Pneumatic quantitative fertilization, powder fixing and deep fertilization robot

Abstract

The utility model belongs to the technical field of agricultural robots, and relates to a pneumatic quantitative fertilization, powder fixation and deep fertilization robot, which is characterized in that a conveying component, a deep scarification fertilization component, an air compression spray explosion component and an automatic following component are mounted on a crawler chassis, and are connected through a three-way valve; the material conveying assembly is used for providing fertilizer for the deep scarification and fertilization assembly, the air compression spray explosion assembly is used for providing compressed air for the deep scarification and fertilization assembly, the deep scarification and fertilization assembly is used for conveying air and fertilizer for soil, and the automatic following assembly is used for detecting and identifying people and obstacles in the environment; a discharging motor of the material conveying assembly drives a rotating shaft and a partition plate to rotate, a discharging baffle is opened, fertilizer enters a material storage bin from a discharging bin, and the material storage bin is communicated with the deep scarification and fertilization assembly. Quantitative discharging and fertilizing are achieved, discharging is conducted in a gas pushing mode, fertilizer particles are evenly distributed, and damage caused by low-frequency vibration to equipment is reduced; and the automatic following assembly automatically follows the working personnel to walk.

Description

Technical Field

[0001] This utility model belongs to the field of agricultural robot technology, specifically relating to a pneumatic quantitative fertilizer application and powder-fixing deep application robot. Background Technology

[0002] With the advancement of agricultural automation and intelligence, intelligent equipment is increasingly being applied to agricultural production. Traditional agricultural fertilization operations rely on manual labor, which is time-consuming, labor-intensive, and has poor fertilization results. Currently, intelligent fertilization robots are gradually being applied to the field of large-scale agricultural planting technology.

[0003] Currently, common fertilizer application robots typically use low-frequency vibration to feed fertilizer to prevent it from clumping. This method tends to cause large fertilizer particles to settle at the bottom. With the same volume, larger gaps mean a smaller amount of fertilizer, resulting in different amounts of fertilizer being delivered to the feeding hopper each time. Furthermore, continuous low-frequency vibration feeding can easily damage the equipment. Summary of the Invention

[0004] The purpose of this utility model is to provide a pneumatic quantitative fertilizer solidification and deep application robot that uses pneumatic feeding, has an automatic following function, and has a wide range of applications.

[0005] The technical solution adopted by this utility model to solve its technical problem is: a pneumatic quantitative fertilizer solidification deep application robot, including a tracked chassis and a shell installed on the tracked chassis. The tracked chassis is equipped with a material conveying component, a deep loosening and fertilization component, an air-compressed spraying and detonation component, and an automatic following component. The material conveying component and the air-compressed spraying and detonation component are installed inside the shell. The deep loosening and fertilization component and the automatic following component are installed at the front end of the tracked chassis. The material conveying component, the deep loosening and fertilization component, and the air-compressed spraying and detonation component are connected by a three-way valve. The material conveying component is used to provide fertilizer to the deep loosening and fertilization component. The air-compressed spraying and detonation component is used to provide compressed air to the deep loosening and fertilization component. The deep loosening and fertilization component is used to deliver air and fertilizer to the soil. The automatic following component is used to detect and identify people and obstacles in the environment.

[0006] The material conveying assembly includes a material box fixedly installed on a tracked chassis. The bottom of the material box has an outlet, and a storage bin is located at the outlet of the material box. A discharge bin is located at the top of the storage bin. The top of the storage bin has an inlet for feeding material from the material box into the discharge bin. A discharge baffle is installed at the bottom of the discharge bin. A rotating shaft is horizontally located inside the discharge bin. Several partitions that contact the inner wall of the discharge bin are evenly distributed on the rotating shaft. The rotating shaft is connected to a discharge motor through an encoder. The discharge motor drives the rotating shaft and the partitions to rotate, opening the discharge baffle and allowing fertilizer to enter the storage bin from the discharge bin. The storage bin is connected to the deep tillage fertilization assembly.

