Fruit tree root soil drilling and fertilizing device

Abstract

The invention belongs to the technical field of fruit tree planting, and particularly discloses a fruit tree root soil drilling and fertilizing device which comprises a reciprocating mechanism, an executing mechanism, a drill bit and an identifying mechanism. The executing mechanism comprises a base, an executing shaft, a first driving piece and a second driving piece. The drill bit is fixed to the execution shaft. The recognition mechanism comprises a sensing part and a control part. The sensing part is arranged at the end, away from the execution shaft, of the drill bit and used for monitoring strain data or pressure data of the end of the spiral blade. The control part is electrically connected with the sensing part and is used for receiving sensing data of the sensing part; the control part is electrically connected with the first driving piece and the second driving piece, and when the strain data or the pressure data reach a threshold value, the control part controls the second driving piece to drive the execution shaft to move towards the side away from the soil in the axis length direction of the execution shaft. The invention can realize'retreating once touching the root ', and prevents the root system from being cut or extruded and damaged by the drill bit.

Description

Technical Field

[0001] This invention belongs to the field of fruit tree planting technology, and specifically relates to a soil drilling and fertilization device for fruit tree roots. Background Technology

[0002] Drilling fertilizer application for fruit trees is a highly efficient soil fertilization technique for mature fruit trees and orchards with deep root systems. It is especially suitable for mountain orchards and orchards with compacted soil, overcoming the shortcomings of traditional broadcast fertilizer application which is prone to leaching and trench application which can damage roots. Its core principle is to precisely deliver fertilizer to the absorbing root area by drilling holes inside and outside the drip line of the tree canopy (the root active zone, mostly distributed in the 30cm~80cm soil layer). This not only increases fertilizer utilization by 30%-50%, but also causes far less root damage than trench application because the diameter of a single hole is only 5cm~10cm. At the same time, it can break up soil compaction and improve aeration.

[0003] When applying fertilizer to fruit trees through drilling, a drilling fertilization device is required. However, current devices often fail to identify the root system during drilling, leading to root damage. Damaged roots directly hinder the tree's absorption of water and nutrients, causing leaf wilting, yellowing, stunted fruit development, and even fruit drop. Damage to supporting roots also reduces tree stability, making the tree more susceptible to toppling in wind and rain. Furthermore, wounds become entry points for pathogens and pests, increasing the risk of root rot and other diseases, which can ultimately lead to tree death.

[0004] For example, Chinese invention patent CN118844171A discloses a soil drilling and fertilization device for the roots of fruit trees in orchards. It includes a frame, a lifting plate, a lifting assembly, a drilling component, a rotating assembly, a sealing assembly, and a soil collection cover. The rotating assembly drives the connecting cylinder structure and the drill bit structure to rotate, while the lifting assembly moves the drill bit structure downwards to perform drilling. During this process, it is impossible to identify whether damage to the fruit tree roots will occur. If damage to the fruit tree roots occurs during the downward movement of the drill bit structure, it will affect the subsequent growth of the fruit tree. Another example is Chinese invention patent CN115088420A, which discloses a small-scale soil drilling and fertilization device for the roots of fruit trees in orchards. In use, spiral blades on the outer circumference of the sleeve gradually penetrate into the soil near the fruit tree, and this process can also result in damage to the fruit tree roots. Summary of the Invention

[0005] To address the aforementioned problems, the purpose of this invention is to provide a soil drilling and fertilization device for fruit tree roots, which can accurately identify and avoid fruit tree roots during the drilling process, thus preventing damage to the fruit tree roots.

[0006] The technical solution of this invention is: a soil drilling and fertilization device for fruit tree roots, comprising a reciprocating mechanism, an execution mechanism, a drill bit, and an identification mechanism. The reciprocating mechanism is mounted on a mobile carrier and has a moving end. The execution mechanism includes a base, an execution shaft, a first driving member, and a second driving member. The base is fixed to the moving end of the reciprocating mechanism; the execution shaft is movably mounted on the base; the first driving member has a first output end connected to the execution shaft, used to drive the execution shaft to rotate around its axis; the second driving member has a second output end connected to the execution shaft, used to drive the execution shaft to move along its axial length. The drill bit includes a rotating shaft, a first helical blade, and a second helical blade spiral. One end of the rotating shaft is fixed to the execution shaft; the first helical blade is spirally sleeved on the side wall of the rotating shaft along its axial length; the second helical blade is spirally sleeved on the other end of the rotating shaft, and the second helical blade is opposite in direction to the first helical blade. The identification mechanism includes a sensor and a control unit. The sensor is located at the end of the drill bit away from the actuation shaft. The sensor is used to monitor the strain data or pressure data at the end of the helical blade. The control unit is electrically connected to the sensor and is used to receive the sensor data. The control unit is electrically connected to the first drive unit and the second drive unit. When the strain data or pressure data reaches the threshold, the control unit controls the second drive unit to drive the actuation shaft to move away from the soil along the axial length of the actuation shaft.

