CN115918497A

CN115918497A - Rail-type water, fertilizer and pesticide integrated device for citrus orchard and application method

Info

Publication number: CN115918497A
Application number: CN202211527914.4A
Authority: CN
Inventors: 宋晓兵; 凌金锋; 黄峰; 郭斌; 崔一平; 彭埃天; 陈霞
Original assignee: Plant Protection Research Institute Guangdong Academy of Agricultural Sciences
Current assignee: Plant Protection Research Institute Guangdong Academy of Agricultural Sciences
Priority date: 2022-12-01
Filing date: 2022-12-01
Publication date: 2023-04-07
Anticipated expiration: 2042-12-01
Also published as: CN115918497B

Abstract

The invention provides a rail-type water, fertilizer and pesticide integrated device for a citrus orchard and an application method thereof, and aims to solve the problems that in the prior art, water, fertilizer and pesticide are excessively used due to low application precision and long time consumption, so that the citrus planting cost is too high, and healthy development of citrus industry is not facilitated. The invention provides a rail-mounted water, fertilizer and pesticide integrated device for a citrus orchard and an application method, and the rail-mounted water, fertilizer and pesticide integrated device comprises the following steps: l type support, the equal fixed mounting of lower wall triangle of L type support has the riser, L type support and three install high adjustment mechanism between the riser, install horizontal coordinate positioning mechanism on the high adjustment mechanism, horizontal coordinate positioning mechanism installs the lower part and uses angle control mechanism, and horizontal coordinate positioning mechanism combines high adjustment mechanism, can will use angle control mechanism to move to the three-dimensional coordinate position of citrus tree demand point, carries out the application of liquid manure medicine, and the precision is high, the cost of labor is low, has improved the economic benefits that oranges and tangerines were planted, is favorable to the healthy development of oranges and tangerines industry.

Description

Rail-type water, fertilizer and pesticide integrated device for citrus orchard and application method

Technical Field

The invention relates to the technical field of citrus planting and plant protection, in particular to a rail-mounted water-fertilizer-pesticide integrated device for a citrus orchard and an application method.

Background

The variety of oranges comprises oranges, sweet oranges, pummelos, lemons and the like, the planting area of the oranges exceeds that of apples, and the oranges are the first fruits in the planting area all over the country. In the citrus planting industry, plant protection is the first major thing, however, the common plant diseases and insect pests in the growth of citrus can be up to more than 100, the cost of pesticides and fertilizers is high, the 'car-washing type' pesticide application mode generally exists, the phenomena of flood irrigation and uneven irrigation also exist in the irrigation, the precision is low, the waste of water resources, pesticides and fertilizers is caused, the labor cost is increased day by day, the planting cost of citrus is greatly increased, the economic benefit of citrus planting is reduced, and the healthy development of the citrus industry is seriously hindered.

At present, the common citrus plant protection pesticide application mode is that a manual knapsack sprayer is used for spraying pesticide to prevent and treat citrus diseases and insect pests in the morning, so that the time and labor are consumed, and the labor cost is high; the existing dragging-tube type pesticide sprayer is used for applying pesticide on a large scale, has poor pertinence and huge dosage which is about 4 to 5 times of that of a knapsack sprayer, not only enlarges the pollution of the pesticide and is not beneficial to the protection of ecological environment, but also greatly increases the pesticide application cost and has poor practicability. In the aspect of fertilizer and water irrigation, large-range broadcasting application or flood irrigation is also adopted, the fertilizer and water effects are poor, and the application return rate is low; however, the effect of applying water and fertilizer medicines on gramineous crops such as rice and wheat by a plant protection unmanned aerial vehicle which is started up in recent years is good, but the unmanned aerial vehicle has a lot of use limitation and control dead angles in the plant protection application of the citrus fruit trees due to the complexity of the citrus fruit trees, the use effect is poor, and the pest control effect is not expected yet.

Disclosure of Invention

Therefore, the invention provides a rail-type water-fertilizer-pesticide integrated device for a citrus orchard and an application method thereof, and aims to solve the problems that in the prior art, due to the common citrus cultivation and plant protection mode at present, the application accuracy of the water-fertilizer-pesticide is low, the labor cost is high, the water-fertilizer-pesticide is excessively applied in a large range, the citrus planting cost is too high, the economic benefit of citrus planting is low, and the healthy development of the citrus industry is not facilitated.

