An agricultural fertilization robot

Abstract

The utility model belongs to the field of robot technology, and relates to an agricultural fertilization robot, including a tractor fertilization vehicle and a storage vehicle detachably connected to the rear of the tractor fertilization vehicle, the storage vehicle is used to store and provide fertilizers to the tractor fertilization vehicle, and the tractor fertilization vehicle is used to tow the storage vehicle to move and perform fertilization operations; the tractor fertilization vehicle at least includes a crawler chassis and an air supply mechanism, a fertilizer supply mechanism, and a leveling fertilization mechanism installed on the crawler chassis, and the air supply mechanism, the fertilizer supply mechanism, and the leveling fertilization mechanism are connected through a pneumatic three-way valve; the storage vehicle includes a trailer and a storage box installed on the trailer, and the bottom of the storage box is connected to the fertilizer supply mechanism through a feeding hose. When the fertilizer is used up, the storage vehicle is dismantled and pulled away for feeding, and the spare storage vehicle is quickly replaced, which greatly shortens the waiting time for feeding and improves the continuity and efficiency of fertilization operations. Multiple groups of leveling fertilization mechanisms can be set to expand the single fertilization area and further improve the efficiency of fertilization operations. The robot can realize deep fertilization operation. When encountering hard geological conditions, the micro-seismic mechanism can drive the feeding gun to vibrate at high frequency to loosen it first and then deeply fertilize it, which expands the application scope of the fertilization robot.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to an agricultural fertilization robot. Background Art

[0002] With the improvement of agricultural automation and intelligence, intelligent equipment is increasingly used in agricultural production. Traditional agricultural fertilization operations rely on manual labor, which is time-consuming and labor-intensive, and the fertilization effect is poor. At present, intelligent fertilization robots have gradually been used in the field of large-scale agricultural planting technology.

[0003] Existing fertilization robots all adopt the method of directly installing and fixing the storage box on the mobile chassis, such as a sowing hole fertilization robot disclosed in the invention patent with authorization announcement number CN117178700B, a fruit tree fertilization robot disclosed in the utility model patent with authorization announcement number CN219330029U, an orchard efficient fertilization robot disclosed in the utility model patent with authorization announcement number CN207284184U, and a fertilization robot disclosed in the invention patent with application publication number CN115968619A. When the fertilizer in the storage box is used up, this type of fertilization robot needs to stop working and wait for the storage box to be refilled before restarting the fertilization operation, which wastes time and leads to low efficiency of fertilization operation. In addition, most fertilization operations only spread fertilizer on the ground, and deep fertilization cannot be carried out, so the fertilizer cannot play the maximum effect. Summary of the invention

[0004] The utility model aims to provide an agricultural fertilizing robot which can deeply fertilize and has high fertilizing operation efficiency.

[0005] The utility model solves the technical problem by adopting the following technical solution: an agricultural fertilizing robot, comprising a tractor fertilizing vehicle and a storage vehicle detachably connected to the rear of the tractor fertilizing vehicle, the storage vehicle being used to store and provide fertilizers to the tractor fertilizing vehicle, and the tractor fertilizing vehicle being used to tow the storage vehicle to move and perform fertilizing operations;

[0006] The traction fertilizer-spreading vehicle at least comprises a crawler chassis and an air supply mechanism, a fertilizer supply mechanism and a fertilizer-leveling mechanism installed on the crawler chassis, wherein the air supply mechanism, the fertilizer supply mechanism and the fertilizer-leveling mechanism are connected via a pneumatic three-way valve;

[0007] The material storage vehicle comprises a trailer and a material storage box installed on the trailer, and the bottom of the material storage box is communicated with a fertilizer supply mechanism through a material delivery hose.