[0007] Furthermore, the deep tillage and fertilization assembly includes a hydraulic cylinder one fixedly installed at the front end of the tracked chassis and a working mechanism fixedly connected to the output end of the hydraulic cylinder one. The hydraulic cylinder one moves to drive the working mechanism to rise and fall. The working mechanism includes at least a hydraulic cylinder two, a deep application gun, and a hydraulic hammer. The hydraulic hammer is fixedly installed at the output end of the hydraulic cylinder two. The deep application gun is connected to the lower part of the hydraulic hammer. The upper end of the deep application gun is connected to the outlet of a three-way valve through a delivery pipeline. The hydraulic cylinder two presses the deep application gun into the soil through the hydraulic hammer. The deep application gun injects compressed air or fertilizer into the soil.

[0008] Furthermore, the pneumatic spraying assembly includes an air tank, an air cannon, an air compressor, a three-way valve, and a pressure transmitter. The air tank, air cannon, and air compressor are all fixedly installed on the tracked chassis. The air compressor is connected to the inlet of the air tank, the outlet of the air tank is connected to the inlet of the air cannon, and the outlet of the air cannon is connected to one inlet of the three-way valve. The air compressor provides compressed air to the air tank, and the air tank continuously supplies compressed air to the air cannon. The pressure transmitter is installed on the air tank and is used to detect the pressure of the air tank.

[0009] Furthermore, an air inlet is provided on the side wall of the storage silo, and the air inlet is connected to the air tank through a pipeline and a solenoid valve. An air outlet is provided at the bottom of the storage silo, and the air outlet is connected to another inlet of the three-way valve. The compressed air from the air tank pushes the fertilizer in the storage silo from the air outlet through the three-way valve into the conveying pipeline.

[0010] Furthermore, a pneumatic ball valve is provided at the outlet of the material box, which is used to control the material box to feed material into the lower hopper.

[0011] Furthermore, the automatic following component includes a camera and an obstacle avoidance sensor. The camera is mounted on the front end of the tracked chassis, and the obstacle avoidance sensor includes an ultrasonic sensor and an infrared sensor, which are mounted on the front and sides of the tracked chassis. The ultrasonic sensor is used to detect obstacles in the surrounding environment, the infrared sensor is used to detect infrared rays emitted by the human body to determine the person's position, and the camera is used to identify the person's physical characteristics or specific landmarks.

[0012] Furthermore, the tracked chassis is also equipped with control components and energy components, which are connected to the material conveying components, deep tillage and fertilization components, compressed air spraying and detonation components, and automatic following components.

[0013] This utility model has the following beneficial effects: The solid fertilizer deep application robot of this utility model achieves quantitative fertilizer application through the cooperation of the feeding motor, partition, and feeding baffle. It uses compressed air to drive the feeding, resulting in uniform distribution of fertilizer particles, avoiding the impact of fertilizer clumping, and reducing the damage to the equipment caused by low-frequency vibration. The automatic following component enables the solid fertilizer deep application robot to automatically follow the worker, improving the intelligence of the operation. The cooperation of the hydraulic cylinder and the working mechanism improves the applicability of the solid fertilizer deep application robot to hard soil. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the pneumatic quantitative fertilizer solidification and deep application robot of this utility model.

[0015] Figure 2 This is a top view of the pneumatic quantitative fertilizer application and powder-fixing deep application robot of this utility model.

[0016] Figure 3 yes Figure 2 Sectional view along the AA direction.

[0017] Figure 4 This is a schematic diagram of the overall three-dimensional structure of the pneumatic quantitative fertilizer solidification and deep application robot after removing the shell.

[0018] Figure 5 This is the front view of the pneumatic quantitative fertilizer solidification and deep application robot of this utility model after removing the shell.

[0019] Figure 6 This is a right view of the pneumatic quantitative fertilizer solidification and deep application robot of this utility model after the shell has been removed.

[0020] Figure 7 This is a top view of the pneumatic quantitative fertilizer solidification and deep application robot of this utility model after removing the shell.

[0021] Figure 8 This is a schematic diagram of the overall three-dimensional structure of the material conveying component of this utility model.

[0022] Figure 9 This is a top view of the material conveying assembly of this utility model.

[0023] Figure 10 yes Figure 9 Sectional view along the BB direction.