In order to achieve the above purpose, the invention provides the following technical scheme: the utility model provides a oranges and tangerines are rail mounted liquid manure medicine integrated device for orchard, rail mounted liquid manure medicine integrated device includes for oranges and tangerines orchard:

the device comprises an L-shaped support, vertical plates are fixedly arranged on lower wall triangles of the L-shaped support, a height adjusting mechanism is arranged between the L-shaped support and the three vertical plates, a horizontal coordinate positioning mechanism is arranged on the height adjusting mechanism, and an application angle control mechanism is arranged at the lower part of the horizontal coordinate positioning mechanism;

the height adjusting mechanism is used for controlling the vertical height of the horizontal coordinate positioning mechanism, so that the application angle control mechanisms are linked to apply water and fertilizer to parts of the citrus trees with different heights;

the horizontal coordinate positioning mechanism is used for adjusting the horizontal position of the application angle control mechanism, so that the application angle control mechanism can position citrus trees at different positions, and the application angle control mechanism can accurately apply water and fertilizer to the citrus trees in the range of the horizontal coordinate positioning mechanism;

the application angle control mechanism is used for controlling the rotation angle of the water-fertilizer-pesticide output head, so that the water-fertilizer-pesticide output head can supply water, fertilizer and pesticide to the part of the citrus tree with a demand for water, fertilizer and pesticide, and the requirements of the citrus tree on water, fertilizer and pesticide at different angles can be met;

the height adjusting mechanism comprises three bottom plates, three top plates, three lead screws, three thread plates, a power motor, two pairs of belt wheels and two transmission belts, the three bottom plates are fixedly mounted on the inner walls of the lower portions of the three vertical plates respectively, the three top plates are fixedly mounted on the inner walls of the upper portions of the three vertical plates respectively, the three lead screws are rotatably mounted in the three bottom plates and the three top plates respectively, the upper ends of the two lead screws are rotatably connected to the lower wall of the left portion of the L-shaped support, the three thread plates are respectively and threadedly mounted on the outer walls of the three lead screws, the power motor is fixedly mounted at the right rear corner of the L-shaped support, the output end of the power motor is fixedly connected with the upper end of the lead screw at the right rear portion, the pair of belt wheels is fixedly mounted at the right rear portion of the outer wall of the upper portion of the lead screw and the outer wall of the upper portion of the lead screw at the left rear portion, the pair of belt wheels is fixedly mounted at the left front portion of the upper portion of the outer wall of the lead screw and the two pairs of belt wheels are respectively installed in a transmission manner.

Further, horizontal coordinate positioning mechanism includes that L type links board, two-way spouts, two sliders, two link boards, two spacing grooves and spacing seat, L type links board fixed mounting at three the thread plate inner wall, two-way spouts set up the L type links the left part and the rear portion of board, two the slider is sliding mounting respectively in two-way spouts, two link board fixed mounting respectively is two the slider inner wall, two the spacing groove sets up two respectively link in the board, spacing seat sliding mounting is two the spacing inslot.

Further, use angle control mechanism and include locating rack, micro motor, driving shaft, initiative chuck, go up the base block, lower bed frame, driven shaft, two driven cage gears and output tube, the locating rack fixed mounting be in spacing seat lower extreme, micro motor fixed mounting be in the locating rack back wall, the driving shaft fixed mounting be in the micro motor output, just the driving shaft rotates to be connected the locating rack back wall, initiative chuck fixed mounting be in the front end outer wall of driving shaft, go up base block fixed mounting be in the upper wall lower part of locating rack, lower bed frame fixed mounting be in the back wall front portion of locating rack, the driven shaft rotates to be installed go up the base block with in the bed frame front end down, two driven cage gear fixed mounting be in the upper portion and the lower part outer wall of driven shaft, just initiative chuck and two driven cage gear intermittent type meshes the transmission, output tube fixed mounting be in the lower extreme of driven shaft.

Further, two-way spout is formed by the fixed intercommunication in outside cuboid groove and inside cuboid groove, just the inside cuboid groove setting of two-way spout is in the inner wall of the even board of L type, even board sliding connection be in the inside cuboid inslot of two-way spout, slider sliding connection be in the outside cuboid inslot of two-way spout.

Furthermore, the limiting seat is formed by fixedly connecting a cuboid block and a cylinder, the cuboid block of the limiting seat is slidably mounted in the limiting groove at the right part, and the cylinder of the limiting seat is slidably mounted in the limiting groove at the front part.

Furthermore, the lower base frame is formed by fixedly connecting a front cube block and a rear cuboid plate, the rear end of the rear cuboid plate of the lower base frame is fixedly connected with the lower portion of the rear wall of the positioning frame, and the lower portion of the driven shaft is rotatably connected in the front cube block of the lower base frame.

