Three-layer layered fertilization equipment with obstacle avoidance connecting rod mechanism

Abstract

The utility model discloses three-layer layered fertilization equipment with an obstacle avoidance connecting rod mechanism. Comprising a bearing body, first cross rods fixedly connected to the two sides of the bearing body, two racks fixedly connected to the side walls of the first cross rods, a second cross rod fixedly connected to the four racks in a penetrating mode, a moving mechanism fixedly connected to the second cross rod, an obstacle avoidance connecting rod mechanism fixedly connected to the moving end of the moving mechanism, and a water pumping mechanism arranged at the upper end of the bearing body. The water supply mechanism is fixedly connected to one end of the bearing body, the second surface water spraying mechanism is fixedly connected to the rack, the middle-layer water spraying mechanism is fixedly connected to the second surface water spraying mechanism, the supporting mechanism is fixedly connected to the lower end of the bearing body, and the deep-layer water injection mechanism is fixedly connected to the supporting mechanism. The three-layer synchronous precise fertilization robot has the advantages of three-layer synchronous precise fertilization and autonomous obstacle avoidance protection.

Description

Technical Field

[0001] This utility model relates to the field of fertilization equipment technology, specifically a three-layer fertilization equipment with an obstacle avoidance linkage mechanism. Background Technology

[0002] As a fundamental industry of the national economy, agriculture's level of mechanization and intelligence in its production process directly affects grain yield and resource utilization efficiency. In recent years, with global population growth and increasing constraints on arable land resources, the concept of precision agriculture has gradually become the core direction of modern agricultural development. Among them, scientific fertilization technology, as a key link in improving soil fertility, reducing non-point source pollution, and increasing fertilizer utilization, has received widespread attention.

[0003] Currently, traditional fertilization methods mostly involve surface application or single-depth strip application, which easily leads to fertilizer volatilization and loss, soil compaction, or uneven absorption by crop roots. Layered fertilization technology, on the other hand, applies fertilizer to the soil at different depths (such as surface, middle, and deep layers) simultaneously, matching the nutrient absorption needs of crops at different growth stages and significantly improving fertilizer utilization. However, existing layered fertilization equipment is difficult to quickly spray or inject fertilizer into the surface, middle, and deep layers of the soil. It also lacks obstacle avoidance capabilities during equipment movement, failing to improve the protection of the fertilization mechanism, and requires further improvement. Utility Model Content

[0004] The purpose of this invention is to provide a three-layer fertilization device with an obstacle avoidance linkage mechanism, which has the advantages of three-layer synchronous and precise fertilization and autonomous obstacle avoidance protection, and solves the problems in the prior art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A three-layer fertilization device with an obstacle avoidance linkage mechanism includes a carrier body, a first crossbar fixed to both sides of the carrier body, two frames fixed to the side walls of the first crossbar, a second crossbar fixed through the four frames, a moving mechanism fixed to the second crossbar, an obstacle avoidance linkage mechanism fixed to the moving end of the moving mechanism, a pumping mechanism located at the upper end of the carrier body, a water supply mechanism fixed to one end of the carrier body, a second surface spraying mechanism fixed to the frame, a middle layer spraying mechanism fixed to the second surface spraying mechanism, a support mechanism fixed to the lower end of the carrier body, and a deep water injection mechanism fixed to the support mechanism.

[0007] The outlet of the pumping mechanism is connected to the inlet of the water supply mechanism via a pipe. The multiple outlets of the water supply mechanism are respectively connected to the inlet of the first surface spray mechanism, the inlet of the second surface spray mechanism, the inlet of the middle layer spray mechanism, and the inlet of the deep layer injection mechanism via pipes.

[0008] Preferably, the moving mechanism includes a fixed sleeve fixed to the side wall of the second crossbar and a first electric cylinder fixed to the fixed sleeve.

[0009] It is worth noting that: Activating the first electric cylinder allows for convenient adjustment of the position of the obstacle avoidance linkage mechanism. By driving the moving sleeve along the second crossbar, the lateral position of the obstacle avoidance linkage mechanism can be quickly adjusted to adapt to different field obstacle distributions. No manual adjustment is required, reducing the difficulty of operation. The fixed sleeve is firmly connected to the second crossbar, providing stable support for the first electric cylinder and ensuring no shaking during the electric cylinder's operation. This guarantees the accuracy of the obstacle avoidance linkage mechanism's position adjustment, thereby improving the equipment's flexibility in dealing with complex field environments and ensuring continuous fertilization operations.