[0008] In one possible implementation, a traction ring is installed at the rear end of the tracked chassis, and a towing mechanism is installed at the front end of the trailer. The towing mechanism is detachably connected to the traction ring. The towing mechanism adopts a multi-degree-of-freedom design to make towing more flexible. An auxiliary support cylinder is also installed at the rear end of the tracked chassis. A support plate is fixedly installed at the bottom of the auxiliary support cylinder to provide auxiliary support for the robot during the drilling and fertilizing operation, so that the robot is more stable.

[0009] In a possible implementation, the fertilizer supply mechanism includes a raw material docking interface and a feed pump, a valve is provided on the raw material docking interface, one end of the raw material docking interface is connected to a feed hose, and the other end of the raw material docking interface is connected to the feed pump through a pipeline, and the feed pump is connected to an inlet of a pneumatic three-way valve through a pipeline, and the feed pump is used to collect the fertilizer in the storage box and provide it to the leveling fertilization mechanism through the pneumatic three-way valve.

[0010] In one possible implementation, the air supply mechanism includes an air compressor, an air storage tank, and an air cannon that are connected in sequence. The compressed gas provided by the air compressor is stored in the air storage tank. The air storage tank stores the air provided by the air compressor to continuously supply air to the air cannon. The air cannon is connected to another inlet of the pneumatic three-way valve through a pipeline. The air cannon injects air into the deep soil through the leveling and fertilizing mechanism.

[0011] In a possible implementation, the leveling and fertilizing mechanism includes an adjusting cylinder and an operating adjustment mechanism. The adjusting cylinder is fixedly installed at the front end of the crawler chassis, and the output end of the adjusting cylinder is fixedly connected to the operating adjustment mechanism to drive the operating mechanism to move up and down. The operating mechanism is fixedly installed with an operating cylinder, and the output end of the operating cylinder is fixedly installed with a micro-seismic mechanism. A feeding gun is fixedly installed at the lower end of the micro-seismic mechanism. The upper end of the feeding gun is connected to the outlet of the pneumatic three-way valve through a pipeline. A leveling plate is fixedly installed at the lower end of the operating mechanism. A through hole is provided on the leveling plate for the lower end of the feeding gun to pass through. The leveling plate is used to provide positioning for the feeding gun. The operating cylinder drives the micro-seismic mechanism and the feeding gun to operate up and down on the operating mechanism. The feeding gun transports air and fertilizer to the soil. When encountering hard geology, the high-frequency vibration of the feeding gun driven by the micro-seismic mechanism is used to loosen it.

[0012] In a possible implementation, the bottom of the storage box is inclined, and the lowest point of the inclined bottom is connected to the discharge port of the storage box. A valve is provided on the discharge port of the storage box, and a feeding port, an exhaust port and a mixer are provided on the top of the storage box. After the fertilizer in the storage box is used up, fertilizer is added through the feeding port. After a certain number of uses and time, clean water is injected through the feeding port to clean the storage box; the exhaust port is used to discharge the air in the storage box to maintain a stable pressure balance inside the storage box; the mixer stirs the fertilizer in the storage box to prevent the fertilizer from settling; a level meter is provided on the side wall of the storage box for observing the remaining fertilizer inside, and a bottom tool box is provided under the storage box, which is fixedly installed on the trailer for storing temporary tools.

[0013] In a possible implementation, a fuel tank and an engine are installed on the crawler chassis. The fuel tank is used to store diesel or gasoline to provide fuel for the engine. The engine is provided with a post-processor, which is used to filter and purify the exhaust gas generated by the engine. The tail end of the post-processor is connected to an exhaust pipe, which directionally guides the exhaust gas of the engine to be discharged, and the treated exhaust gas is discharged through the exhaust pipe.