Further, the initiative chuck is formed by a disc and the cylindric lock fixed connection that seven equidistance were placed, driven cage gear is formed by fifteen cylindric ratchets fixed connection that upper portion disc, lower part disc and middle part equidistance were placed, just fifteen cylindric ratchets interval of driven cage gear is the same with the cylindric lock interval that seven equidistance of initiative chuck were placed.

Further, the antetheca equidistance of output tube is provided with six rows of delivery outlets, the rear end demountable installation liquid manure medicine of output tube inserts the pipe.

Further, micro motor, two the slider with power motor's control end all with the intelligent management system electric connection in oranges and tangerines orchard, and be provided with oranges and tangerines fruit tree growth state monitoring module in the intelligent management system.

The invention also discloses an application method of the rail type water, fertilizer and pesticide integrated device for the citrus orchard, which comprises the following specific steps:

the method comprises the following steps: the method comprises the following steps that a plurality of water-fertilizer-pesticide integrated devices are horizontally arranged and fixedly connected with one another to cover the whole citrus orchard, the lower ends of three vertical plates of the water-fertilizer-pesticide integrated devices are all embedded into the land of the citrus orchard, the rear wall of an L-shaped support is fixed with the inner wall of a culture shed frame of the citrus orchard, and then a single water-fertilizer-pesticide integrated device is responsible for applying water-fertilizer pesticides of all citrus trees in a cubic space formed by taking the edge of the rear wall of the L-shaped support as a wide edge, the edge of the left wall of the L-shaped support as a long edge and taking the residual height of the vertical plates embedded into the soil as a high edge;

step two: installing a water-fertilizer-pesticide access pipe at the rear end of an output pipe, enabling the water-fertilizer-pesticide access pipe to be communicated with the output pipe, feeding back three-dimensional coordinates of a citrus tree to an intelligent management system when a fruit tree growth state monitoring module of the intelligent management system of the citrus orchard detects that the citrus tree in the cubic space of the water-fertilizer-pesticide integrated device needs watering, fertilizing or pesticide application, and automatically judging the watering, fertilizing or pesticide application amount by the intelligent management system and calculating the optimal application position coordinates;

step three: the intelligent management system for the citrus orchard can start two sliding blocks to respectively slide in two bidirectional sliding grooves according to an X coordinate position and a Y coordinate position, two connecting plates are linked with the two sliding blocks respectively, and overlooking intersection points of limiting grooves in the two connecting plates are changed along with the two sliding blocks, so that the position of a limiting seat is driven to move, the limiting seat drives a horizontal coordinate positioning mechanism to be linked, and a horizontal positioning point of a coordinate where a citrus tree is located, which is specified by the intelligent management system, is reached;

step four: secondly, the intelligent management system of the citrus orchard can start the output end of a power motor to rotate forwards or reversely according to the Z coordinate position, a right rear lead screw rotates along with the output end of the power motor, under the belt transmission action of two pairs of belt wheels and two transmission belts, two left lead screws rotate along with the right rear lead screw in a linkage manner, three threaded plates and three lead screws are driven to perform threaded transmission and synchronously ascend or descend, so that the L-shaped connecting plate ascends and descends in a linkage manner, and the horizontal coordinate positioning mechanism is moved to a three-dimensional coordinate point of a part of a citrus tree where water, fertilizer and pesticide are required to be applied;

step five: and finally, the intelligent management system of the citrus orchard can start a micro motor according to the position angle of the part of the citrus tree needing to apply the water, fertilizer and pesticide, so that the output end of the micro motor drives a driving shaft to rotate, the driving chuck linkage is controlled to be in meshing transmission with the upper driven cage gear or the lower driven cage gear, when the driving chuck rotates and is in meshing transmission with the lower driven cage gear, the driven shaft is linked to drive the output pipe to swing from right to left anticlockwise, and the direction angle of the output port of the output pipe can be controlled, namely, the output port of the output pipe can be opposite to the part of the citrus tree needing to apply the water, fertilizer and pesticide, the intelligent management system drives the water, fertilizer and pesticide access pipe to output water, fertilizer and pesticide quantitatively, and the output pipe can carry out watering, fertilizing or pesticide applying work on the part of the citrus tree needing to the citrus tree.