[0010] Preferably, the obstacle avoidance linkage mechanism includes a movable sleeve sleeved on the side wall of the second crossbar, a movable block fixed to the lower end of the movable sleeve, a bearing plate fixed to the side wall of the movable block, a motor fixed to the upper end of the bearing plate, an eccentric block fixed to the lower end of the motor output shaft, a connecting rod body hinged to the eccentric block, a plurality of stops evenly distributed on the end of the connecting rod body away from the bearing body, a sliding column rotatably mounted on the connecting rod body, two limiting rings fixed to the side wall of the sliding column, and a sliding groove penetrating the upper end of the movable block. The sliding column is slidably disposed on the inner wall of the sliding groove. The ends of the two limiting rings that are close to each other are respectively in contact with the upper and lower end faces of the movable block. The output shaft of the first electric cylinder is fixed to the end of the movable sleeve close to the bearing body, and a pressure sensor is fixed to the end of the stop block away from the bearing body.

[0011] It is worth noting that: the motor drives the eccentric block to move the connecting rod, the sliding column and the sliding groove cooperate to limit the movement, and the first electric cylinder can drive the moving sleeve to move, which can flexibly avoid obstacles, avoid collision damage between the equipment and obstacles, ensure continuous and smooth operation, and improve the adaptability of the equipment.

[0012] Preferably, the pumping mechanism includes a water tank fixed to the upper end of the carrier, a battery fixed to the upper end of the carrier, a controller fixed to the side wall of the water tank, and a water pump fixed to the upper end of the carrier. The pumping end of the water pump is connected to the outlet end of the water tank through a pipe.

[0013] It is worth noting that the water tank can store sufficient water and fertilizer, avoiding frequent water replenishment during operation, ensuring long-term continuous operation of the equipment and adapting to the needs of large-area field fertilization. The battery provides a stable power supply for the water pump, controller and other electric components of the equipment, eliminating the limitation of external power supply and improving the flexibility of equipment movement and operation, especially suitable for field scenarios without power supply facilities. The controller can accurately control the start and stop of the water pump and the pumping flow rate.

[0014] Preferably, the water supply mechanism includes a fixed block fixed to one end of the carrier, a water supply pipe fixed to the inner wall of the fixed block, multiple water outlet pipes fixed to the water supply pipe, and a solenoid valve installed on the water outlet pipe. The water outlet end of the water pump is connected to the water inlet end of the water supply pipe through a pipeline.

[0015] It is worth noting that the fixing block provides stable support for the water supply pipe, preventing it from shaking or falling off during equipment movement and ensuring the stability of the water supply structure. As the main water supply channel, the water supply pipe can evenly distribute the water and fertilizer delivered by the pump to multiple outlet pipes, achieving simultaneous water supply from multiple branches. The solenoid valve on each outlet pipe can independently control the on / off state and water and fertilizer flow of the corresponding branch, and can separately adjust the fertilizer supply of the first surface spraying mechanism, the second surface spraying mechanism, the middle layer spraying mechanism, and the deep layer water injection mechanism to meet the fertilization needs of different layers and different crop growth stages, avoiding water and fertilizer waste. Through precise control of the solenoid valve, each mechanism can also operate independently or collaboratively, improving the flexibility and accuracy of equipment fertilization.

[0016] Preferably, the second surface water spraying mechanism includes an inclined block fixed to one end of the frame, a second fixed pipe fixed to one end of the inclined block, and at least one second nozzle disposed on the second fixed pipe, wherein the water inlet end of the second fixed pipe is connected to the water outlet pipe through a pipe.

[0017] It is worth noting that multiple second nozzles can be evenly set according to the crop spacing to achieve uniform spraying of water and fertilizer on the second surface of the crop, thereby improving the coverage of water and fertilizer on the surface.