[0014] The crawler chassis is also equipped with an air filter, an electrical control box, a battery, a control valve group, a hydraulic oil tank, an engine, a hydraulic pump, and a shock absorber seat. The air filter is used to filter the air inhaled by the engine. The electrical control box is used to install and store electrical-related components. The battery is used to power the engine and the electrical components on the robot. The control valve group is respectively connected to the working cylinder, the auxiliary support cylinder, and the adjusting cylinder to control the hydraulic movement of the robot. The hydraulic oil tank is connected to the hydraulic pump, and the hydraulic pump is connected to the working cylinder, the auxiliary support cylinder, and the adjusting cylinder. The engine is installed on the shock absorber seat, and the engine is mechanically connected to the hydraulic pump to drive the hydraulic pump to work.

[0015] In a possible implementation, a shell is fixedly installed on the crawler chassis, and the shell is used to protect the components installed on the crawler chassis. Side doors are respectively provided on both sides of the shell. The side door on one side is provided with a hydraulic operating door, a hydraulic oil level observation window, and an electrical control panel. The hydraulic operating door corresponds to the position of the control valve group and is used to operate the control valve group. The hydraulic oil level observation window is used to observe the remaining oil in the hydraulic oil tank in real time, and the electrical control panel is electrically connected to the electrical control box; the side door on the other side is provided with a convenient maintenance port for the air compressor, a heat dissipation net, and a refueling port. The convenient maintenance port for the air compressor corresponds to the position of the air compressor, the heat dissipation net corresponds to the position of the radiator, and the refueling port corresponds to the position of the oil tank, and is used to refuel the oil tank; the rear side of the shell is provided with a rear door and an auxiliary hook for hanging objects, and the rear door is provided with a heat dissipation net.

[0016] In a possible implementation, the leveling and fertilizing mechanisms are provided in multiple groups and are distributed in a transverse and longitudinal array on the front side and both sides of the crawler chassis to increase the fertilization area.

[0017] In a possible implementation, a travel motor is installed on the crawler chassis, the travel motor is driven by hydraulic pressure, and the travel motor drives the crawler chassis to travel.

[0018] The utility model has the following beneficial effects:

[0019] 1. The agricultural fertilization robot of the utility model is detachably connected to the storage vehicle by pulling the fertilizer vehicle. When the fertilizer is used up, the storage vehicle is removed and pulled away for refilling, and the spare storage vehicle is quickly replaced, which greatly shortens the waiting time for refilling and improves the continuity and efficiency of fertilization operation.

[0020] 2. The agricultural fertilization robot of the utility model can be provided with multiple groups of leveling fertilization mechanisms to expand the single fertilization area and further improve the fertilization operation efficiency.

[0021] 3. The agricultural fertilization robot of the utility model realizes deep fertilization operation of the robot by cooperating with the adjusting cylinder, the operation adjustment mechanism, the operation cylinder, the micro-vibration mechanism and the feeding gun. When encountering hard geology, the micro-vibration mechanism can drive the feeding gun to vibrate at high frequency to loosen it first and then deeply fertilize it, which expands the application scope of the fertilization robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the utility model agricultural fertilization robot.

[0023] Figure 2 This is a schematic diagram of the overall structure of the traction fertilizer spreading vehicle of the utility model agricultural fertilizer spreading robot after removing the outer shell. Figure 1 .

[0024] Figure 3 This is a schematic diagram of the overall structure of the traction fertilizer spreading vehicle of the utility model agricultural fertilizer spreading robot after removing the outer shell. Figure 2 .

[0025] Figure 4 It is a left view of the utility model agricultural fertilization robot.

[0026] Figure 5 yes Figure 4 AA section view.

[0027] Figure 6 It is a top view of the agricultural fertilization robot of the utility model.

[0028] Figure 7 It is a front view of the utility model agricultural fertilization robot.

[0029] Figure 8 It is a rear view of the utility model agricultural fertilization robot.