[0024] In the diagram, 1. Tracked chassis, 2. Shell, 3. Material conveying assembly, 4. Deep tillage and fertilization assembly, 5. Compressed air spraying assembly, and 6. Automatic following assembly;

[0025] 31. Material bin, 32. Feeding bin, 33. Storage bin, 34. Feeding motor, 35. Air inlet, 36. Air outlet, 37. Feeding baffle, 38. Partition, 39. Feeding inlet, 310. Rotating shaft, 311. Encoder;

[0026] 41. Hydraulic cylinder one; 42. Hydraulic cylinder two; 43. Deep application gun; 44. Hydraulic hammer.

[0027] 51. Air tank; 52. Air cannon; 53. Air compressor; 54. Three-way valve; 55. Pressure transmitter.

[0028] 61. Camera; 62. Obstacle avoidance sensor. Detailed Implementation

[0029] The following are specific embodiments of this utility model, which further describe the technical solution of this utility model. However, the protection scope of this utility model is not limited to these embodiments. Any changes or equivalent substitutions that do not depart from the concept of this utility model are included within the protection scope of this utility model.

[0030] like Figure 1-4 As shown, a pneumatic quantitative fertilizer application and solidification deep application robot includes a tracked chassis 1 and a housing 2 mounted on the tracked chassis 1. The tracked chassis 1 is equipped with a material conveying component 3, a deep loosening and fertilization component 4, a compressed air spraying and detonation component 5, and an automatic following component 6. The material conveying component 3 and the compressed air spraying and detonation component 5 are installed inside the housing 2. The deep loosening and fertilization component 4 and the automatic following component 6 are installed at the front end of the tracked chassis 1. The material conveying component 3, the deep loosening and fertilization component 4, and the compressed air spraying and detonation component 5 are connected by a three-way valve 54. The material conveying component 3 is used to provide fertilizer to the deep loosening and fertilization component 4, the compressed air spraying and detonation component 5 is used to provide compressed air to the deep loosening and fertilization component 4, the deep loosening and fertilization component 4 is used to deliver air and fertilizer to the soil, and the automatic following component 6 is used to detect and identify people and obstacles in the environment.

[0031] like Figure 8-10 As shown, the material conveying assembly 3 includes a material box 31 fixedly installed on the tracked chassis 1. The bottom of the material box 31 has an outlet, and a storage bin 33 is located at the outlet of the material box 31. A discharge bin 32 is located in the upper part of the storage bin 33. The top of the storage bin 33 has an inlet 39 for feeding material from the material box 31 into the discharge bin 32. A discharge baffle 37 is installed at the bottom of the discharge bin 32. A rotating shaft 310 is horizontally arranged inside the discharge bin 32. Several partitions 38 are evenly distributed on the rotating shaft 310, which contact the inner wall of the discharge bin 32. The rotating shaft 310 is connected to a discharge motor 34 through an encoder 34. The encoder 34 is used to control the rotation angle of the rotating shaft 310 to better control the amount of fertilizer applied each time. The discharge motor 34 drives the rotating shaft 310 and the partitions 38 to rotate, the discharge baffle 37 opens, and the fertilizer enters the storage bin 33 from the discharge bin 32. The storage bin 33 is connected to the deep tillage fertilization assembly 4.

[0032] An air inlet 35 is provided on the side wall of the storage silo 33. The air inlet 35 is connected to the air tank 51 through a pipeline and a solenoid valve. An air outlet 36 is provided at the bottom of the storage silo 33. The air outlet 36 is connected to another inlet of the three-way valve 54. The compressed air from the air tank 51 pushes the fertilizer in the storage silo 33 from the air outlet 36 through the three-way valve 54 into the conveying pipeline.

[0033] A pneumatic ball valve is provided at the outlet of the material box 31. The pneumatic ball valve is used to control the feeding of material from the material box 31 into the downward material bin 32.

[0034] Under the influence of gravity, fertilizer falls from the feed box 31 into the discharge bin 32 through the feed inlet 39. The discharge motor 34 drives the rotating shaft 310 and the partition 38 to rotate. The discharge baffle 37 opens, and the fertilizer between the two adjacent partitions 38 at the bottom falls into the storage bin 33. The discharge baffle 37 closes, and the solenoid valve between the air inlet 35 and the air tank 51 opens. Compressed air enters the storage bin 33 from the air inlet 35, driving the fertilizer in the storage bin 33 to enter the conveying pipeline from the air outlet 36 through the three-way valve 54, so as to complete the deep application of solid fertilizer.