The invention has the following advantages:

1. through the arrangement of the height adjusting mechanism and the horizontal coordinate positioning mechanism, compared with the prior art, the invention installs the water and fertilizer medicine access pipe at the rear end of the output pipe, so that the water and fertilizer medicine access pipe is communicated with the output pipe, when a fruit tree growth state monitoring module of the intelligent management system of the citrus orchard detects that citrus trees in the cubic space of the water and fertilizer integrated device need watering, fertilizing or pesticide application, the three-dimensional coordinates of the citrus trees can be fed back to the intelligent management system, the intelligent management system can autonomously judge the watering, fertilizing or pesticide application amount and calculate the optimal application position coordinates, the intelligent management system of the citrus orchard can firstly start two sliding blocks to respectively slide in two bidirectional sliding grooves according to the X coordinate position and the Y coordinate position, the two connecting plates are respectively linked with the two sliding blocks, the overlooking intersection point of the limiting groove in the connecting plates is changed along with the two sliding blocks, so as to drive the movement of the limiting seat position, the horizontal coordinate positioning mechanism is driven by the limiting seat to be linked to reach a horizontal positioning point of coordinates where the citrus trees are located, the horizontal coordinate positioning mechanism is high in flexibility and can position the citrus trees with each horizontal coordinate in the cubic space of the water-fertilizer-pesticide integrated device, the intelligent management system of a later citrus orchard can start the output end of the power motor to rotate forwards or backwards according to the Z coordinate position, the right rear lead screw rotates along with the output end of the power motor, under the belt transmission action of two pairs of belt wheels and two transmission belts, the left two lead screws rotate along with the right rear lead screw in a linked manner, three threaded plates and three lead screws are driven to perform threaded transmission and synchronously ascend or descend, so that the L-shaped connecting plate is linked to ascend and descend, the horizontal coordinate positioning mechanism is moved to a three-dimensional coordinate point of the part of the citrus trees where the water-fertilizer-pesticide is required to be applied, and the height adjusting mechanism can adjust the citrus trees with different heights, the height of the application angle control mechanism is adjusted to be parallel to the demand point of the citrus tree, the horizontal coordinate positioning mechanism is combined with the height adjusting mechanism, the application angle control mechanism can be moved to the three-dimensional coordinate position of the demand point of the citrus tree, water and fertilizer application is carried out, the accuracy is high, symptomatic pesticide application can be carried out on the citrus tree, scientific pesticide application and accurate pesticide application are realized, accurate citrus disease and pest control is realized, the investment of pesticides is saved, the ecological environment is protected, the practicability is high, effective irrigation of the citrus tree is realized, water saving is facilitated, disease and pest infection caused by flood irrigation is greatly avoided, accurate fertilizer application can be carried out, high-efficiency fertilizers are facilitated, the fertilizer cost is reduced, the return rate of fertilizer and water application is high, the automation degree is high, the citrus planting cost is greatly reduced, the economic benefit of citrus planting is improved, the healthy development of the citrus industry is facilitated, the common citrus planting protection mode in the prior art is solved, the application accuracy of water and fertilizer application is low, the large-scale application is caused, the waste of water and fertilizer and pesticide is not beneficial to the healthy development of the citrus planting protection cost;

2. according to the invention, through the arrangement of the application angle control mechanism, compared with the prior art, the intelligent management system for the citrus orchard can start the micro motor according to the angle of a part of a citrus tree to which water, fertilizer and pesticide are required to be applied, so that the output end of the micro motor drives the driving shaft to rotate, the driving chuck is controlled to be in meshing transmission with the upper driven cage gear or the lower driven cage gear, when the driving chuck rotates and is in meshing transmission with the lower driven cage gear, the driven shaft is in linkage, the output pipe is driven to swing from right to left and anticlockwise, and the direction of the output port of the output pipe can be controlled, namely, the output port of the output pipe can be just opposite to the part of the citrus tree to which water, fertilizer and pesticide can be quantitatively output to the output pipe by the driving water, fertilizer and pesticide access pipe, the output pipe can carry out watering, fertilizing or pesticide application work on the required part of the citrus tree, the application angle control mechanism can rotate the output pipe nozzle by 180 degrees from left and right, so that water, fertilizer and pesticide can be effectively applied to various positions of the citrus trees, the application angle is comprehensive, the application effect is good, and the problem of a great number of unmanned aerial vehicle in the fruit tree is solved;