[0030] In the figure, 100 is a storage vehicle, 200 is a traction fertilizer spreading vehicle;

[0031] 1. Crawler chassis, 2. Air compressor, 3. Fuel tank, 4. Travel motor, 5. Radiator, 6. Trailer, 7. Storage box, 8. Exhaust port, 9. Mixer, 10. Feeding port, 11. Material level meter, 12. Exhaust pipe, 13. Operating cylinder, 14. Micro-vibration mechanism, 15. Feeding gun, 16. Leveling plate, 17. Air storage tank, 18. Trailing mechanism, 19. Towing ring, 20. Auxiliary support cylinder, 21. Air filter, 22. Adjustment cylinder, 23. Operation adjustment mechanism, 24. Air cannon, 25. Electronic control Box, 26. Battery, 27. Control valve group, 28. Feed pump, 29. Hydraulic oil tank, 30. Engine, 31. Post-processor, 32. Hydraulic pump, 33. Shock absorber, 34. Raw material docking port, 35. Feed hose, 36. Material box outlet, 37. Bottom tool box, 38. Shell, 39. Side door, 40. Hydraulic operating door, 41. Hydraulic oil level observation window, 42. Electrical control panel, 43. Convenient maintenance port of air compressor, 44. Heat dissipation net, 45. Refueling port, 46. Rear door, 47. Auxiliary hook. DETAILED DESCRIPTION

[0032] The following are specific embodiments of the present invention, which further describe the technical solution of the present invention, but the protection scope of the present invention is not limited to these embodiments. Any changes or equivalent substitutions that do not deviate from the concept of the present invention are included in the protection scope of the present invention.

[0033] like Figure 1 As shown, an agricultural fertilizing robot includes a traction fertilizer vehicle 200 and a storage vehicle 100 detachably connected to the rear of the traction fertilizer vehicle 200, the storage vehicle 100 is used to store and provide fertilizers for the traction fertilizer vehicle 200, and the traction fertilizer vehicle 200 is used to tow the storage vehicle 100 to move and perform fertilizing operations; the traction fertilizer vehicle 200 at least includes a crawler chassis 1 and an air supply mechanism, a fertilizer supply mechanism and a leveling fertilization mechanism installed on the crawler chassis 1, and the air supply mechanism, the fertilizer supply mechanism and the leveling fertilization mechanism are connected through a pneumatic three-way valve; the storage vehicle 100 includes a trailer 6 and a storage box 7 installed on the trailer 6, and the bottom of the storage box 7 is connected to the fertilizer supply mechanism through a feed hose 35.

[0034] like Figure 3 As shown, a traction ring 19 is installed at the rear end of the crawler chassis 1, and a towing mechanism 18 is installed at the front end of the trailer 6. The towing mechanism 18 is detachably connected to the traction ring 19. The towing mechanism 18 adopts a multi-degree-of-freedom design to make towing more flexible. An auxiliary support cylinder 20 is also installed at the rear end of the crawler chassis 1. A support plate is fixedly installed at the bottom of the auxiliary support cylinder 20 to provide auxiliary support for the robot during the drilling and fertilizing operation to make the robot more stable.

[0035] The storage vehicle 100 integrates the storage box 7 and the trailer 6. When the fertilizer is used up, the towing mechanism 18 can be disconnected from the traction ring 19, the storage vehicle 100 can be pulled away for refilling, and a spare storage vehicle 100 can be quickly replaced.

[0036] like Figure 6-7 As shown, the bottom of the storage box 7 is inclined, and the lowest point of the inclined bottom is connected to the material box discharge port 36, so that the fertilizer automatically gathers near the material box discharge port 36 by using the slope; a valve is provided on the material box discharge port 36, and a feeding port 10, an exhaust port 8 and a mixer 9 are provided on the top of the storage box 7. After the fertilizer in the storage box 7 is used up, fertilizer is added through the feeding port 10. After a certain number of times and time of use, clean water is injected through the feeding port 10 to clean the storage box 7; the exhaust port 8 is used to discharge the air in the storage box 7 so that the pressure inside the storage box 7 is kept balanced and stable; the mixer 9 stirs the fertilizer in the storage box 7 to prevent the fertilizer from settling; a level meter 11 is provided on the side wall of the storage box 7 for observing the residual amount of fertilizer inside, and a bottom tool box 37 is provided below the storage box 7. The bottom tool box 37 is fixedly installed on the trailer 6 for storing temporary tools.