[0018] Preferably, the middle-layer water spray mechanism includes a mounting block hinged to the lower end of the inclined block, a third nozzle fixed through the mounting block, and a roller rotatably mounted on the mounting block. The distance between the third nozzle and the roller is less than five centimeters, and the water inlet end of the third nozzle is connected to the water outlet pipe through a pipe.

[0019] It is worth noting that the mounting block and the inclined block are hinged together, allowing the third nozzle to rotate around the hinge point as the field terrain changes. The roller contacts the ground, and when the equipment moves, the roller rolls, which can drive the mounting block to adjust its angle in real time. This ensures that the third nozzle always maintains a suitable spraying height and angle. The distance between the third nozzle and the roller is less than five centimeters, which makes the roller's adjustment of the nozzle height more sensitive. This avoids the nozzle from being too high or too low due to ground undulations, ensuring that the middle layer of water and fertilizer is accurately sprayed to the middle root area of ​​the crop.

[0020] Preferably, the support mechanism includes brackets fixed to the four corner edges of the lower end of the carrier and casters fixed to the lower end of the brackets.

[0021] It is worth noting that the supports at the four corners provide stable support for the load-bearing body, ensuring the overall structural balance of the equipment. This prevents the load-bearing body from tilting, which could lead to component damage or water and fertilizer leakage. The supports are strong enough to withstand the weight of the equipment and the water and fertilizer in the tank, ensuring that the equipment is not easily deformed during long-term use and improving the equipment's operational mobility and field adaptability.

[0022] Preferably, the deep water injection mechanism includes a connecting block fixed to the upper end of the support, a horizontal plate fixed to the connecting block, a second electric cylinder fixed to the upper end of the horizontal plate, a lifting frame fixed to the lower end of the output shaft of the second electric cylinder, multiple through holes opened through the lower end of the lifting frame, a movable pipe fixed to the inner wall of the through holes, a connecting pipe fixed to the upper end of the multiple movable pipes, and a water inlet pipe fixed to the connecting pipe for water inlet. The water inlet pipe is connected to the water outlet pipe through a pipeline, and an injection head is fixed to the lower end of the movable pipe.

[0023] It is worth noting that: the second electric cylinder can drive the lifting frame to move up and down, thereby adjusting the depth of the injection head inserted into the soil to adapt to the depth requirements of different crops' deep root systems, achieving precise deep fertilization; the movable tube can move slightly within the through hole, and the injection head can adaptively adjust its angle according to soil resistance when inserted into the soil, avoiding bending or damage to the injection head and extending the service life of the components; multiple movable tubes are connected by a connecting pipe, and the water and fertilizer delivered by the water inlet pipe can be evenly distributed to each injection head, enabling simultaneous deep fertilization at multiple points, improving the efficiency of deep fertilization; the injection head can directly inject water and fertilizer into the deep soil, reducing water and fertilizer volatilization and loss, and improving water and fertilizer utilization.

[0024] Preferably, the first surface water spraying mechanism includes two fixed frames fixed to the side wall of the third crossbar, a first fixed pipe fixed through the fixed frames, and at least one first nozzle fixed to the first fixed pipe. The water inlet end of the first fixed pipe is connected to the water outlet pipe through a pipe.

[0025] It is worth noting that multiple first nozzles can be evenly set according to the crop planting density to achieve full coverage of water and fertilizer on the first surface of the crop, avoiding fertilization blind spots. This mechanism, together with the second surface water spraying mechanism, can fertilize the crop surface in all directions, meeting the comprehensive water and fertilizer needs of the crop surface root system. Moreover, the structure is compact, occupies little space, and is easy to maintain and replace nozzles later.

[0026] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0027] 1. The three-layer fertilization equipment with obstacle avoidance linkage mechanism disclosed in this utility model is equipped with first and second surface water spraying mechanisms. The surface layer of the soil is sprayed without blind spots by the coordinated multi-nozzle of the first and second surface water spraying mechanisms. The middle layer is sprayed accurately by the self-adaptive mechanism of the hinged mounting block driven by the roller. The deep layer is injected simultaneously by adjusting the injection head depth and the movable tube self-adaptively protecting the head through the second electric cylinder. This reduces water and fertilizer loss and effectively solves the problem that existing fertilization equipment is difficult to quickly and accurately fertilize the surface, middle and deep layers of soil.

