 32 into a left fertilizer storage chamber 35 and a right fertilizer storage chamber 36. The crushing part 33 includes a first roller 331 rotatably arranged in the box body 32, a second roller 332 rotatably arranged in the box body 32, a plurality of roller cutters 333, a first gear 334 coaxially fixedly matched with the first roller 331, a second gear 335 coaxially fixedly matched with the second roller 332, and a crushing power member 336 for driving the first roller 331 to rotate. The crushing power member 336 includes an electric motor or a hydraulic motor, and an annular transmission member that transmits and connects the first roller 331 and the output end of the electric motor or the hydraulic motor. The annular transmission member is a pulley drive or a sprocket drive. The plurality of roller cutters 333 are equidistantly arranged on the first roller 331 and the second roller 332, and the roller cutters 333 on the first roller 331 and the second roller 332 are staggered.

[0037] The first roller 331 is driven to rotate by a crushing power member 336, and the meshing transmission of the first gear 334 and the second gear 335 drives the second roller 332 to rotate in the opposite direction. The staggered roller cutters 333 on the two rollers form a shearing and crushing effect, breaking the fertilizer lumps entering the box 32 into uniform particles, so that the organic fertilizer can be better absorbed and the loading capacity of the organic fertilizer can be adjusted to meet the different needs of different fruit trees at different growth stages, avoiding agglomeration that affects fertilization accuracy and preventing blockage during the delivery process of the variable delivery module 23. The crushed fertilizer falls into the left and right fertilizer storage chambers 36 separated by the triangular partition 34, allowing the fertilizer to slide down the inclined surface of the triangular partition 34 by its own gravity and always remain at the bottom of the left and right fertilizer storage chambers 36, facilitating the continuous supply of fertilizer to the variable delivery modules 23 of the variable fertilization mechanism 2 on the left and right sides.

[0038] In this embodiment, please refer to Figure 1 、 Figure 3 and Figure 10 The digging and fertilizing module 22 further includes a water spraying module 25, which is used to moisten the organic fertilizer delivered from the variable delivery module 23; The water spray module 25 includes an annular tube 251, a water spray head 252, and a spiral water pipe, which are located within the discharge end of the variable conveying module 23. There are multiple water spray heads 252, which are evenly spaced on the annular tube 251 and spray water in the direction of the central axis of the hollow rod 224. The annular tube 251 is connected to an external water source via a delivery pump 254 and the spiral conveying pipe 253. The spiral conveying pipe 253 has a certain degree of elasticity and hardness, allowing for continuous water delivery. Each water spray head 252 is equipped with a control valve 255. The water tank 11 is located above the walking mechanism 1 and is connected to the annular tube 251. The control valve 255 can accurately control the amount of water sprayed. Multiple control valves 255 can be integrated into the control mechanism 5 for unified control, thereby facilitating management. The annular tube 251 is fixed below the inner wall of the receiving bucket 2332 and above the hollow tube. Multiple water spray heads 252 are evenly spaced on the annular tube 251, and the water spray direction is toward the central axis of the hollow tube. This makes the water spray coverage wider, allowing the organic fertilizer to fully contact the water, allowing the organic fertilizer to dissolve into the soil and be better absorbed. Before fertilizing, the water spray module 25 can be used to spray water to moisten the pit, which helps the organic fertilizer dissolve better.

[0039] In this embodiment, please refer to Figure 1 、 Figure 11 and Figure 12, further comprising an obstacle avoidance mechanism 4, the obstacle avoidance mechanism 4 comprising an L-shaped plate 41 fixedly connected to the front of the traveling mechanism 1, and a plurality of obstacle avoidance portions 42 arranged along the width direction of the L-shaped plate 41, forming a detection zone covering the entire width of the traveling mechanism 1, which can cover the lateral area in front of the traveling mechanism 1, and can detect obstacles in all directions with a wide coverage range, and can also adjust the travel route of the traveling mechanism 1 by controlling the control mechanism 5 according to the position of the obstacle; The obstacle avoidance portion 42 includes a U-shaped touch plate 421, a contact point 422 fixed to the U-shaped touch plate 421, a contact block 423 fixed to the front side of the L-shaped side plate, an elastic member 424 for returning the U-shaped touch plate 421 to the front, and a force sensor 425 mounted on the front side of the L-shaped plate 41 and fixed to the rear end of the elastic member 424. The L-shaped plate 41 has a sliding hole 426 that slidably cooperates with the U-shaped touch plate 421. There are two elastic components 424 , each of which includes a spring. The two springs are respectively mounted on arms at both ends of the U-shaped touch panel 421 .