[0037] like Figure 2-6 As shown, the fertilizer supply mechanism includes a raw material docking port 34 and a feed pump 28. A valve is provided on the raw material docking port 34. One end of the raw material docking port 34 is connected to a feed hose 35. The other end of the raw material docking port 34 is connected to the feed pump 28 through a pipeline. The feed pump 28 is connected to an inlet of a pneumatic three-way valve through a pipeline. The feed pump 28 is used to provide the fertilizer in the storage box 7 to the leveling fertilization mechanism through the pneumatic three-way valve.

[0038] The air supply mechanism includes an air compressor 2, an air storage tank 17, and an air cannon 24 which are connected in sequence. The compressed gas provided by the air compressor 2 is stored in the air storage tank 17. The air storage tank 17 stores the air provided by the air compressor 2 to continuously supply air to the air cannon 24. The air cannon 24 is connected to another inlet of the pneumatic three-way valve through a pipeline. The air cannon 24 injects air into the deep soil through the leveling and fertilizing mechanism.

[0039] The leveling and fertilizing mechanism includes an adjusting cylinder 22 and an operation adjusting mechanism 23. The adjusting cylinder 22 is fixedly installed at the front end of the crawler chassis 1. The output end of the adjusting cylinder 22 is connected and fixed to the operation adjusting mechanism 23 to drive the operation mechanism 23 to move up and down. The operation cylinder 13 is fixedly installed on the operation mechanism 23. The output end of the operation cylinder 13 is fixedly installed with a micro-vibration mechanism 14. The lower end of the micro-vibration mechanism 14 is fixedly installed with a feeding gun 15. The upper end of the feeding gun 15 is connected to the outlet of the pneumatic three-way valve through a pipeline. The lower end of the operation mechanism 23 is fixedly installed with a leveling plate 16. The leveling plate 16 is provided with a through hole for the lower end of the feeding gun 15 to pass through. The leveling plate 16 is used to provide positioning for the feeding gun 15. The operation cylinder 13 drives the micro-vibration mechanism 14 and the feeding gun 15 to operate up and down on the operation mechanism 23. The feeding gun 15 transports air and fertilizer to the soil. When encountering hard geology, the high-frequency vibration of the feeding gun 15 driven by the micro-vibration mechanism 14 is used to loosen it.

[0040] In a preferred embodiment, a slider is provided on the micro-seismic mechanism 14, and a longitudinally arranged slide rail matching the slider is provided on the operating mechanism 23, and the micro-seismic mechanism 14 moves up and down on the operating mechanism 23 along the slide rail.

[0041] In a preferred embodiment, the application gun 15 adopts a dimensional multi-layered gun head design, which can deliver air and fertilizer to the soil in a more comprehensive and three-dimensional manner.

[0042] A fuel tank 3 and an engine 30 are installed on the crawler chassis 1. The fuel tank 3 is used to store diesel or gasoline to provide fuel for the engine 30. A post-processor 31 is provided on the engine 30. The post-processor 31 is used to filter and purify the exhaust gas generated by the engine 30. The tail end of the post-processor 31 is connected to the exhaust pipe 12. The exhaust pipe 12 directionally guides the exhaust gas emission of the engine 30, and the treated exhaust gas is discharged through the exhaust pipe 12.