[0028] 2. This utility model relies on the linkage between the moving mechanism and the obstacle avoidance linkage mechanism to achieve autonomous obstacle avoidance protection. The fixed sleeve of the moving mechanism is stably connected to the second crossbar. The first electric cylinder can drive the moving sleeve of the obstacle avoidance linkage mechanism to move laterally. It can adapt to different obstacle distributions without manual adjustment. When avoiding obstacles, the motor drives the eccentric block to move the linkage body. The sliding column slides in the limited position in the sliding groove. After the stop block touches the obstacle, the linkage body deflects and cooperates with the moving sleeve for fine adjustment. This can form flexible obstacle avoidance, avoid collision damage to the fertilization mechanism, ensure continuous operation, and improve the adaptability of the equipment to complex field environments. Attached Figure Description

[0029] Figure 1 The diagram shown is a three-dimensional structural schematic of this utility model;

[0030] Figure 2 The diagram shown is a three-dimensional structural schematic of the first surface water spraying mechanism of this utility model;

[0031] Figure 3 The diagram shown is a three-dimensional structural schematic of the water supply mechanism of this utility model.

[0032] Figure 4 The diagram shows a three-dimensional structural schematic of the pumping mechanism and the deep water injection mechanism of this utility model.

[0033] Figure 5 The diagram shown is a three-dimensional structural schematic of the moving mechanism and obstacle avoidance linkage mechanism of this utility model.

[0034] Figure 6 The diagram shown is a three-dimensional structural schematic of the second surface water spraying mechanism of this utility model;

[0035] Figure 7 The diagram shown is a three-dimensional structural schematic of the middle-layer water spray mechanism of this utility model.

[0036] Reference numerals: 1. Bearing body; 2. First crossbar; 3. Frame; 4. Second crossbar; 5. Moving mechanism; 51. Fixed sleeve; 52. First electric cylinder; 6. Obstacle avoidance linkage mechanism; 61. Moving sleeve; 62. Moving block; 63. Motor; 64. Eccentric block; 65. Linkage body; 66. Stop block; 67. Sliding column; 68. Sliding groove; 69. Limiting ring; 7. Water pumping mechanism; 71. Water tank; 72. Battery; 73. Controller; 74. Water pump; 8. Third crossbar; 9. First surface spray Water mechanism; 91. Fixing frame; 92. First fixing pipe; 93. First nozzle; 10. Bracket; 11. Casters; 12. Fixing block; 13. Water supply pipe; 14. Water outlet pipe; 15. Solenoid valve; 16. Horizontal plate; 17. Second electric cylinder; 18. Lifting frame; 19. Through hole; 20. Movable pipe; 21. Injection head; 22. Connecting pipe; 23. Water inlet pipe; 24. Inclined block; 25. Second fixing pipe; 26. Second nozzle; 27. Mounting block; 28. Third nozzle; 29. ​​Roller. Detailed Implementation

[0037] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0038] To address the problems of low fertilization efficiency and lack of effective protection for fertilization facilities in existing technologies, the following technical solution is proposed. Please refer to [link / reference needed]. Figures 1-7 ;

[0039] A three-layer fertilization device with an obstacle avoidance linkage mechanism includes a carrier body 1, first crossbars 2 fixed to both sides of the carrier body 1, two frames 3 fixed to the side walls of the first crossbars 2, second crossbars 4 fixed through the four frames 3, a moving mechanism 5 fixed to the second crossbars 4, an obstacle avoidance linkage mechanism 6 fixed to the moving end of the moving mechanism 5, a pumping mechanism 7 set at the upper end of the carrier body 1, a water supply mechanism fixed to one end of the carrier body 1, a second surface water spraying mechanism fixed to the frame 3, a middle layer water spraying mechanism fixed to the second surface water spraying mechanism, a support mechanism fixed to the lower end of the carrier body 1, and a deep water injection mechanism fixed to the support mechanism.

[0040] The outlet of the pumping mechanism 7 is connected to the inlet of the water supply mechanism via a pipe. The multiple outlets of the water supply mechanism are respectively connected to the inlet of the first surface spray mechanism 9, the inlet of the second surface spray mechanism, the inlet of the middle layer spray mechanism, and the inlet of the deep layer injection mechanism via pipes.