3. compared with the prior art, the invention discloses an application method of a rail type water-fertilizer-pesticide integrated device for a citrus orchard, which comprises the steps of horizontally arranging a plurality of water-fertilizer-pesticide integrated devices, fixedly connecting the water-fertilizer-pesticide integrated devices to cover the whole citrus orchard, burying the lower ends of three vertical plates of the water-fertilizer-pesticide integrated device into the soil of the citrus orchard, fixing the rear wall of an L-shaped bracket to the inner wall of a culture shelf of the citrus orchard, using the rear wall edge of the L-shaped bracket as a wide edge, using the left wall edge of the L-shaped bracket as a long edge, using the residual height of the vertical plates buried in the soil as a high edge to apply the water-fertilizer pesticide of all citrus trees in a cubic space, installing a water-fertilizer-pesticide access pipe to the rear end of an output pipe, communicating the water-fertilizer-pesticide access pipe with the output pipe, and detecting a fruit tree growth state monitoring module of an intelligent management system of the citrus orchard when the water-fertilizer-pesticide integrated device detects that the citrus trees in the cubic space need to be watered, fertilized or applied with pesticide, the three-dimensional coordinates of the citrus trees can be fed back to the intelligent management system, the intelligent management system can autonomously judge watering, fertilizing or pesticide application amount and calculate the coordinates of the optimal application position, the intelligent management system for the citrus orchard can firstly drive the two sliding blocks to respectively slide in the two-way sliding grooves according to the X coordinate position and the Y coordinate position, the two connecting plates are respectively linked with the two sliding blocks, the overlooking intersection points of the limiting grooves in the connecting plates are changed along with the two sliding blocks, so that the limiting seats are driven to move, the limiting seats drive the horizontal coordinate positioning mechanism to be linked to reach the horizontal positioning points of the coordinates where the citrus trees are located, which are regulated by the intelligent management system, the intelligent management system for the citrus orchard can drive the output end of the power motor to rotate forwards or reversely according to the Z coordinate position, and the right rear lead screw rotates along with the output end of the power motor, under the belt transmission action of the two pairs of belt wheels and the two transmission belts, the two lead screws on the left part rotate along with the two lead screws on the right back part in a linkage manner, so that three threaded plates and three lead screws are driven to perform thread transmission and synchronously ascend or descend, the L-shaped connecting plate is lifted in a linkage manner, the horizontal coordinate positioning mechanism is moved to a three-dimensional coordinate point of a part of a citrus tree to which water and fertilizer are applied, the horizontal coordinate positioning mechanism is combined with the height adjusting mechanism, the application angle control mechanism can be moved to the three-dimensional coordinate position of a demand point of the citrus tree to apply the water and fertilizer, the accuracy is high, the citrus tree can be applied with medicines in a symptomatic manner, the medicines are scientifically used and accurately applied, the accurate citrus disease and insect control is realized, the input of pesticides is saved, the ecological environment is protected, the practicability is strong, the effective irrigation of the citrus tree is realized, the water conservation is facilitated, the infection caused by the flood irrigation is greatly avoided, and the accurate fertilization can be performed, the intelligent management system of the citrus orchard can start a micro motor according to the angle of a part of a citrus tree needing to apply water, fertilizer and pesticide, the output end of the micro motor drives a driving shaft to rotate, the driving chuck linkage is controlled to be in meshing transmission with an upper driven cage gear or a lower driven cage gear, when the driving chuck rotates and is in meshing transmission with the lower driven cage gear, the driven shaft is linked to drive an output pipe to swing anticlockwise from left to right, and when the driving chuck rotates and is in meshing transmission with the upper driven cage gear, the driven shaft is linked to drive the output pipe to swing anticlockwise from right to left, so that the output port of the output pipe can be controlled to face the angle, namely, the output port of the output pipe can face the part of the citrus tree needing to apply the water, fertilizer and pesticide can be quantitatively output from a water-fertilizer-pesticide access pipe to the output pipe, fertilizer and medicine, then the output tube can be watered to citrus tree demand position, fertilize or the work of giving medicine to the poor free of charge, it can control 180 degrees rotation output tube shower nozzles to use angle control mechanism, effective water, fertilizer and medicine of spraying are to each position of citrus fruit tree, the flexibility is strong, it is comprehensive to use the angle, excellent in use effect, degree of automation is high, greatly reduced the planting cost of oranges and tangerines, the economic benefits of citrus planting has been improved, be favorable to the healthy development of citrus industry, in addition, this rail mounted water, fertilizer and medicine integrated device for citrus orchard is in the application, not only confine to citrus orchard, be applicable to the water, fertilizer and medicine integrated management of southern excellent and rare fruit trees such as dragon fruit, guava, kiwi fruit, fig, etc. equally, the universality is strong, the facilitate promotion, it is with high costs to solve the common citrus planting protection mode among the prior art, the universality is low, be unfavorable for the problem of popularization.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

The structures, the proportions, the sizes, and the like shown in the specification are only used for matching with the contents disclosed in the specification, so that those skilled in the art can understand and read the present invention, and do not limit the conditions for implementing the present invention, so that the present invention has no technical essence, and any modifications of the structures, changes of the proportion relation, or adjustments of the sizes, should still fall within the scope of the technical contents disclosed in the present invention without affecting the efficacy and the achievable purpose of the present invention.