[0040] During the movement of the walking mechanism 1, if there is an obstacle in front, the U-shaped touch plate 421 contacts the obstacle, and the U-shaped touch plate 421 slides with the sliding hole 426 to move backward. At this time, the elastic component 424 is compressed, and the force sensor 425 measures the resistance in real time. The control mechanism 5 analyzes the force results and adjusts the movement mode and direction of the walking mechanism 1 according to the established procedure. If, during the movement of the walking mechanism 1, the elastic component 424 is compressed to the limit, so that the contact point 422 contacts the contact block 423, it can be determined that the obstacle cannot be overcome by the walking mechanism 1. At this time, the movement route of the walking mechanism 1 can be adjusted manually or by the control mechanism 5.

[0041] The obstacle avoidance unit 42 also includes an obstacle detection module, which detects obstacles in front of the walking mechanism 1 in real time. The obstacle detection module can be an ultrasonic sensor. If an obstacle is detected, it can be fed back to the control mechanism 5 to slow down the travel speed of the walking mechanism 1 to ensure the safety of the walking mechanism 1. If it does not return to the normal travel speed.

[0042] Working principle: First, organic fertilizer is put into the box 32 from the top, and the first roller 331 is driven to rotate by the crushing power member 336. The meshing transmission of the first gear 334 and the second gear 335 drives the second roller 332 to rotate in the opposite direction. The staggered roller cutters 333 on the two rollers form a shearing and crushing effect, breaking the fertilizer blocks entering the box 32 into uniform particles. The crushed fertilizer falls into the left and right fertilizer storage chambers 36 separated by the triangular partition 34, so that the fertilizer can slide along the inclined surface of the triangular partition 34 by its own gravity and always stay at the bottom of the left and right fertilizer storage chambers 36. According to the path component, the walking path of the walking mechanism 1 is planned and reaches the fertilizing point. The telescopic arm 212 is pushed up and down in the fixed arm 211 by the lifting hydraulic cylinder to adjust the working height of the digging and fertilizing module 22. The hydraulic cylinder is extended to push the extension arm 214 to extend and retract horizontally in the support arm 213 to control the horizontal distance of the digging point, so that at least three groups of digging and fertilizing modules 22 of the variable fertilizing mechanism 2 on both sides are located above the digging position of the fruit tree and the blade teeth 2261 on the spiral knife arm 226 are in contact with the ground. The digging power part 227 drives the hollow rod 224 to rotate and drive the wheel ring 225 to rotate. The two ends of the spiral knife arm 226 are respectively fixed on the circular ring 223 and the wheel ring 225. The spiral knife arm 226 also rotates with the hollow rod 224. The rotating spiral knife arm 2 26 uses the blade teeth 2261 thereon to cut the soil, and the cut soil enters the digging tube 222 from the gap between the spiral cutter arms 226, and the soil-feeding spiral piece 2241 cooperates with the inner wall of the digging tube 222 to continuously push the soil entering the digging tube 222 from the bottom upward, and the soil pushed upward by the soil-feeding spiral piece 2241 is finally transported to the soil storage space 228 between the top of the soil-feeding spiral piece 2241 and the top and circumferential side wall of the digging tube 222. When the digging is completed, the mechanical arm 21 controls at least three groups of digging and fertilizing modules 22 to rise a certain distance, and the variable conveying module 23 causes the crushed organic fertilizer to flow out from the bottom of the fertilizer storage chamber of the fertilizer storage mechanism 3 according to the different fertilizer amounts set according to the needs of different fruit trees, and the fertilizer flows into the variable conveying module 23 through the bellows 231. The first adapter 2322 of the fertilizing part 232 enters the interior of the shell 2321, and then enters the fertilizer storage chamber on the turntable 2324. The variable power part 2327 drives the first rotating shaft 2325 to rotate and drives the turntable 2324 to rotate. The fertilizer storage chamber filled with fertilizer leaves the feed port position. When the fertilizer storage chamber rotates to a position aligned with the second adapter 2323, the fertilizer is discharged from the fertilizer storage chamber under the action of gravity and enters the input end of the top fertilizer delivery pipe 2331 through the second adapter 2323. The fertilizer flows through the nested fertilizer delivery pipes 2331 step by step and is diverted by the human-shaped baffle 23311 at each outlet. The variable pitch power component 2335 passively and adaptively adjusts the extension length of adjacent fertilizer delivery pipes through the movement of the robotic arm 21, which can be adjusted according to different working conditions. The length of the fertilizer delivery pipe 2331 is accurately adjusted according to the environment and delivery distance to achieve the best delivery effect. The ball head 2333 rotates in the ball socket 2334 to compensate for the angular deviation of the fertilizer delivery pipe 2331 at the bottom. The fertilizer enters the receiving bucket 2332 through the fertilizer delivery pipe 2331 and is fixed to the bottom of the inner wall of the receiving bucket 2332 and above the hollow pipe through the annular pipe 251. Multiple water spray heads 252 are arranged on the annular pipe 251 at equal intervals, and the water spraying direction is all toward the central axis of the hollow pipe, so that the water spraying coverage is wider, so that the organic fertilizer can fully contact with the water and then enter the hollow rod 224. The organic fertilizer is transported from the fertilizer storage mechanism 3 to the top of the hollow rod 224. Under the action of gravity, the fertilizer is directly transported to the bottom of the dug pit.During the fertilizer delivery process, the soil can be dropped into the pit after the fertilizer is delivered in one go, and then the hollow rod 224 is rotated in the opposite direction by the digging power member 227 and the mechanical arm 21 is lifted. Alternatively, the soil can be dropped into the pit while the hollow rod 224 is rotated in the opposite direction by the digging power member 227 and the mechanical arm 21 is lifted. This allows the digging, fertilizing, and covering operations to be completed automatically in an integrated manner, thereby greatly reducing labor costs, reducing operating steps, and improving work efficiency.