[0043] like Figure 2 , 3 As shown, the crawler chassis 1 is also equipped with an air filter 21, an electric control box 25, a battery 26, a control valve group 27, a hydraulic oil tank 29, an engine 30, a hydraulic pump 32, and a shock absorber seat 33. The air filter 21 is used to filter the air inhaled by the engine 30. The electric control box 25 is used to install and store electrical related components. The battery 26 is used to power the engine 30 and the electrical components on the robot. The control valve group 27 is respectively connected to the working cylinder 13, the auxiliary support cylinder 20, and the regulating cylinder 22 to control the hydraulic action of the robot. The hydraulic oil tank 29 is connected to the hydraulic pump 32, and the hydraulic pump 32 is connected to the working cylinder 13, the auxiliary support cylinder 20, and the regulating cylinder 22. The engine 30 is installed on the shock absorber seat 33, and the engine 30 is mechanically connected to the hydraulic pump 32 to drive the hydraulic pump to work.

[0044] like Figure 4 ,7 As shown in Figures 8 and 9, a shell 38 is fixedly installed on the crawler chassis 1. The shell 38 is used to protect the components installed on the crawler chassis 1. Side doors 39 are respectively provided on both sides of the shell 38. The side door 39 on one side is provided with a hydraulic operation door 40, a hydraulic oil level observation window 41, and an electrical control panel 42. The hydraulic operation door 40 corresponds to the position of the control valve group 27 and is used to operate the control valve group 27. The hydraulic oil level observation window 41 is used to observe the remaining oil in the hydraulic oil tank 29 in real time. The electrical control panel 42 is electrically connected to the electrical control box 25; the side door 39 on the other side is provided with a convenient maintenance port 43 for the air compressor, a heat dissipation net 44, and a refueling port 45. The convenient maintenance port 43 for the air compressor corresponds to the position of the air compressor 2, the heat dissipation net 44 corresponds to the position of the radiator 5, and the refueling port 45 corresponds to the position of the oil tank 3, and is used to refuel the oil tank 3; a rear door 46 and an auxiliary hook 47 for hanging objects are provided on the rear side of the shell 38, and a heat dissipation net 44 is provided on the rear door 46.

[0045] In a preferred embodiment, the leveling and fertilizing mechanism is provided with multiple groups, which are distributed in a transverse or longitudinal array on the front and rear sides or the left and right sides of the crawler chassis 1. When multiple groups of leveling and fertilizing mechanisms are arranged on the front and rear sides of the crawler chassis 1, the crawler chassis is controlled to move at intervals and the leveling and fertilizing mechanisms are controlled to operate, so that the operating area in the front and rear direction is doubled and the efficiency is increased; when multiple groups of leveling and fertilizing mechanisms are arranged on the left and right sides of the crawler chassis 1, the crawler chassis is controlled to move at intervals and the leveling and fertilizing mechanisms are controlled to operate, so that the operating area in the left and right direction is doubled and the efficiency is increased; when multiple groups of leveling and fertilizing mechanisms are arranged on the front and rear sides and the left and right sides of the crawler chassis 1, the crawler chassis is controlled to move at intervals and the leveling and fertilizing mechanisms are controlled to operate, so that the operating efficiency can be further improved and the fertilization area can be increased.

[0046] In a preferred embodiment, a travel motor 4 is installed on the crawler chassis 1. The travel motor 4 is driven by hydraulic pressure, and the travel motor 4 drives the crawler chassis 1 to travel.

[0047] The working principle of this utility model agricultural fertilization robot is as follows:

[0048] 1) Connect the storage vehicle 100 filled with fertilizer to the traction ring 19 of the traction fertilizer application vehicle 200 through the towing mechanism 18, connect the material box discharge port 36 to the raw material docking port 34 through the material delivery hose 35, and open the valves on the material box discharge port 36 and the raw material docking port 34;

[0049] 2) The air compressor 2 is started to replenish air for the air storage tank 17, and the air storage tank 17 puts a portion of compressed gas into the air cannon 24;

[0050] 3) The oil cylinder 22 is adjusted to move, and the operation adjustment mechanism 23 is lowered as a whole, and the leveling plate 16 contacts the ground;

[0051] 4) Start the micro-vibration mechanism 14, which continuously strikes the material feeding gun 15, and at the same time starts the operating cylinder 13, so that the material feeding gun 15 is buried in the soil;