[0041] In use, the device is pulled to the area requiring fertilization by a power machine. Then, the pumping mechanism 7 is turned on to supply fertilizer water to the water supply mechanism. The layer water injection mechanism is turned on so that its outlet end extends into the soil. The fertilizer water will then enter the water inlet of the first surface water spraying mechanism 9, the water inlet of the second surface water spraying mechanism, the water inlet of the middle layer water spraying mechanism, and the water inlet of the deep layer water injection mechanism through the pipes, thereby realizing the surface spraying, middle layer spraying, and deep layer injection of fertilizer water on the soil.

[0042] In this embodiment, specifically: the moving mechanism 5 includes a fixed sleeve 51 fixed to the side wall of the second crossbar 4 and a first electric cylinder 52 fixed to the fixed sleeve 51.

[0043] In this embodiment, specifically: the obstacle avoidance linkage mechanism 6 includes a movable sleeve 61 sleeved on the side wall of the second crossbar 4, a movable block 62 fixed to the lower end of the movable sleeve 61, a bearing plate fixed to the side wall of the movable block 62, a motor 63 fixed to the upper end of the bearing plate, an eccentric block 64 fixed to the lower end of the output shaft of the motor 63, a connecting rod body 65 hinged to the eccentric block 64, a plurality of stops 66 evenly distributed on the end of the connecting rod body 65 away from the bearing body 1, a sliding column 67 rotatably mounted on the connecting rod body 65, two limiting rings 69 fixed to the side wall of the sliding column 67, and a sliding groove 68 penetrating the upper end of the movable block 62. The sliding column 67 is slidably disposed on the inner wall of the sliding groove 68. The ends of the two limiting rings 69 that are close to each other are respectively in contact with the upper and lower end faces of the movable block 62. The output shaft of the first electric cylinder 52 is fixed to the end of the movable sleeve 61 close to the bearing body 1. A pressure sensor is fixed to the end of the stop 66 away from the bearing body 1.

[0044] In this embodiment, specifically: the pumping mechanism 7 includes a water tank 71 fixed to the upper end of the carrier 1, a battery 72 fixed to the upper end of the carrier 1, a controller 73 fixed to the side wall of the water tank 71, and a water pump 74 fixed to the upper end of the carrier 1. The pumping end of the water pump 74 is connected to the outlet end of the water tank 71 through a pipe.

[0045] In this embodiment, specifically: the water supply mechanism includes a fixed block 12 fixed to one end of the carrier 1, a water supply pipe 13 fixed to the inner wall of the fixed block 12, a plurality of water outlet pipes 14 fixed to the water supply pipe 13, and a solenoid valve 15 disposed on the water outlet pipe 14. The water outlet end of the water pump 74 is connected to the water inlet end of the water supply pipe 13 through a pipe.

[0046] In this embodiment, specifically: the second surface water spraying mechanism includes an inclined block 24 fixed to one end of the frame 3, a second fixed pipe 25 fixed to one end of the inclined block 24, and at least one second nozzle 26 disposed on the second fixed pipe 25. The water inlet end of the second fixed pipe 25 is connected to the water outlet pipe 14 through a pipe.

[0047] In this embodiment, specifically: the middle layer water spray mechanism includes a mounting block 27 hinged to the lower end of the inclined block 24, a third nozzle 28 fixedly connected to the mounting block 27, and a roller 29 rotatably mounted on the mounting block 27. The distance between the third nozzle 28 and the roller 29 is less than five centimeters. The water inlet end of the third nozzle 28 is connected to the water outlet pipe 14 through a pipe.

[0048] In this embodiment, specifically: the support mechanism includes brackets 10 fixed to the four corner edges of the lower end of the carrier 1 and casters 11 fixed to the lower end of the brackets 10.

[0049] In this embodiment, specifically: the deep water injection mechanism includes a connecting block fixed to the upper end of the support 10, a horizontal plate 16 fixed to the connecting block, a second electric cylinder 17 fixed to the upper end of the horizontal plate 16, a lifting frame 18 fixed to the lower end of the output shaft of the second electric cylinder 17, multiple through holes 19 extending through the lower end of the lifting frame 18, a movable tube 20 fixed to the inner wall of the through holes 19, a connecting tube 22 fixed to the upper end of the multiple movable tubes 20, and a water inlet pipe 23 fixed to the connecting tube 22 for water inlet. The water inlet pipe 23 is connected to the water outlet pipe 14 through a pipe. An injection head 21 is fixed to the lower end of the movable tube 20.