[0043] In summary, the present invention realizes the efficiency, precision and intelligence of agricultural fertilization operations through the integrated design of the walking mechanism 1, the variable fertilization mechanism 2 and the fertilizer storage mechanism 3. By symmetrically arranging the two variable fertilization mechanisms 2 on the left and right sides of the walking mechanism 1, the fruit trees on both sides can be fertilized at the same time, reducing the operation time, greatly improving the coverage area and operation speed of a single operation, and improving the operation efficiency. By equipping each variable fertilization mechanism 2 with at least three sets of digging and fertilizing modules 22, multiple holes can be completed on one side at a time during the fertilization operation, thereby significantly saving manpower and time costs, and thus improving the operation efficiency. Through the coordinated cooperation between the mechanical arm 21, the digging and fertilizing module 22, the variable conveying module 23 and the angle adjustment module 24, the angle and position of the digging and fertilizing module 22 can be adjusted according to the actual planting spacing and growth conditions of the fruit trees, so that it can be applied to a variety of fruit trees in different growth periods, different fruit tree tree shapes and other fruit trees. At least three groups of digging and fertilizing modules 22 are controlled by the mechanical arm 21 to be located above the digging position of the fruit tree and to make the teeth 2261 on the spiral cutter arm 226 contact the ground. The digging power part 227 drives the hollow rod 224 to rotate and drives the wheel ring 225 to rotate. The two ends of the spiral cutter arm 226 are respectively fixed on the circular ring 223 and the wheel ring 225. The spiral cutter arm 226 also rotates with the hollow rod 224. The rotating spiral cutter arm 226 uses the teeth 2261 thereon to cut the soil. The cut soil enters the digging tube 222 from the gap between the spiral cutter arms 226. The soil sending spiral piece 2241 cooperates with the inner wall of the digging tube 222 to continuously push upward the soil entering the digging tube 222 from the bottom. The soil pushed upward by the soil sending spiral piece 2241 is finally transported to the top of the soil sending spiral piece 2241 and the top of the digging tube 222 and In the soil storage space 228 between the circumferential side walls, after the hole is dug, the robotic arm 21 controls at least three groups of hole digging and fertilizing modules 22 to be lifted a certain distance. The variable conveying module 23 conveys organic fertilizer from the fertilizer storage mechanism 3 to the top of the hollow rod 224 according to the different fertilizer amounts set for different fruit trees. Under the action of gravity, the fertilizer is directly conveyed to the bottom of the dug hole. The fertilizer conveying process can be a one-time conveying process, and then the hole digging power part 227 rotates the hollow rod 224 in the opposite direction and the robotic arm 21 is lifted to make the soil fall into the hole. It can also be a process of conveying fertilizer while the hole digging power part 227 rotates the hollow rod 224 in the opposite direction and the robotic arm 21 is lifted to make the soil fall into the hole. This realizes the automatic completion of the hole digging, fertilizing, and soil covering operations, thereby greatly reducing labor costs, reducing operating steps, and improving work efficiency. Therefore, the present invention effectively overcomes the various shortcomings of the prior art and has high industrial utilization value.