[0052] 5) The pneumatic three-way valve is switched to a state where the air cannon 24 is connected to the feeding gun 15, and the compressed gas in the air cannon 24 passes through the feeding gun 15, injecting the compressed gas into the deep soil, thereby generating cracks in the deep soil;

[0053] 6) The pneumatic three-way valve switches the connecting pipeline, the passage between the air cannon 24 and the application gun 15 is closed, the passage between the storage box 7 and the application gun 15 is opened, and the feed pump 28 is turned on. The feed pump 28 pressurizes the fertilizer into the conveying pipeline, and the pneumatic three-way valve switches to the state where the air cannon 24 and the application gun 15 are connected, and the fertilizer in the pipeline is sprayed into the deep soil and cracks by compressed gas;

[0054] 7) Turn off the air cannon 24 and the feed pump 28;

[0055] 8) The operating cylinder 13 is retracted, and the application gun 15 is pulled out of the soil;

[0056] 9) The oil cylinder 22 is adjusted to lift the operation adjustment mechanism 23 as a whole, and the crawler chassis 1 drives the trailer 6 to the next operation position.

[0057] When the robot is provided with multiple groups of leveling and fertilizing mechanisms, the outlets of the pneumatic three-way valve are respectively connected to the fertilizing guns 15 of each group of leveling and fertilizing mechanisms, so that soil in different areas can be fertilized at the same time, thereby expanding the single fertilization area and improving the fertilization operation efficiency.

[0058] The present utility model is not limited to the above-mentioned implementation modes, and anyone should be aware of the structural changes made under the inspiration of the present utility model. Any technical solutions that are the same or similar to the present utility model fall within the protection scope of the present utility model.

[0059] The technology, shape and structure parts not described in detail in the present invention are all known technologies.

Claims

1. An agricultural fertilization robot, characterized in that: It includes a tractor fertilizer application vehicle and a storage vehicle detachably connected to the rear of the tractor fertilizer application vehicle, wherein the storage vehicle is used to store and provide fertilizer to the tractor fertilizer application vehicle, and the tractor fertilizer application vehicle is used to tow the storage vehicle to move and perform fertilization operations; The traction fertilizer-spreading vehicle at least comprises a crawler chassis and an air supply mechanism, a fertilizer supply mechanism and a fertilizer-leveling mechanism installed on the crawler chassis, wherein the air supply mechanism, the fertilizer supply mechanism and the fertilizer-leveling mechanism are connected via a pneumatic three-way valve; The material storage vehicle comprises a trailer and a material storage box installed on the trailer, and the bottom of the material storage box is communicated with a fertilizer supply mechanism through a material delivery hose.

2. The agricultural fertilization robot according to claim 1, characterized in that: A traction ring is installed at the rear end of the crawler chassis, and a towing mechanism is installed at the front end of the trailer. The towing mechanism is detachably connected to the traction ring. An auxiliary support cylinder is also installed at the rear end of the crawler chassis, and a support plate is fixedly installed at the bottom of the auxiliary support cylinder to provide auxiliary support for the robot during the drilling and fertilizing operation.

3. The agricultural fertilization robot according to claim 1, characterized in that: The fertilizer supply mechanism includes a raw material interface and a feed pump. The raw material interface is provided with a valve. One end of the raw material interface is connected to a feed hose, and the other end of the raw material interface is connected to the feed pump through a pipeline. The feed pump is connected to an inlet of a pneumatic three-way valve through a pipeline.

4. The agricultural fertilization robot according to claim 1, characterized in that: The air supply mechanism includes an air compressor, an air storage tank, and an air cannon connected in sequence. The compressed gas provided by the air compressor is stored in the air storage tank. The air storage tank provides compressed gas for the air cannon. The air cannon is connected to another inlet of the pneumatic three-way valve through a pipeline.