[0007] This invention integrates the sensor directly into the end of the drill bit furthest from the actuation axis, i.e., the very tip of the drill bit. This allows for immediate contact with the fruit tree roots in the soil. When the tip of the drill bit's helical blade touches the roots, the root reaction force is converted into strain or pressure data, which the sensor can capture in real time. After receiving the sensor data, the control unit of the identification mechanism, if a preset threshold is reached, immediately controls the second drive component of the actuation mechanism to drive the actuation axis to move away from the soil along its own axis, achieving "retreat upon contact with roots" and preventing the roots from being cut or crushed by the drill bit.

[0008] The sensor is located at the end of the first helical blade furthest from the actuator shaft. This position is the "front edge" as the drill bit penetrates the soil and is the area that first contacts the deep roots. When the end of the first helical blade approaches or touches the roots, the sensor can immediately detect changes in strain or pressure data. Compared to other positions, it can capture root contact signals more promptly, allowing the control unit to trigger the second drive unit to retract the actuator shaft more quickly, minimizing the probability of root damage by the drill bit and further improving the accuracy of root avoidance protection. The sensor is also located at the ends of both the first and second helical blades. Because the two blades have opposite helical directions, their movement trajectories during drilling can cover a wider area around the drill bit. When the roots are distributed to the side of the drilling path or at different depths, the sensor at the end of the reverse-direction blade can form a "cooperative detection" with the sensor on the forward-direction blade, capturing root contact signals more comprehensively, reducing missed detections due to root position deviation, and further improving the reliability of root avoidance protection.

[0009] Furthermore, the second helical blade rotates on the rotating shaft for 1 / 2 helical cycle; the starting end face of the second helical blade is located on the same plane as the starting end face of the first helical blade, and the ending end of the second helical blade is parallel to the starting end of the second helical blade and located directly above the first helical blade.

[0010] Furthermore, cutter bodies are inserted into the ends of the first and second helical blades furthest from the actuation shaft. The sensors are positioned at the contact points between the cutter bodies and the first and second helical blades, respectively. By placing the sensors at these contact points, when the cutter body contacts the root system, the impact force from the root system is directly transmitted to the contact point, making changes in strain or pressure data more significant and direct. Compared to placing the sensors at the blade ends, this force transmission path is shorter, reducing signal attenuation due to soil debris. This allows the control unit to more quickly detect root contact signals and rapidly control the second drive unit to retract the actuation shaft, minimizing the risk of root damage.

[0011] Furthermore, the sensing element is a strain gauge pressure sensor used to monitor strain data at the tip of the helical blade. The strain gauge pressure sensor is compact and can be closely fitted to the tips of the first and second helical blades or the contact point between the cutter body and the blade, directly capturing minute strain changes when the blade or cutter body is under stress. When the first or second helical blade or cutter body of the drill bit contacts the root system, the resistance of the root system causes minute deformation of the blade or cutter body. The strain gauge can accurately convert this deformation into an electrical signal. Compared to other types of sensors, it is better able to capture the difference between the "flexible strain" at root contact and the "rigid strain" of hard soil points, reducing the risk of misjudgment and improving the accuracy of root avoidance identification.

[0012] Furthermore, both the first driving component and the second driving component are drive motors.

[0013] Furthermore, the actuating shaft is a first actuating shaft, which includes a first rotating shaft, a first sleeve shaft, a first base, and a first swing arm. A first retaining strip is provided on the outer wall of the first rotating shaft, and one end of the first rotating shaft is connected to the first output end of the first driving member. The first sleeve shaft is slidably sleeved on the first rotating shaft, and a first retaining groove corresponding to the first retaining strip structure is provided on the inner wall of the first sleeve shaft. The first base is disposed on the side wall of the first sleeve shaft. One end of the first swing arm is rotatably mounted on the first base, and the other end is connected to the second output end of the second driving member.

[0014] Furthermore, the actuating shaft is a second actuating shaft, which includes a second rotating shaft, a second base, and a second swing arm. A first gear is disposed on the outer wall of the second rotating shaft; a second gear meshing with the first gear is disposed at the first output end of the first driving member. The second base is disposed on the side wall of the second rotating shaft. One end of the second swing arm is rotatably disposed on the second base, and the other end is connected to the second output end of the second driving member.

[0015] Furthermore, the actuating shaft is a third actuating shaft, which includes a third rotating shaft, a second sleeve shaft, and a worm gear. A second retaining strip is provided on the outer wall of the third rotating shaft, and one end of the third rotating shaft is connected to the first output end of the first driving member. The second sleeve shaft is slidably sleeved on the third rotating shaft, and a second retaining groove corresponding to the second retaining strip structure is provided on the inner wall of the second sleeve shaft. The worm gear is movably sleeved on the second sleeve shaft, and a limiting block for limiting the two ends of the worm gear is provided on the second sleeve shaft; a worm wheel connected to the worm gear is provided at the output end of the second driving member.