[0044] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. An organic fertilizer variable rate fertilizer applicator, characterized in that: include: A walking mechanism and two variable-rate fertilizing mechanisms, wherein the two variable-rate fertilizing mechanisms are symmetrically arranged on the left and right sides of the walking mechanism; Each variable-rate fertilization mechanism includes a mechanical arm provided on the walking mechanism, at least three groups of hole-digging fertilization modules, at least three groups of variable-rate conveying modules, and an angle adjustment module. The hole-digging fertilization modules and the variable-rate conveying modules are of the same number. Adjacent hole-digging fertilization modules are connected by the angle adjustment module to adjust the angle between adjacent hole-digging fertilization modules. Any of the at least three groups of hole-digging fertilization modules is fixedly connected to the end of the mechanical arm. The burial hopper is a unit that is designed to mate with the hopper and to mate with the hopper, and the burial hopper, when in operation, is adapted to move the hopper forwards and downwards relative to the hopper, and the burial hopper, when in operation, is adapted to move the hopper forwards and downwards relative to the hopper, and the burial hopper, when in operation, is adapted to move the hopper forwards and downwards relative to the hopper, The fertilizer storage mechanism, the variable conveying module conveys the crushed organic fertilizer stored in the fertilizer storage mechanism to the hole digging and fertilizing module.

2. The organic fertilizer variable rate fertilizing machine according to claim 1, wherein: The variable-distance conveying module includes a bellows whose first end is connected to the bottom of the fertilizer storage mechanism, a variable-distance fertilizing part connected to the second end of the bellows, and a variable-distance conveying part connected to the variable-distance fertilizing part and arranged obliquely; The variable fertilizing unit includes a shell, a first adapter, a second adapter, a turntable, a first rotating shaft, an adjustment assembly, and a variable power part for driving the first rotating shaft to rotate. The first adapter and the second adapter are coaxially arranged on the shell, and both connect the inside and outside of the shell. The first adapter and the second adapter are coaxially fixedly connected to the second end of the bellows and the variable pitch conveying unit respectively. The first rotating shaft is rotatably mounted on the shell, and the central axis of the first rotating shaft is perpendicular to the central axis of the first adapter. The turntable is coaxially fixedly matched with the first rotating shaft, and the turntable is slidably matched with the inner wall of the shell, the first adapter and the second adapter. The side wall of the turntable has a plurality of fertilizer storage cavities circumferentially and toward its own axial direction. The adjustment component is used to simultaneously adjust the plurality of fertilizer storage cavities to extend toward the axis of the turntable to control the depth of the fertilizer storage cavities.

3. The organic fertilizer variable rate fertilizing machine according to claim 2, characterized in that: Each of the side walls of the fertilizer storage chamber has a displacement groove along the axis of the turntable, and the first rotating shaft is hollow; The adjustment assembly includes a box plate slidingly arranged in the displacement groove, a second rotating shaft rotatably installed in the first rotating shaft, a plurality of winding drums coaxially fixedly fitted on the second rotating shaft, flexible pulling members equal to the number of the winding drums, a first elastic member for resetting the box plate away from the axis of the turntable, and a winding power member for driving the second rotating shaft to rotate, one end of the flexible pulling member passes through the side wall of the first rotating shaft and the turntable and is fixedly connected to the bottom of the box plate, and the other end is wound around the winding drum, and the bottom around the displacement groove has mounting holes for mounting the first elastic member.

4. The organic fertilizer variable rate fertilizing machine according to claim 2, characterized in that: The variable-pitch conveying unit includes at least three nested fertilizer delivery pipes, a receiving bucket, a ball head, a ball socket, and a variable-pitch power assembly. A variable-pitch power assembly is provided between two adjacent fertilizer delivery pipes for adaptively adjusting the extension length of the adjacent fertilizer delivery pipes. The input ends of at least three sets of nested fertilizer delivery pipes are connected to the second adapter of the variable-pitch fertilizing unit. The at least three sets of fertilizer delivery pipes are slidably sleeved in sequence from top to bottom. The receiving bucket is rotatably connected to the top of the hollow rod, the ball socket is fixed to the top of the receiving bucket input end, the ball head is arranged on the side wall of the fertilizer delivery pipe near the receiving bucket input end, and the ball head cooperates with the ball socket.