[0035] like Figure 5 As shown, the deep tillage and fertilization assembly 4 includes a hydraulic cylinder 41 fixedly installed at the front end of the tracked chassis 1 and a working mechanism fixedly connected to the output end of the hydraulic cylinder 41. The hydraulic cylinder 41 drives the working mechanism to rise and fall. The working mechanism includes at least a hydraulic cylinder 42, a deep tillage gun 43 and a hydraulic hammer 44. The hydraulic hammer 44 is fixedly installed at the output end of the hydraulic cylinder 42. The deep tillage gun 43 is connected to the bottom of the hydraulic hammer 44. The upper end of the deep tillage gun 43 is connected to the outlet of the three-way valve 54 through a delivery pipeline. The hydraulic cylinder 42 presses the deep tillage gun 43 into the soil through the hydraulic hammer 44. The deep tillage gun 43 injects compressed air or fertilizer into the soil.

[0036] In loose soil conditions, the output end of hydraulic cylinder 42 extends downwards, pressing the deep application gun 43 into the soil. Once the predetermined depth is reached, hydraulic cylinder 42 stops operating. In hard soil conditions, the output end of hydraulic cylinder 42 extends downwards, activating the hydraulic hammer 44. Under the combined vibration and pressing action of hydraulic cylinder 42 and hydraulic hammer 44, the deep application gun 43 smoothly enters the soil. Once the predetermined depth is reached, both hydraulic cylinder 42 and hydraulic hammer 44 stop operating. After the deep loosening and solidification operations are completed, hydraulic cylinder 42 reverses its movement, and the deep application gun 43 is pulled out of the soil.

[0037] like Figure 6 , Figure 7As shown, the air-compressed explosion assembly 5 includes an air tank 51, an air cannon 52, an air compressor 53, a three-way valve 54, and a pressure transmitter 55. The air tank 51, air cannon 52, and air compressor 53 are all fixedly installed on the tracked chassis 1. The air compressor 53 is connected to the inlet of the air tank 51, the outlet of the air tank 51 is connected to the inlet of the air cannon 52, and the outlet of the air cannon 52 is connected to one inlet of the three-way valve 54. The air compressor 53 provides compressed air to the air tank 51, and the air tank 51 continuously supplies compressed air to the air cannon 52. The pressure transmitter 55 is installed on the air tank 51 and is used to detect the pressure of the air tank 51.

[0038] A solenoid valve is installed between the air compressor 53 and the air tank 51. When the pressure transmitter 55 detects that the pressure in the air tank 51 is insufficient, the solenoid valve between the air compressor 53 and the air tank 51 opens, starting the air compressor 53. The air compressor 53 replenishes compressed air to the air tank 51. After the pressure transmitter 55 detects that the pressure in the air tank 51 has reached the set value, the solenoid valve between the air compressor 53 and the air tank 51 blocks the air passage, and the air compressor 53 shuts down.

[0039] To improve control accuracy, a solenoid valve is installed between the air cannon 52 and the three-way valve 54. During deep loosening operations, the solenoid valve between the air cannon 52 and the three-way valve 54 is activated, and the compressed air in the air cannon 52 is released instantaneously. The compressed air flows through the three-way valve 54 and the delivery pipeline into the deep application gun 43, and is then sprayed and released into the deep soil from the lower end of the deep application gun 43, causing cracks to form in the deep soil. During solidification deep application operations, the solenoid valve between the air cannon 52 and the three-way valve 54 is activated, and the compressed air in the air cannon 52 is released instantaneously. The compressed air flows through the three-way valve 54 into the delivery pipeline, and the fertilizer in the delivery pipeline is sprayed and released into the cracks deep in the soil through the deep application gun 43.