[0016] Furthermore, the reciprocating mechanism includes a mounting base, a slider, and a telescopic component. The mounting base is used to install on a mobile carrier and is provided with a guide rail groove. The slider is slidably disposed on the guide rail groove. The telescopic component has a fixed end and a telescopic end. The fixed end is disposed on the mounting base, and the telescopic end is connected to the slider.

[0017] Compared with existing technologies, the advantages of this invention are as follows: This invention directly integrates the sensing element at the end of the drill bit furthest from the actuation axis, i.e., the very tip of the drill bit, enabling it to contact the fruit tree roots in the soil immediately. When the tip of the drill bit's spiral blade touches the root system, the root reaction force is converted into strain or pressure data, which the sensing element can capture in real time. After receiving the data from the sensing element, the control unit of the identification mechanism, if a preset threshold is reached, immediately controls the second drive component of the actuation mechanism to drive the actuation axis to move away from the soil along its own axis, achieving "retreat upon contact with the root," thus preventing the root system from being cut or crushed by the drill bit. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a partial structural schematic diagram of the drill bit of the present invention; Figure 3 This is a schematic diagram of the structure of the actuator in Embodiment 1 of the present invention; Figure 4 This is a structural comparison diagram of the actuator second driving component before and after driving according to Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the structure of the actuator in Embodiment 2 of the present invention; Figure 6 This is a schematic diagram of the structure of the actuator in Embodiment 3 of the present invention; Figure 7 This is an application diagram of Embodiment 1 of the present invention.

[0019] Among them, 1-reciprocating mechanism, 11-mounting seat, 12-slider, 2-actuator, 21-base, 22-actuator shaft, 23-first drive component, 24-second drive component, 3-drill bit, 31-rotating shaft, 32-first helical blade, 33-second helical blade, 34-cutting body, 4-identification mechanism, 40-sensor, 5-first actuator shaft, 51-first rotating shaft, 52-first sleeve shaft, 53-first base, 54-first swing arm, 6-second actuator shaft, 61-second rotating shaft, 62-second base, 63-second swing arm, 7-third actuator shaft, 71-third rotating shaft, 72-second sleeve shaft, 73-worm gear. Detailed Implementation

[0020] The following is combined Figures 1 to 7 The specific embodiments of the present invention will be described in detail below. In the description of the present invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0021] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature; in the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0022] Because existing drilling fertilization devices lack root detection capabilities, damage to fruit tree roots is highly likely during the drilling stage. While other methods involve installing pressure sensors at the drill bit's end to monitor the surrounding environment and adjust drilling speed to prevent drill bit damage, directly applying this technology can easily lead to misalignment between the fruit tree roots and the drill bit's detection area. This means the roots may enter the drilling area but not reach the sensing region, requiring the drill bit to rotate half a turn or even a full turn until the sensing area is aligned with the roots before a root signal can be detected. This process introduces a significant recognition delay, during which the drill bit continuously cuts or compresses the roots, greatly increasing the risk of root damage.

[0023] Moreover, the current method of installing pressure sensors at the end of the drill bit is intended to adjust the drilling speed, and does not have the function of "retracting upon contact with the root", so it still carries the risk of damaging the root system.

[0024] It should be noted that the circuit connections involved in this invention all adopt conventional circuit connection methods and do not involve any innovation.

[0025] Example 1 like Figure 1 The device shown is a soil drilling and fertilization device for fruit tree roots, including a reciprocating mechanism 1, an execution mechanism 2, a drill bit 3, and an identification mechanism 4.

[0026] The reciprocating mechanism 1 includes a mounting base 11, a slider 12, and a telescopic component. The mounting base 11 is used to mount on a mobile carrier and has a guide rail groove. The slider 12 is slidably mounted on the guide rail groove. The fixed end of the telescopic component is mounted on the mounting base 11, and the telescopic end of the telescopic component is connected to the slider 12. The telescopic component is an electric telescopic rod.

[0027] The actuator 2 includes a base 21, an actuator shaft 22, a first drive member 23, and a second drive member 24. The base 21 is mounted on the slider 12; the actuator shaft 22 is movably mounted on the base 21; the first drive member 23 has a first output end, which is connected to the actuator shaft 22 and is used to drive the actuator shaft 22 to rotate around its axis; the second drive member 24 has a second output end, which is connected to the actuator shaft 22 and is used to drive the actuator shaft 22 to move along its axial length.

[0028] Drill bit 3 is fixed on actuator shaft 22. For example... Figure 2As shown, the identification mechanism 4 includes a sensor 40 and a control unit. The sensor 40 is located at the end of the drill bit 3 away from the actuation shaft 22, and is used to monitor strain data or pressure data at the end of the spiral blade 32. The control unit is electrically connected to the sensor 40 and is used to receive the sensing data from the sensor 40. The control unit is electrically connected to the first drive member 23 and the second drive member 24. When the strain data or pressure data reaches a threshold, the control unit controls the second drive member 24 to drive the actuation shaft 22 to move away from the soil along the axial length of the actuation shaft 22.