5. The organic fertilizer variable rate fertilizing machine according to claim 4, characterized in that: The variable pitch power assembly includes a second elastic member for resetting the upper fertilizer delivery pipe to the lower fertilizer delivery pipe, and a rotating column rotatably arranged on the side wall of the lower fertilizer delivery pipe, one end of the second elastic member is coaxially fixedly matched with the rotating column, and the other end is fixedly connected to the side wall of the input end of the upper fertilizer delivery pipe; And / or the variable pitch power assembly includes a third elastic member for resetting the upper fertilizer delivery pipe to the lower fertilizer delivery pipe, and an annular groove concave inwardly along its own axial direction is provided between the inner wall and the outer wall of the input end of the lower fertilizer delivery pipe, one end of the third elastic member is fixedly connected to the bottom of the annular groove, and the other end is fixedly connected to the input end of the upper fertilizer delivery pipe.

6. The organic fertilizer variable rate fertilizing machine according to claim 1, characterized in that: The angle adjustment module includes a protruding block fixed to one end of the receiving arm, a concave block fixed to one end of the other receiving arm, a rotating rod, and an angle power member that drives the rotating rod to rotate. The protruding part of the protruding block is provided with a connecting hole, the protruding block is embedded in the concave block, the rotating rod rotates through the concave part of the concave block and passes through the connecting hole, the rotating rod has external teeth, and the connecting hole has internal teeth that engage with the external teeth of the rotating rod for transmission.

7. The organic fertilizer variable rate fertilizing machine according to claim 1, characterized in that: The robotic arm includes a fixed arm vertically and fixedly connected above the walking mechanism, a telescopic arm slidably installed in the fixed arm, a support arm horizontally installed on the top of the telescopic arm, an extension arm installed inside the support arm, a lifting hydraulic cylinder installed in the fixed arm, the output end of the lifting hydraulic cylinder is fixedly connected to the inner wall of the telescopic arm, an extension hydraulic cylinder is installed in the support arm, the output end of the extension hydraulic cylinder is fixedly connected to the inner wall of the extension arm, and any one of the receiving arms in at least three groups of the digging and fertilizing modules is installed on the end of the extension arm away from the support arm.

8. The organic fertilizer variable rate fertilizing machine according to claim 1, characterized in that: The fertilizer storage mechanism includes a lifting arm fixedly connected to the upper part of the walking mechanism and arranged in a rectangular shape, a box fixedly connected to the upper part of the lifting arm, a crushing part rotatably arranged in the box and dividing the box into two upper and lower chambers, and a triangular partition, wherein the triangular partition divides the lower part of the box into a left fertilizer storage chamber and a right fertilizer storage chamber; The crushing part includes a first roller rotatably arranged in the box body, a second roller rotatably arranged in the box body, a plurality of roller cutters, a first gear fixedly matched with the first roller coaxially, a second gear fixedly matched with the second roller coaxially, and a crushing power part driving the first roller to rotate, and the plurality of roller cutters are arranged on the first roller and the second roller at equal intervals, and the roller cutters on the first roller and the second roller are staggered.

9. The organic fertilizer variable rate fertilizing machine according to claim 1, characterized in that: The digging and fertilizing module further includes a water spraying module, which is used to moisten the organic fertilizer delivered from the variable delivery module; The water spray module includes an annular tube, a water spray head, and a spiral water pipe arranged in the discharge end of the variable conveying module. There are multiple water spray heads, and the multiple water spray heads are arranged at equal intervals on the annular tube, and the water spraying directions are all toward the central axis of the hollow rod. The annular tube is connected to the external water source through the conveying pump and the spiral conveying pipe, and each water spray head is provided with a control valve.

10. The organic fertilizer variable rate fertilizing machine according to claim 1, characterized in that: It also includes an obstacle avoidance mechanism, which includes an L-shaped plate fixed to the front of the walking mechanism and a plurality of obstacle avoidance parts arranged along the width direction of the L-shaped plate; The obstacle avoidance portion includes a U-shaped touch plate, a contact point fixed to the U-shaped touch plate, a contact block fixed to the front side of the L-shaped side plate, an elastic component for returning the U-shaped touch plate to the front, and a force sensor mounted on the front side of the L-shaped plate and fixed to the rear end of the elastic component, wherein the L-shaped plate has a sliding hole that slidably cooperates with the U-shaped touch plate; There are two elastic components, each of which includes a spring. The two springs are respectively sleeved on the arms at both ends of the U-shaped touch plate.

Images