[0040] like Figure 7 As shown, the automatic following component 6 includes a camera 61 and an obstacle avoidance sensor 62. The camera 61 is mounted on the front end of the tracked chassis 1. The obstacle avoidance sensor 62 includes an ultrasonic sensor and an infrared sensor, which are installed on the front and sides of the tracked chassis 1 as needed. The ultrasonic sensor is used to detect obstacles in the surrounding environment to prevent the solidification and deep application robot from colliding during the following process. The infrared sensor is used to detect infrared rays emitted by the human body to determine the person's position. The camera 61 is used to identify the person's facial features or specific landmarks to improve the accuracy of following. This allows the solidification and deep application robot to automatically follow workers in the field or be remotely controlled using a remote controller.

[0041] The tracked chassis 1 is also equipped with control components and energy components, which are connected to the material conveying component 3, the deep loosening and fertilization component 4, the air-compressed spraying and detonation component 5, and the automatic following component 6.

[0042] The working method of the above-mentioned pneumatic quantitative fertilizer application and powder-fixing deep application robot includes the following steps:

[0043] a. The camera 61 and obstacle avoidance sensor 62 identify the staff, and the mobile chassis 1 drives the solid powder deep application robot to automatically follow the staff to the work area in the farmland;

[0044] b. The air compressor 53 starts to replenish the compressed air to the air tank 51, and the air tank 51 releases a portion of the compressed air into the air cannon 52; the pressure transmitter 55 monitors the pressure of the air tank 51 in real time. When the pressure is insufficient, the air compressor 53 starts. When the pressure reaches the set value, the air compressor 53 stops.

[0045] c. Hydraulic cylinder 41 is activated, lowering the working mechanism to contact the ground. Hydraulic cylinder 42 and hydraulic hammer 44 are activated to press the deep application gun 43 down into the soil to a certain depth.

[0046] d. When the three-way valve 54 is switched to the state where the air cannon 52 and the deep application gun 43 are connected, the air cannon 52 is started. The compressed air in the air cannon 52 enters the deep application gun 43 through the three-way valve 54 and the delivery pipeline. The compressed air is sprayed into the soil depth, creating cracks in the soil depth.

[0047] e. Fertilizer falls from the feed inlet 39 into the feed bin 32 between two adjacent partitions 38. The feed motor 34 drives the rotating shaft 310 and the partitions 38 to rotate. The feed baffle 37 opens and the fertilizer falls into the storage bin 33. The encoder 311 controls the angle of rotation of the partitions 38 driven by the feed motor 34 to control the amount of fertilizer applied each time.

[0048] f. The three-way valve 54 switches the connecting pipeline, the air cannon 52 and the deep application gun 43 are closed, the air outlet 36 and the deep application gun 43 are connected, the solenoid valve between the air tank 51 and the air inlet 35 is opened, the compressed air enters the storage bin 33 from the air tank 51 through the air inlet 35, and pushes the fertilizer in the storage bin 33 from the air outlet 36 through the three-way valve 54 into the conveying pipeline.

[0049] g. The three-way valve 54 switches the connecting pipeline, the air outlet 36 and the deep application gun 43 are closed, the air cannon 52 and the deep application gun 43 are connected, the air cannon 52 is started, the compressed air in the air cannon 52 passes through the three-way valve 54 and sprays the fertilizer in the delivery pipeline into the deep cracks of the soil through the deep application gun 43 to complete the solid fertilizer deep application operation.

[0050] h. Hydraulic cylinder 42 retracts, pulling the deep application gun 43 out of the soil. Hydraulic cylinder 1 actuates, causing the working mechanism to rise off the ground. The tracked chassis 1 then moves the solid powder deep application robot to the next work area.

[0051] This utility model is not limited to the above-described embodiments. Anyone should know that any structural changes made under the guidance of this utility model, and any technical solutions that are the same as or similar to this utility model, fall within the protection scope of this utility model.

[0052] The technologies, shapes, and structures not described in detail in this utility model are all known technologies.