[0029] In this embodiment, the sensor 40 is directly integrated at the end of the drill bit 3 furthest from the actuation shaft 22, i.e., the foremost end of the drill bit 3. This allows it to contact the fruit tree roots in the soil immediately. When the end of the spiral blade 32 of the drill bit 3 touches the root system, the root reaction force is converted into strain or pressure data, which the sensor 40 can capture in real time. After receiving the data from the sensor 40, the control unit of the identification mechanism 4 immediately controls the second drive member 24 of the actuation mechanism 2 if a preset threshold is reached. This drives the actuation shaft 22 to move away from the soil along its own axis, achieving "retreat upon contact with roots" and preventing the roots from being cut or crushed by the drill bit 3.

[0030] Improving the flexibility and accuracy of drilling position: In the reciprocating mechanism 1, the mounting base 11, the slider 12 and the telescopic component work together to drive the actuator 2 mounted on the slider 12 to slide along the guide rail groove on the mounting base 11, flexibly adjusting the drilling position, which can accurately correspond to different areas of the tree canopy drip line, ensuring that fertilizer is delivered to the absorbing root area, further improving the targeting of fertilization, and inheriting and strengthening the advantage of drilling fertilization technology in improving fertilizer utilization.

[0031] It can accurately identify and avoid fruit tree roots, reducing root damage: Under the drive of the first drive component 23 and the second drive component 24, the drill bit 3 can brake immediately upon identifying the root system. That is, the sensor 40 of the identification mechanism 4 is set at the end of the drill bit 3, which can monitor the strain data or pressure data at the end of the spiral blade 32 in real time. When the detected data reaches the threshold and may come into contact with the root system, the control unit can control the second drive component 24 to drive the execution shaft 22 to move away from the soil along the axis, preventing the drill bit 3 from continuing to penetrate and damage the root system, thereby protecting the integrity of the root system and reducing the risk of water and nutrient absorption obstruction, leaf wilting, fruit drop and tree lodging caused by root damage. At the same time, it reduces the probability of pathogens and pests invading through wounds.

[0032] It should be noted that this embodiment only specifies the structure corresponding to the drilling process in the fruit tree drilling and fertilization process, and does not describe the fertilization part. This is mainly because existing main material equipment can be used in conjunction with the solution of this embodiment. For example, a screw conveyor can be used to transport fertilizer granules stored in a solid storage tank to the hole drilled by the drill bit 3, or a pump can be used to transport waste liquid in a liquid storage tank to the hole drilled by the drill bit 3. These are conventional technical means in the field and will not be described in detail here.

[0033] Preferably, the reciprocating mechanism 1 includes a mounting base 11, a slider 12, and a telescopic member. The mounting base 11 is used to mount on a mobile carrier and has a guide rail groove. The slider 12 is slidably mounted on the guide rail groove. The fixed end of the telescopic member is mounted on the mounting base 11, and the telescopic end of the telescopic member is connected to the slider 12. The telescopic member is an electric telescopic rod.

[0034] Preferred, such as Figure 1 , Figure 2 As shown, the drill bit 3 includes a rotating shaft 31 and a first helical blade 32. One end of the rotating shaft 31 is fixed to the actuating shaft 22. The first helical blade 32 is helically sleeved on the side wall of the rotating shaft 31 along the axial length of the rotating shaft 31; the sensing element 40 is disposed at the end of the first helical blade 32 away from the actuating shaft 22.

[0035] The first helical blade 32 of the drill bit 3 is helically sleeved along the axis of the rotating shaft 31. When the first drive member 23 drives the execution shaft 22 and the rotating shaft 31 to rotate, the first helical blade 32 can rotate synchronously with the rotating shaft 31. Through the helical structure, soil debris generated during drilling is discharged upward along the helical direction of the blade, effectively reducing soil resistance during drilling. The sensor 40 is located at the end of the first helical blade 32 away from the execution shaft 22. This position is the "leading edge" when the drill bit 3 penetrates into the soil and is also the area that first contacts the deep roots. When the end of the first helical blade 32 approaches or touches the roots, the sensor 40 can detect changes in strain or pressure data immediately. Compared with other positions, it can capture root contact signals more promptly, thereby enabling the control unit to trigger the second drive member 24 to drive the execution shaft 22 to retreat more quickly, minimizing the probability of root damage by the drill bit 3 and further improving the accuracy of root avoidance protection.

[0036] Preferred, such as Figure 2 As shown, the drill bit 3 also includes a second helical blade 33, which is helically sleeved on the other end of the rotating shaft 31. The second helical blade 33 is opposite to the first helical blade 32. The sensing element 40 is also disposed at the end of the second helical blade 33 away from the actuation shaft 22.