Fig. 1 is a perspective view showing the overall structure of the rail-mounted water-fertilizer-pesticide integrated device for citrus orchards.

Fig. 2 is a front perspective view of the height adjustment mechanism of the present invention and the L-shaped bracket.

Fig. 3 is a right perspective view of the height adjustment mechanism and L-shaped bracket of the present invention.

Fig. 4 is a schematic top perspective view of a structure of the horizontal coordinate positioning mechanism and the application angle control mechanism of the present invention.

Fig. 5 is a front perspective view of the structure of the horizontal coordinate positioning mechanism and the application angle control mechanism of the present invention.

Fig. 6 is a perspective view of the front view of the application angle control mechanism of the present invention.

Fig. 7 is a perspective view of the application angle control mechanism of the present invention.

Fig. 8 is a front perspective view of the lower transmission structure of the L-shaped bracket of the present invention.

Fig. 9 is a left perspective view of the lower transmission structure of the L-shaped bracket of the present invention.

Fig. 10 is a left perspective view of the overall structure of the present invention.

Description of the element reference numerals

1. An L-shaped bracket; 101. a vertical plate;

2. a height adjustment mechanism; 201. a base plate; 202. a top plate; 203. a lead screw; 204. a thread plate; 205. a power motor; 206. a pulley; 207. a transmission belt;

3. a horizontal coordinate positioning mechanism; 301. an L-shaped connecting plate; 302. a bidirectional chute; 303. a slider; 304. connecting plates; 305. a limiting groove; 306. a limiting seat;

4. an application angle control mechanism; 401. a positioning frame; 402. a micro motor; 403. a drive shaft; 404. an active chuck; 405. mounting a base block; 406. a lower base frame; 407. a driven shaft; 408. a driven cage gear; 409. and (5) outputting the product.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.

Please refer to fig. 1 to 10. It should be understood that the structures, ratios, sizes, etc. shown in the drawings and attached to the present specification are only used for matching the disclosure and are not used for limiting the practical limitations of the present invention, so that the present invention has no technical significance, and any modifications of the structures, changes of the ratio relationships, or adjustments of the sizes, should still fall within the scope of the technical contents of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are used for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms may be changed or adjusted without substantial change in the technical content.

The following examples are for illustrative purposes only. The various embodiments may be combined, and are not limited to what is presented in the following single embodiment.

Example 1

Referring to fig. 1 to 5 and fig. 8 to 10, to achieve the above and other related objects, the present invention provides a rail-type liquid-fertilizer-drug integrated apparatus for a citrus orchard, comprising:

the device comprises an L-shaped support 1, wherein vertical plates 101 are fixedly arranged on the lower wall triangles of the L-shaped support 1, a height adjusting mechanism 2 is arranged between the L-shaped support 1 and the three vertical plates 101, and a horizontal coordinate positioning mechanism 3 is arranged on the height adjusting mechanism 2;

as shown in fig. 4-5, the horizontal coordinate positioning mechanism 3 is configured to adjust a horizontal position of the application angle control mechanism 4, so that the application angle control mechanism 4 can position citrus trees at different positions, and so that the application angle control mechanism 4 can accurately apply water and fertilizer to citrus trees within a range of the horizontal coordinate positioning mechanism 3, the horizontal coordinate positioning mechanism 3 includes an L-shaped connecting plate 301, two bidirectional sliding grooves 302, two sliding blocks 303, two connecting plates 304, two limiting grooves 305, and a limiting seat 306, the L-shaped connecting plate 301 is fixedly mounted on inner walls of the three threaded plates 204, the two bidirectional sliding grooves 302 are disposed on left and rear portions of the L-shaped connecting plate 301, the two sliding blocks 303 are respectively slidably mounted in the two bidirectional sliding grooves 302, the two connecting plates 304 are respectively fixedly mounted on inner walls of the two sliding blocks 303, the two limiting grooves 305 are respectively disposed in the two connecting plates 304, and the limiting seat 306 is slidably mounted in the two limiting grooves 305;