[0050] In this embodiment, specifically: the first surface water spraying mechanism 9 includes two fixed frames 91 fixed to the side wall of the third crossbar 8, a first fixed pipe 92 fixed to the fixed frame 91, and at least one first nozzle 93 fixed to the first fixed pipe 92. The water inlet end of the first fixed pipe 92 is connected to the water outlet pipe 14 through a pipe.

[0051] Working principle: Before use, the carrier 1 is pulled by the power machinery. At this time, the bracket 10 fixed to the four corners of the lower end of the carrier 1 in the support mechanism supports the carrier 1. The casters 11 fixed to the lower end of the bracket 10 roll with the pull of the power machinery, so as to move the whole equipment in the field until the equipment is moved to the area where fertilization is needed.

[0052] Meanwhile, the obstacle avoidance linkage mechanism 6 is in its initial working state. The fixed sleeve 51, which is fixed to the side wall of the second crossbar 4 in the moving mechanism 5, provides an installation base for the first electric cylinder 52. The output shaft of the first electric cylinder 52 is fixed to one end of the moving sleeve 61 near the carrier 1. The moving sleeve 61 is fitted onto the side wall of the second crossbar 4. The moving block 62, fixed to the lower end of the moving sleeve 61, provides an installation carrier for the carrier plate. The motor 63, fixed to the upper end of the carrier plate, is in a standby state. The eccentric block 64, fixed to the lower end of the output shaft of the motor 63, remains stationary. The connecting rod 65, hinged to the eccentric block 64, is in a stable position with the eccentric block 64. Multiple stop blocks 66, which are evenly distributed at the end of the connecting rod 65 away from the bearing body 1, are fixed to prevent obstacles from hitting the bearing body 1. The sliding column 67, which is rotatably mounted on the connecting rod 65, is slidably disposed on the inner wall of the sliding groove 68 that is opened through the upper end of the moving block 62. The two limiting rings 69, which are fixed to the side wall of the sliding column 67, have their ends close to each other and are respectively in contact with the upper and lower end faces of the moving block 62 to prevent the sliding column 67 from detaching when sliding in the sliding groove 68.

[0053] After the equipment arrives at the fertilization area, the pumping mechanism 7 is activated. The battery 72, which is fixed to the upper end of the carrier 1, provides power to the electrical components of the entire equipment. The controller 73, which is fixed to the upper end of the carrier 1, is used to control the operation of each component. The water pump 74, which is fixed to the upper end of the carrier 1, starts to work. The pumping end of the water pump 74 is connected to the outlet end of the water tank 71, which is fixed to the upper end of the carrier 1, through a pipe. The water pump 74 pumps out the fertilizer solution stored in the water tank 71. Then, the outlet end of the water pump 74 is connected to the inlet end of the water supply pipe 13, which is fixed to the inner wall of the fixed block 12 in the water supply mechanism, through a pipe. The fertilizer solution is transported into the water supply pipe 13. Multiple outlet pipes 14, which are fixed to the water supply pipe 13, are used to divert the fertilizer solution. The solenoid valve 15 installed on each outlet pipe 14 controls the opening and closing of the corresponding outlet pipe 14 according to the fertilization requirements.

[0054] When surface fertilization is required, on the one hand, the first surface water spraying mechanism 9 starts to work, and the fertilizer water is transported through the water outlet pipe 14 to the water inlet end of the first fixed pipe 92 that is fixed through the two fixed frames 91 fixed to the side wall of the third crossbar 8. Then the fertilizer water is sprayed onto the soil surface through at least one first nozzle 93 fixed to the first fixed pipe 92.

[0055] On the other hand, the second surface water spraying mechanism starts to work. The fertilizer water is transported through the water outlet pipe 14 to the water inlet end of the second fixed pipe 25 that is fixed through the inclined block 24 at one end of the frame 3. Then the fertilizer water is sprayed onto the soil surface through at least one second nozzle 26 set on the second fixed pipe 25 to achieve multi-directional fertilization of the surface.