[0037] Preferred, such as Figure 2As shown, the second helical blade 33 is located at the end of the rotating shaft 31 near the soil. The second helical blade 33 rotates on the rotating shaft 31 for 1 / 2 helical cycle. The starting end face of the second helical blade 33 is on the same plane as the starting end face of the first helical blade 32. The ending end of the second helical blade 33 is parallel to the starting end of the second helical blade 33 and is located directly above the first helical blade 32.

[0038] Existing technologies also include methods for installing pressure sensors at the drill end, but in these technologies, the pressure sensors are often located at a single position at the drill end. In contrast, such as... Figure 2 As shown, in this embodiment, the first helical blade 32 and the second helical blade 33, together with the sensing element 40, constitute a double-sided detection end face.

[0039] The second spiral blade 33 is arranged in opposite directions to the first spiral blade 32. When the first driving member 23 drives the rotating shaft 31 to rotate, the forward-facing first spiral blade 32 can discharge shallow soil debris upwards, while the reverse-facing second spiral blade 33 can discharge soil in the opposite direction during deep drilling or drilling retraction, avoiding soil accumulation and blockage in the borehole channel. It is especially suitable for drilling operations in the root active zone at a depth of 30cm to 80cm. It can flexibly cope with soils of different depths and different degrees of compaction, ensuring a continuous and smooth drilling process and improving work efficiency.

[0040] Most importantly, the sensor 40 is simultaneously located at the ends of the first helical blade 32 and the second helical blade 33. Since the two blades have opposite helical directions, their movement trajectories during drilling can cover a wider area around the drill bit 3, including soil spaces with different angles and radii. When the root system is distributed to the side of the drilling path or at different depths, the sensor 40 at the end of the reverse-direction blade can form a "cooperative detection" with the sensor 40 of the forward-direction blade, capturing root contact signals more comprehensively, reducing missed detections due to root position deviation, and further improving the reliability of root avoidance protection.

[0041] If the sensor 40 is only installed at the end of the first helical blade 32 or at a single location, the monitoring area of ​​a single sensor 40 is limited to the circular motion trajectory at the end of that blade, since the drill bit 3 needs to rotate around the axis of rotation 31. When the fruit tree roots are distributed to the side of the drilling path, outside the monitoring trajectory area of ​​the sensor 40, a situation of "roots and sensor 40 monitoring positions crossing and missing each other" is likely to occur. That is, the roots have entered the drilling range, but have not yet contacted the only sensor 40, causing the drill bit 3 to continue rotating and drilling for half a turn or even a full turn until the sensor 40 rotates with the first helical blade 32 to the location of the roots before the root signal can be detected. This process has a significant recognition delay, during which the drill bit 3 will continuously exert cutting or squeezing action on the roots, greatly increasing the risk of root damage.

[0042] As the first helical blade 32 and the second helical blade 33 rotate with the rotating shaft 31, they can jointly cover different angles and radii within a 360° range around the front end of the drill bit 3. Even if the root system is located to the side of the drilling path or at a depth deviating from the monitoring trajectory of the end sensor 40 of the first helical blade 32, it can still be captured by the end sensor 40 of the second helical blade 33, completely filling the monitoring gap of a single sensor 40 and avoiding the problem of "root system and monitoring position crossing and missing each other". Since the dual sensors 40 at the ends of the first helical blade 32 and the second helical blade 33 form "cooperative monitoring", there is no need to wait for the drill bit 3 to rotate half a turn or a turn: as long as the root system contacts the end sensor 40 of either the first helical blade 32 or the second helical blade 33, strain data or pressure data can be captured in real time, greatly shortening the time difference from "root system contact" to "signal recognition", and completely solving the recognition delay problem caused by the limited rotation trajectory of a single sensor 40.

[0043] The bidirectional sensors 40 located at the ends of the first helical blade 32 and the second helical blade 33 away from the actuation shaft 22 can form complementary monitoring, reducing the probability of a single sensor 40 missing a detection. Regardless of whether the root system is thick or thin, or where it is located in the drilling path, the "root-touch and retract" response can be triggered in real time by the sensor 40 at the end of any blade. The control unit controls the second drive unit 24 to drive the actuation shaft 22 to move along the axis away from the soil, further improving the accuracy and reliability of root avoidance protection and minimizing the risk of root damage caused by cutting or squeezing by the drill bit 3's cutter body 34 or blades.

[0044] Preferably, a blade body 34 is inserted at the end of the first helical blade 32 away from the execution shaft 22 and at the end of the second helical blade 33 away from the execution shaft 22, and a sensing element 40 is disposed at the contact point between the blade body 34 and the first helical blade 32 and the contact point between the blade body 34 and the second helical blade 33.