the horizontal coordinate positioning mechanism 3 is composed of an L-shaped connecting plate 301, two bidirectional sliding grooves 302, two sliding blocks 303, two connecting plates 304, two limiting grooves 305 and a limiting seat 306, the horizontal coordinate positioning mechanism 3 is used for adjusting the horizontal position of the application angle control mechanism 4, so that the application angle control mechanism 4 can position citrus trees at different positions, the application angle control mechanism 4 can accurately apply water and fertilizer medicines to the citrus trees within the range of the horizontal coordinate positioning mechanism 3, a plurality of water, fertilizer and medicine integrated devices are horizontally arranged and mutually fixedly connected to cover the whole citrus orchard, the lower ends of three vertical plates 101 of the water, fertilizer and medicine integrated device are all embedded into the land of the citrus orchard, the rear wall of the L-shaped support 1 is fixed with the inner wall of a culture rack of the citrus orchard, and the single water, fertilizer and medicine integrated device is responsible for taking the rear wall edge of the L-shaped support 1 as a wide edge, the left wall edge of the L-shaped support 1 is used as a long edge, the remaining height of the vertical plate 101 after being buried in soil is used as a high edge, water and fertilizer of all citrus trees in a cubic space are applied, a water and fertilizer access pipe is installed at the rear end of an output pipe 409, the water and fertilizer access pipe is communicated with the output pipe 409, when a fruit tree growth state monitoring module of the intelligent management system of the citrus orchard detects that the citrus trees in the cubic space of the water and fertilizer integrated device need watering, fertilizing or pesticide applying, three-dimensional coordinates of the citrus trees can be fed back to the intelligent management system, the intelligent management system can autonomously judge watering, fertilizing or pesticide applying amount and calculate the optimal application position coordinates, the intelligent management system of the citrus orchard can firstly start two sliders 303 to respectively slide in two bidirectional chutes 302 according to an X coordinate position and a Y coordinate position, the two connecting plates 304 are respectively linked with the sliders 303, the overlooking intersection point of the limiting groove 305 in the citrus fruit tree positioning device is changed along with the change of the overlooking intersection point, so that the position of the limiting seat 306 is driven to move, the limiting seat 306 drives the horizontal coordinate positioning mechanism 3 to be linked to reach a horizontal positioning point of the coordinate where the citrus fruit tree is positioned, which is specified by an intelligent management system, the horizontal coordinate positioning mechanism 3 is high in flexibility, and the citrus fruit tree with each horizontal coordinate in the cubic space of the water-fertilizer-pesticide integrated device can be positioned.

As shown in fig. 1-3, the height adjusting mechanism 2 is used for controlling the vertical height of the horizontal coordinate positioning mechanism 3, so that the application angle control mechanism 4 is linked to apply the water and fertilizer to the parts of the citrus trees with different heights, the height adjusting mechanism 2 includes three bottom plates 201, three top plates 202, three lead screws 203, three threaded plates 204, a power motor 205, two pairs of pulleys 206 and two transmission belts 207, the three bottom plates 201 are respectively and fixedly installed on the lower inner walls of the three upright plates 101, the three top plates 202 are respectively and fixedly installed on the upper inner walls of the upright plates 101, the three lead screws 203 are respectively and rotatably installed in the three bottom plates 201 and the three top plates 202, the upper ends of the two left screw rods 203 are rotatably connected to the lower left wall of the L-shaped bracket 1, the three thread plates 204 are respectively installed on the outer walls of the three screw rods 203 in a threaded manner, the power motor 205 is fixedly installed at the right rear corner of the L-shaped bracket 1, the output end of the power motor 205 is fixedly connected with the upper ends of the right rear screw rods 203, the lower pair of belt pulleys 206 is fixedly installed on the outer wall of the upper portion of the right rear screw rod 203 and the outer wall of the upper portion of the left rear screw rod 203, the upper pair of belt pulleys 206 is fixedly installed on the outer wall of the upper portion of the left front screw rod 203 and the outer wall of the upper end of the left rear screw rod 203, and the two transmission belts 207 are respectively installed on the outer walls of the two pairs of belt pulleys 206 in a transmission manner;