[0056] When mid-layer fertilization is required, the mid-layer spraying mechanism starts working. The fertilizer water is transported through the outlet pipe 14 to the water inlet of the third nozzle 28, which is fixedly connected to the mounting block 27 hinged to the lower end of the inclined block 24. Since the distance between the roller 29, which is rotated and installed on the mounting block 27, and the third nozzle 28 is less than five centimeters, the roller 29 moves with the equipment and rolls in contact with the soil, ensuring that the third nozzle 28 stably sprays fertilizer water into the mid-layer of the soil.

[0057] When deep fertilization is required, the deep water injection mechanism starts to work. First, the horizontal plate 16 fixed to the upper connecting block of the bracket 10 provides the installation base for the second electric cylinder 17. The second electric cylinder 17 fixed to the upper end of the horizontal plate 16 starts, and its output shaft pushes the fixed lifting frame 18 to move downward. The movable pipe 20 fixed to the inner wall of the multiple through holes 19 at the lower end of the lifting frame 18 moves down synchronously with the lifting frame 18 until the injection head 21 fixed to the lower end of the movable pipe 20 is inserted into the deep soil. Then, the fertilizer water is transported through the water outlet pipe 14 to the water inlet pipe 23 fixed to the connecting pipe 22 at the upper end of the multiple movable pipes 20, and then distributed to each movable pipe 20 through the connecting pipe 22, and finally injected into the deep soil through the injection head 21.

[0058] During the entire fertilization process, if the pressure sensor on the stop block 66 comes into contact with an obstacle in the field, the controller 73 immediately controls the motor 63 to start. The output shaft of the motor 63 drives the eccentric block 64 to rotate. The eccentric block 64 pulls the hinged connecting rod 65 to move. The connecting rod 65 drives the sliding column 67 to slide in the sliding groove 68. At the same time, the controller 73 controls the first electric cylinder 52 to start. The output shaft of the first electric cylinder 52 pushes the moving sleeve 61 to move along the second crossbar 4. The moving sleeve 61 drives the moving block 62 and the connecting rod 65 to adjust their positions as a whole, thereby causing the stop block 66 to avoid the obstacle and prevent damage to the equipment. After the obstacle is avoided, the controller 73 controls all components to return to the initial working state and continues the layered fertilization operation.

[0059] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0060] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention.

Claims

1. A three-layer fertilization device with an obstacle avoidance linkage mechanism, characterized in that: It includes a carrier (1), a first crossbar (2) fixed to both sides of the carrier (1), two frames (3) fixed to the side wall of the first crossbar (2), a second crossbar (4) fixed through to the four frames (3), a moving mechanism (5) fixed to the second crossbar (4), an obstacle avoidance linkage mechanism (6) fixed to the moving end of the moving mechanism (5), a pumping mechanism (7) set at the upper end of the carrier (1), a water supply mechanism fixed to one end of the carrier (1), a second surface water spraying mechanism fixed to the frame (3), a middle layer water spraying mechanism fixed to the second surface water spraying mechanism, a support mechanism fixed to the lower end of the carrier (1), and a deep water injection mechanism fixed to the support mechanism. The outlet of the pumping mechanism (7) is connected to the inlet of the water supply mechanism through a pipe. The multiple outlets of the water supply mechanism are respectively connected to the inlet of the first surface spray mechanism (9), the inlet of the second surface spray mechanism, the inlet of the middle layer spray mechanism and the inlet of the deep layer injection mechanism through pipes.

2. The three-layer fertilization device with obstacle avoidance linkage mechanism according to claim 1, characterized in that: The moving mechanism (5) includes a fixed sleeve (51) fixed to the side wall of the second crossbar (4) and a first electric cylinder (52) fixed to the fixed sleeve (51).