[0045] The sensor 40 is positioned at the contact point between the cutter body 34 and the first helical blade 32 and the second helical blade 33. When the cutter body 34 contacts the root system, the impact force of the root system on the cutter body 34 is directly transmitted to the contact point, making the changes in strain or pressure data more significant and direct. Compared to placing the sensor 40 at the blade tip, the force transmission path is shorter here, reducing the attenuation of the signal by soil debris. This allows the control unit to capture the root contact signal more quickly, thereby rapidly controlling the second drive unit 24 to drive the actuator shaft 22 to retract, minimizing the risk of root damage.

[0046] The cutter body 34 is in direct contact with the soil and roots. The force feedback when it contacts the roots differs from the force feedback when it contacts hard points in the soil. The sensor 40 can more clearly identify this difference at the contact point, assisting the control unit in distinguishing between "root contact" and "soil impurity impact", reducing unnecessary drill retraction due to misjudgment, and ensuring the continuity of drilling and fertilization.

[0047] Preferably, the sensing element 40 is a strain gauge pressure sensor used to monitor strain data at the end of the helical blade 32. The strain gauge pressure sensor is small in size and can be closely fitted to the ends of the first helical blade 32, the second helical blade 33, or the contact point between the cutter body 34 and the blade, directly capturing minute strain changes when the blade or cutter body is subjected to force. When the first helical blade 32, the second helical blade 33, or the cutter body 34 of the drill bit 3 contacts the root system, the resistance of the root system causes minute deformation of the blade or cutter body. The strain gauge can accurately convert this deformation into an electrical signal, and compared to other types of sensors, it is better able to capture the difference between the "flexible strain" at root contact and the "rigid strain" of hard soil points, reducing the risk of misjudgment and improving the accuracy of root avoidance identification.

[0048] Preferably, both the first drive component 23 and the second drive component 24 are drive motors. Compared to hydraulic or pneumatic drive methods, the speed, direction, and output force of the first drive component 23 and the second drive component 24 can be precisely controlled by electrical signals. This allows them to adapt to drilling requirements under different soil hardnesses, such as compacted soil and loose soil, and avoids the inability to brake in time when the drill bit 3 suddenly contacts the root system due to excessive power. At the same time, the motor has a fast response speed. When the sensor 40 of the identification mechanism 4 detects the strain data corresponding to the root system, the control unit can quickly instruct the second drive component 24 to reverse its action, shortening the delay time of the drill bit 3's retraction and minimizing root damage.

[0049] Preferred, such as Figure 3 , Figure 4As shown, the execution shaft 22 is the first execution shaft 5, which includes a first rotating shaft 51, a first sleeve shaft 52, a first base 53, and a first swing arm 54. A first retaining bar is provided on the outer wall of the first rotating shaft 51, and one end of the first rotating shaft 51 is connected to the first output end of the first driving member 23. The first sleeve shaft 52 is slidably sleeved on the first rotating shaft 51, and a first retaining groove corresponding to the first retaining bar structure is provided on the inner wall of the first sleeve shaft 52. The first base 53 is disposed on the side wall of the first sleeve shaft 52. One end of the first swing arm 54 is rotatably disposed on the first base 53, and the other end is connected to the second output end of the second driving member 24. In the first execution shaft 5, the first retaining bar of the first rotating shaft 51 cooperates with the first retaining groove of the first sleeve shaft 52, ensuring that the first sleeve shaft 52 rotates synchronously when the first driving member 23 drives the first rotating shaft 51 to rotate, while also allowing the first sleeve shaft 52 to slide along the axis of the first rotating shaft 51, with the two movements not interfering with each other. This structure allows the drill bit 3 to precisely control the feed depth through the second drive component 24 while rotating and drilling, ensuring that the drill hole diameter is stable at 5cm~10cm, and avoiding the drill hole being too large or too small due to uncoordinated movement.

[0050] It should be noted that the sensing element 40 is selectively adapted according to the soil and root thickness, and can be one or more of the following: metal foil strain gauge with model BX120-3AA or semiconductor strain gauge with model SSP-1000-001-350. The specific selection is made according to the determination process in Table 1.

[0051] Table 1 Selection and Judgment Process for Sensor 40 This embodiment uses a metal foil strain gauge of model BX120-3AA, which is mainly suitable for orchards with thick roots, such as peach and pear trees.

[0052] like Figure 2 As shown, in this embodiment, both the first helical blade 32 and the second helical blade 33 have slots for inserting the blade body 34. The sensor 40 is fixed in the slot and contacts one end of the blade body 34 inserted into the slot. The specific assembly process of the sensor 40 is as follows: the inside of the slot is cleaned, a primer is applied to the inside of the slot, the sensor 40 is then placed in the primer and cured at 60°C for 2 hours, and a lead wire is soldered. The lead wire passes through the second helical blade 33 and the first helical blade 32 and is led out from the rotating shaft 31.