5. The agricultural fertilization robot according to claim 1, characterized in that: The leveling and fertilizing mechanism includes an adjusting cylinder and an operation adjustment mechanism. The adjusting cylinder is fixedly installed at the front end of the crawler chassis. The output end of the adjusting cylinder is connected and fixed to the operation adjustment mechanism to drive the operation mechanism to move up and down. The operation mechanism is fixedly installed with an operation cylinder. The output end of the operation cylinder is fixedly installed with a micro-vibration mechanism. The lower end of the micro-vibration mechanism is fixedly installed with a feeding gun. The upper end of the feeding gun is connected to the outlet of the pneumatic three-way valve through a pipeline. The lower end of the operation mechanism is fixedly installed with a leveling plate. The leveling plate is provided with a through hole for the lower end of the feeding gun to pass through. The leveling plate is used to provide positioning for the feeding gun. The operation cylinder drives the micro-vibration mechanism and the feeding gun to operate up and down on the operation mechanism.

6. The agricultural fertilization robot according to any one of claims 1 to 5, characterized in that: The bottom of the material storage box is inclined, the lowest point of the inclined bottom is connected to the material box discharge port, a valve is provided on the material box discharge port, a feeding port, an exhaust port and a mixer are provided on the top of the material storage box, a level meter is provided on the side wall of the material storage box, a bottom tool box is provided under the material storage box, and the bottom tool box is fixedly installed on the trailer.

7. The agricultural fertilization robot according to claim 6, characterized in that: The crawler chassis is equipped with a fuel tank and an engine. The fuel tank is used to store diesel or gasoline to provide fuel for the engine. A radiator is provided on one side of the engine. The engine is provided with a post-processor, which is used to filter and purify the exhaust gas generated by the engine. The tail end of the post-processor is connected to an exhaust pipe, and the treated exhaust gas is discharged through the exhaust pipe. The crawler chassis is also equipped with an air filter, an electrical control box, a battery, a control valve group, a hydraulic oil tank, an engine, a hydraulic pump, and a shock absorber seat. The air filter is used to filter the air inhaled by the engine. The electrical control box is used to install and store electrical-related components. The battery is used to power the engine and the electrical components on the robot. The control valve group is respectively connected to the working cylinder, the auxiliary support cylinder, and the adjusting cylinder to control the hydraulic movement of the robot. The hydraulic oil tank is connected to the hydraulic pump, and the hydraulic pump is connected to the working cylinder, the auxiliary support cylinder, and the adjusting cylinder. The engine is installed on the shock absorber seat, and the engine is mechanically connected to the hydraulic pump to drive the hydraulic pump to work.

8. The agricultural fertilization robot according to claim 7, characterized in that: A shell is fixedly installed on the crawler chassis, and the shell is used to protect the components installed on the crawler chassis. Side doors are respectively provided on both sides of the shell. The side door on one side is provided with a hydraulic operating door, a hydraulic oil level observation window, and an electrical control panel. The hydraulic operating door corresponds to the position of the control valve group and is used to operate the control valve group. The hydraulic oil level observation window is used to observe the remaining oil amount in the hydraulic oil tank in real time, and the electrical control panel is electrically connected to the electrical control box; the side door on the other side is provided with a convenient maintenance port for the air compressor, a heat dissipation net, and a refueling port. The convenient maintenance port for the air compressor corresponds to the position of the air compressor, the heat dissipation net corresponds to the position of the radiator, and the refueling port corresponds to the position of the oil tank, and is used to refuel the oil tank; a rear door and an auxiliary hook are provided on the rear side of the shell, and a heat dissipation net is provided on the rear door.

9. The agricultural fertilization robot according to claim 1, characterized in that: The leveling and fertilizing mechanisms are provided in multiple groups and are distributed in a transverse or longitudinal array on the front and rear sides or the left and right sides of the crawler chassis.

10. The agricultural fertilization robot according to claim 1, characterized in that: A travel motor is installed on the crawler chassis, and the travel motor drives the crawler chassis to travel.

Images