3. The three-layer fertilization device with obstacle avoidance linkage mechanism according to claim 2, characterized in that: The obstacle avoidance linkage mechanism (6) includes a movable sleeve (61) sleeved on the side wall of the second crossbar (4), a movable block (62) fixed to the lower end of the movable sleeve (61), a bearing plate fixed to the side wall of the movable block (62), a motor (63) fixed to the upper end of the bearing plate, an eccentric block (64) fixed to the lower end of the output shaft of the motor (63), a connecting rod body (65) hinged to the eccentric block (64), a plurality of stops (66) evenly distributed on the end of the connecting rod body (65) away from the bearing body (1), and a rotatably mounted on the connecting rod body. (65) has a sliding column (67), two limiting rings (69) fixed to the side wall of the sliding column (67), and a sliding groove (68) that runs through the upper end of the moving block (62). The sliding column (67) is slidably disposed on the inner wall of the sliding groove (68). The ends of the two limiting rings (69) that are close to each other are respectively attached to the upper and lower end faces of the moving block (62). The output shaft of the first electric cylinder (52) is fixed to the end of the moving sleeve (61) that is close to the carrier (1). The end of the stop block (66) that is away from the carrier (1) is fixed with a pressure sensor.

4. The three-layer fertilization device with obstacle avoidance linkage mechanism according to claim 1, characterized in that: The pumping mechanism (7) includes a water tank (71) fixed to the upper end of the carrier (1), a battery (72) fixed to the upper end of the carrier (1), a controller (73) fixed to the side wall of the water tank (71), and a water pump (74) fixed to the upper end of the carrier (1). The pumping end of the water pump (74) is connected to the outlet end of the water tank (71) through a pipe.

5. The three-layer fertilization device with obstacle avoidance linkage mechanism according to claim 4, characterized in that: The water supply mechanism includes a fixed block (12) fixed to one end of the carrier (1), a water supply pipe (13) fixed to the inner wall of the fixed block (12), multiple water outlet pipes (14) fixed to the water supply pipe (13), and a solenoid valve (15) installed on the water outlet pipe (14). The water outlet end of the water pump (74) is connected to the water inlet end of the water supply pipe (13) through a pipe.

6. The three-layer fertilization device with obstacle avoidance linkage mechanism according to claim 5, characterized in that: The second surface spraying mechanism includes a ramp (24) fixed to one end of the frame (3), a second fixed pipe (25) fixed to one end of the ramp (24) through, and at least one second nozzle (26) disposed on the second fixed pipe (25). The water inlet end of the second fixed pipe (25) is connected to the water outlet pipe (14) through a pipe.

7. The three-layer fertilization device with obstacle avoidance linkage mechanism according to claim 6, characterized in that: The middle layer water spray mechanism includes a mounting block (27) hinged to the lower end of the inclined block (24), a third nozzle (28) fixed through the mounting block (27), and a roller (29) rotatably mounted on the mounting block (27). The distance between the third nozzle (28) and the roller (29) is less than five centimeters. The water inlet end of the third nozzle (28) is connected to the water outlet pipe (14) through a pipe.

8. The three-layer fertilization device with obstacle avoidance linkage mechanism according to claim 1, characterized in that: The support mechanism includes brackets (10) fixed to the four corner edges of the lower end of the carrier (1) and casters (11) fixed to the lower end of the brackets (10).

9. The three-layer fertilization device with obstacle avoidance linkage mechanism according to claim 5, characterized in that: The deep water injection mechanism includes a connecting block fixed to the upper end of the support (10), a horizontal plate (16) fixed to the connecting block, a second electric cylinder (17) fixed to the upper end of the horizontal plate (16), a lifting frame (18) fixed to the lower end of the output shaft of the second electric cylinder (17), multiple through holes (19) through the lower end of the lifting frame (18), a movable pipe (20) fixed to the inner wall of the through hole (19), a connecting pipe (22) fixed to the upper end of the multiple movable pipes (20), and a water inlet pipe (23) fixed to the connecting pipe (22) for water inlet. The water inlet pipe (23) is connected to the water outlet pipe (14) through a pipe. An injection head (21) is fixed to the lower end of the movable pipe (20).

10. The three-layer fertilization device with obstacle avoidance linkage mechanism according to claim 5, characterized in that: The first surface water spraying mechanism (9) includes two fixed frames (91) fixed to the side wall of the third crossbar (8), a first fixed pipe (92) fixed through the fixed frame (91), and at least one first nozzle (93) fixed to the first fixed pipe (92). The water inlet end of the first fixed pipe (92) is connected to the water outlet pipe (14) through the pipe.

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