[0053] After installation, the electrical performance of the sensor 40 needs to be tested: the insulation resistance between the sensor 40 and the drill bit 3 is measured using a 500V megohmmeter and is greater than 100MΩ, that is, the insulation resistance between the strain gauge and the first helical blade 32, the second helical blade 33, and the cutter body 34 is greater than 100MΩ.

[0054] Preferably, the control unit includes a signal conditioning circuit, an analog-to-digital conversion module, a main control chip, and a storage module.

[0055] In this embodiment, the signal conditioning circuit uses an AD8237 instrumentation amplifier, which is connected to the sensor 40 to amplify the 400mV / V~5mV / V signal from the sensor to 0V~3.3V. The analog-to-digital conversion module in this embodiment uses a 16-bit synchronous ADC, ADS1115, which is connected to the signal conditioning circuit to digitize the analog signal.

[0056] In this embodiment, the main control chip is an embedded MCU of model STM32H743, which is connected to the analog-to-digital conversion module, as well as the electric telescopic rod, the first drive component 23, and the second drive component 24, for receiving and processing overall signal processing and outputting decision-making instructions. The storage module in this embodiment uses 16GBeMMC flash memory.

[0057] like Figure 7 As shown, in this embodiment, the mobile carrier is a commercially available vehicle body, which has a hydraulic robotic arm that is also connected to the main control chip.

[0058] The decision-making logic and execution instructions of the main control chip in this embodiment are shown in Table 2.

[0059] Table 2 Decision Logic and Execution Instructions In Table 2, during feeding, the first drive component 23 provides power to the actuator 22, and the hydraulic robotic arm drives the reciprocating mechanism 1 to move towards the soil or / and the telescopic component drives the slider 12 to move towards the soil. That is, during feeding, the operation of the first drive component 23 causes the drill bit 3 to rotate, and the operation of the hydraulic robotic arm and / or the telescopic component causes the drill bit 3 to move towards the soil.

[0060] When braking occurs as shown in Table 2, the first drive component 23 stops operating, and the second drive component 24 operates to provide power to the actuator 22, causing the actuator 22 to move toward the side away from the soil.

[0061] The adjustment angles in Table 2 are achieved using a hydraulic robotic arm.

[0062] Example 2 Unlike Example 1, preferred embodiment, such as Figure 5As shown, the actuating shaft 22 is the second actuating shaft 6, which includes a second rotating shaft 61, a second base 62, and a second swing arm 63. A first gear 610 is disposed on the outer wall of the second rotating shaft 61; a second gear meshing with the first gear 610 is disposed at the first output end of the first driving member 23. The second base 62 is disposed on the side wall of the second rotating shaft 61. One end of the second swing arm 63 is rotatably disposed on the second base 62, and the other end is connected to the second output end of the second driving member 24.

[0063] Compared to Comparative Document 1, the second rotating shaft 61 of the second actuating shaft 6 meshes with the second gear at the first output end of the first drive member 23 via the first gear 610 on the outer side wall. The rigid contact of the gear meshing ensures accurate transmission ratio and no slippage. Compared with the sliding fit structure, it reduces transmission clearance, allowing the power of the first drive member 23 to be transmitted more accurately to the second rotating shaft 61 and the drill bit 3, ensuring stable drilling speed. At the same time, the meshing transmission response is faster. When the sensor 40 of the identification mechanism 4 triggers the root avoidance signal, the first drive member 23 can quickly adjust its speed, cooperating with the action of the second drive member 24 to achieve timely retraction of the drill bit 3.

[0064] The second actuator shaft 6 eliminates the sliding structure of the sleeve shaft, and only achieves its function through the second rotating shaft 61, the second base 62 and the second swing arm 63. The number of parts is reduced, the assembly complexity is reduced, and the risk of failure caused by sliding wear is reduced. Moreover, the force of the gear meshing transmission is more uniform, which can adapt to high-frequency operation in complex environments such as mountain orchards and compacted soil for a long time, thus extending the service life of the equipment.

[0065] Example 3 Unlike Example 1, preferred embodiment, such as Figure 6 As shown, the actuating shaft 22 is the third actuating shaft 7, which includes a third rotating shaft 71, a second sleeve shaft 72, and a worm gear 73. A second retaining strip is provided on the outer wall of the third rotating shaft 71, and one end of the third rotating shaft 71 is connected to the first output end of the first driving member 23. The second sleeve shaft 72 is slidably sleeved on the third rotating shaft 71, and a second retaining groove corresponding to the second retaining strip structure is provided on the inner wall of the second sleeve shaft 72. The worm gear 73 is movably sleeved on the second sleeve shaft 72, and a limiting block is provided on the second sleeve shaft 72 for limiting the two ends of the worm gear 73; a worm wheel connected to the worm gear 73 is provided at the output end of the second driving member 24.

[0066] The meshing of the worm gear and worm 73 has a self-locking characteristic. When the second drive component 24 stops operating, the worm 73 can lock the axial position of the second sleeve shaft 72 to prevent the drill bit 3 from being displaced unexpectedly due to soil reaction force or equipment vibration, ensuring the positioning accuracy of the cutter body 34. In conjunction with the strain monitoring of the sensor component 40, the root avoidance response of "identification and stop" is realized, reducing root damage.