Claims

1. A pneumatic quantitative fertilizer application and powder-fixing deep application robot, comprising a tracked chassis and a shell mounted on the tracked chassis, characterized in that, The tracked chassis is equipped with a material conveying assembly, a deep tillage and fertilization assembly, a compressed air spraying assembly, and an automatic following assembly. The material conveying assembly and the compressed air spraying assembly are installed inside the housing, while the deep tillage and fertilization assembly and the automatic following assembly are installed at the front end of the tracked chassis. The material conveying assembly, the deep tillage and fertilization assembly, and the compressed air spraying assembly are connected by a three-way valve. The material conveying assembly is used to provide fertilizer to the deep tillage and fertilization assembly, the compressed air spraying assembly is used to provide compressed air to the deep tillage and fertilization assembly, the deep tillage and fertilization assembly is used to deliver air and fertilizer to the soil, and the automatic following assembly is used to detect and identify people and obstacles in the environment. The material conveying assembly includes a material box fixedly installed on a tracked chassis. The bottom of the material box has an outlet, and a storage bin is located at the outlet of the material box. A discharge bin is located at the top of the storage bin. The top of the storage bin has an inlet for feeding material from the material box into the discharge bin. A discharge baffle is installed at the bottom of the discharge bin. A rotating shaft is horizontally located inside the discharge bin. Several partitions that contact the inner wall of the discharge bin are evenly distributed on the rotating shaft. The rotating shaft is connected to a discharge motor through an encoder. The discharge motor drives the rotating shaft and the partitions to rotate, opening the discharge baffle and allowing fertilizer to enter the storage bin from the discharge bin. The storage bin is connected to the deep tillage fertilization assembly.

2. The pneumatic quantitative fertilizer application and powder-fixing deep application robot as described in claim 1, characterized in that, The deep tillage and fertilization assembly includes a hydraulic cylinder 1 fixedly installed at the front end of the tracked chassis and a working mechanism fixedly connected to the output end of the hydraulic cylinder 1. The hydraulic cylinder 1 drives the working mechanism to rise and fall. The working mechanism includes at least a hydraulic cylinder 2, a deep application gun, and a hydraulic hammer. The hydraulic hammer is fixedly installed at the output end of the hydraulic cylinder 2. The deep application gun is connected to the bottom of the hydraulic hammer. The upper end of the deep application gun is connected to the outlet of a three-way valve through a delivery pipeline. The hydraulic cylinder 2 presses the deep application gun into the soil through the hydraulic hammer. The deep application gun injects compressed air or fertilizer into the soil.

3. The pneumatic quantitative fertilizer application and powder-fixing deep application robot as described in claim 1, characterized in that, The compressed air spray assembly includes an air tank, an air cannon, an air compressor, a three-way valve, and a pressure transmitter. The air tank, air cannon, and air compressor are all fixedly installed on the tracked chassis. The air compressor is connected to the inlet of the air tank, the outlet of the air tank is connected to the inlet of the air cannon, and the outlet of the air cannon is connected to one inlet of the three-way valve. The air compressor provides compressed air to the air tank, and the air tank continuously supplies compressed air to the air cannon. The pressure transmitter is installed on the air tank to detect the pressure of the air tank.

4. The pneumatic quantitative fertilizer application and powder-fixing deep application robot as described in claim 3, characterized in that, An air inlet is provided on the side wall of the storage silo. The air inlet is connected to an air tank through a pipeline and a solenoid valve. An air outlet is provided at the bottom of the storage silo. The air outlet is connected to another inlet of a three-way valve. Compressed air from the air tank pushes the fertilizer in the storage silo from the air outlet through the three-way valve into the conveying pipeline.

5. The pneumatic quantitative fertilizer application and powder-fixing deep application robot as described in claim 4, characterized in that, The outlet of the material box is equipped with a pneumatic ball valve, which is used to control the material box to feed material into the downward hopper.

6. The pneumatic quantitative fertilizer application and powder-fixing deep application robot as described in claim 1, characterized in that, The automatic following component includes a camera and an obstacle avoidance sensor. The camera is mounted on the front end of the tracked chassis, and the obstacle avoidance sensor includes an ultrasonic sensor and an infrared sensor, which are mounted on the front and sides of the tracked chassis. The ultrasonic sensor is used to detect obstacles in the surrounding environment, the infrared sensor is used to detect infrared rays emitted by the human body to determine the person's position, and the camera is used to identify the person's physical characteristics or specific landmarks.

7. The pneumatic quantitative fertilizer application and powder-fixing deep application robot as described in claim 1, characterized in that, The tracked chassis is also equipped with control components and energy components, which are connected to the material conveying components, deep tillage and fertilization components, compressed air spraying and detonation components, and automatic following components.

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