[0067] The specific models of the above electronic components are not specifically specified; any commercially available ordinary products can be selected, as long as they can meet the usage requirements of this invention.

[0068] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and do not limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the protection scope of the present invention.

Claims

1. A fruit tree root soil drilling and fertilizing apparatus, characterized by, The utility model relates to a drilling machine, including: A reciprocating mechanism is arranged on a mobile carrier and has a moving end; An actuating mechanism includes a base fixed to the moving end of the reciprocating mechanism, an actuating shaft movably arranged on the base, a first driving member having a first output end connected to the actuating shaft for driving the actuating shaft to rotate about the axis of the actuating shaft, and a second driving member having a second output end connected to the actuating shaft for driving the actuating shaft to move along the length of the axis of the actuating shaft; A drill bit includes a rotating shaft having one end fixed to the actuating shaft, a first helical blade helically sleeved on the side wall of the rotating shaft along the axis of the rotating shaft, and a second helical blade helically sleeved on the other end of the rotating shaft, the second helical blade being opposite to the first helical blade; A recognition mechanism includes two groups of sensing members arranged at the end of the first helical blade and the second helical blade away from the actuating shaft, respectively, for monitoring the strain data or pressure data of the end of the helical blade, and a control unit electrically connected to the sensing members for receiving the sensing data of the sensing members, the control unit being electrically connected to the first driving member and the second driving member, and the control unit controlling the second driving member to drive the actuating shaft to move away from the soil along the length of the axis of the actuating shaft when the strain data or pressure data reaches a threshold value.

2. A fruit tree root soil auger fertilizer injection apparatus as described in claim 1, wherein, The second helical blade rotates 1 / 2 of a helical period on the rotating shaft, the starting end face of the second helical blade is located in the same plane as the starting end face of the first helical blade, the end of the second helical blade is parallel to the starting end of the second helical blade and located directly above the first helical blade.

3. A fruit tree root soil auger fertilizer injection apparatus as described in claim 2, wherein, The end of the first helical blade away from the actuating shaft and the end of the second helical blade away from the actuating shaft are both provided with a cutter body, and the sensing members are arranged at the contact position of the cutter body and the first helical blade and the contact position of the cutter body and the second helical blade.

4. A fruit tree root soil auger fertilizer injection apparatus as described in claim 3, wherein, The sensing members are strain gauge pressure sensors for monitoring the strain data of the end of the helical blade.

5. A fruit tree root soil auger fertilizer injection apparatus as described in claim 1 wherein, The first driving member and the second driving member are both driving motors.

6. A fruit tree root soil auger fertilizer injection apparatus as described in claim 5, wherein, The actuating shaft is a first actuating shaft, and the first actuating shaft includes: A first rotating shaft having a first clamping strip arranged on the outer side wall, one end of the first rotating shaft being connected to the first output end of the first driving member; A first sleeve shaft slidably sleeved on the first rotating shaft, the inner wall of the first sleeve shaft being provided with a first clamping groove corresponding to the structure of the first clamping strip; A first base arranged on the side wall of the first sleeve shaft; A first swing arm having one end rotatably arranged on the first base and the other end connected to the second output end of the second driving member.

7. A fruit tree root soil auger fertilizer injection apparatus as described in claim 5, wherein, The actuating shaft is a second actuating shaft, and the second actuating shaft includes: A second rotating shaft having a first gear arranged on the outer side wall, the first output end of the first driving member being provided with a second gear meshing with the first gear; A second base arranged on the side wall of the second rotating shaft; A second swing arm having one end rotatably arranged on the second base and the other end connected to the second output end of the second driving member.

8. A fruit tree root soil auger fertilizer injection apparatus as described in claim 5, wherein, The actuating shaft is a third actuating shaft, and the third actuating shaft includes: A third rotating shaft having a second clamping strip arranged on the outer side wall, one end of the third rotating shaft being connected to the first output end of the first driving member; The second sleeve shaft is sleeved on the third rotating shaft, and a second clamping groove corresponding to the second clamping strip structure is arranged on the inner wall of the second sleeve shaft. The worm is movably sleeved on the second sleeve shaft, and the second sleeve shaft is provided with a limiting block for limiting both ends of the worm; and the output end of the second driving member is provided with a worm wheel connected with the worm.

9. A fruit tree root soil auger fertilizer injection apparatus as described in claim 1 wherein, The reciprocating mechanism comprises: A mounting seat is used for being mounted on a mobile carrier, and a guide rail groove is arranged on the mounting seat; A sliding block is movably arranged on the guide rail groove; A telescopic member has a fixed end and a telescopic end, the fixed end is arranged on the mounting seat, and the telescopic end is connected with the sliding block.

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