the height adjusting mechanism 2 is composed of three bottom plates 201, three top plates 202, three lead screws 203, three thread plates 204, a power motor 205, two pairs of belt wheels 206 and two transmission belts 207, the height adjusting mechanism 2 is used for controlling the vertical height of the horizontal coordinate positioning mechanism 3, so that the application angle control mechanism 4 is linked to apply water and fertilizer medicines to the parts with different heights of citrus trees, then the intelligent management system of the citrus orchard can start the output end of the power motor 205 to rotate forwards or reversely according to the Z coordinate position, the right rear lead screw 203 rotates along with the output end of the power motor 205, under the belt transmission action of the two pairs of belt wheels 206 and the two transmission belts 207, the left two lead screws 203 rotate along with the right rear lead screw 203 in a linked manner to drive the three thread plates 204 to be in thread transmission with the three lead screws 203, the three thread plates 204 rise or fall synchronously, so that the L-shaped connecting plate 301 is linked to rise and fall, the horizontal coordinate positioning mechanism 3 is moved to a three-dimensional coordinate point of a part of the citrus trees to which the water and fertilizer are required to be applied, the height adjusting mechanism 2 can adjust the height of the application angle control mechanism 4 according to citrus trees with different heights to enable the citrus trees to be flush with the required point of the citrus trees, the horizontal coordinate positioning mechanism 3 is combined with the height adjusting mechanism 2, the application angle control mechanism 4 can be moved to the three-dimensional coordinate position of the required point of the citrus trees to apply the water and fertilizer, the accuracy is high, the citrus trees can be subjected to symptomatic pesticide application, scientific pesticide application and precise pesticide application, precise citrus disease and pest control is realized, the pesticide investment is saved, the ecological environment is protected, the practicability is strong, the effective irrigation of the citrus trees is realized, the water is saved, the pest infection caused by the flood irrigation is greatly avoided, the precise fertilizer application can be carried out, the high-effect fertilizer is realized, and the fertilizer cost is reduced, the fertilizer and water application return rate is high, the automation degree is high, the planting cost of the oranges is greatly reduced, the economic benefit of the orange planting is improved, and the healthy development of the orange industry is facilitated.

More perfectly, as shown in fig. 4-5, two-way spout 302 is formed by the fixed intercommunication in outside cuboid groove and inside cuboid groove, just the inside cuboid groove setting of two-way spout 302 is in the inner wall of the even board 301 of L type, even board 304 sliding connection be in the inside cuboid inslot of two-way spout 302, slider 303 sliding connection be in the outside cuboid inslot of two-way spout 302, two-way spout 302 provides the transmission space for slider 303 and the linkage of even board 304, and slider 303 slides in outside cuboid inslot, has carried out the restriction to the transmission route of even board 304 for it is more stable when even board 304 removes.

More perfectly, as shown in fig. 4-5, the limiting seat 306 is formed by fixedly connecting a cuboid block and a cylinder, the cuboid block of the limiting seat 306 is slidably installed in the limiting groove 305 at the right part, the cylinder of the limiting seat 306 is slidably installed in the limiting groove 305 at the front part, and the cuboid block and the cylinder are fixedly connected, so that the limiting seat 306 can move along with the overlooking intersection point of the two limiting grooves 305 to generate linkage.

Example 2

Referring to fig. 1 and 6-10, the present invention provides a rail-mounted water, fertilizer and pesticide integrated apparatus for a citrus orchard, further comprising:

the lower part of the horizontal coordinate positioning mechanism 3 is provided with an application angle control mechanism 4;

as shown in fig. 6 to 7, the application angle control mechanism 4 is configured to control a rotation angle of the water and fertilizer medicine output head, so that the water and fertilizer medicine output head can supply water and fertilizer medicine demand to a part of a citrus tree, and can meet water and fertilizer medicine demand of different angular parts of the citrus tree, the application angle control mechanism 4 includes a positioning frame 401, a micro motor 402, a driving shaft 403, a driving chuck 404, an upper base block 405, a lower base frame 406, a driven shaft 407, two driven cage gears 408 and an output pipe 409, the positioning frame 401 is fixedly mounted at a lower end of the limit seat 306, the micro motor 402 is fixedly mounted at a rear wall of the positioning frame 401, the driving shaft 403 is fixedly mounted at an output end of the micro motor 402, the driving shaft 403 is rotatably connected to a rear wall of the positioning frame 401, the driving chuck 404 is fixedly mounted on an outer wall 403 at a front end of the driving shaft 403, the upper base block 405 is fixedly mounted at a lower portion of the upper wall of the positioning frame 401, the base frame 406 is fixedly mounted at a front portion of the rear wall of the positioning frame 401, the driven shaft 407 is rotatably mounted in front ends of the upper base block 405 and the lower base frame 406, the two driven shaft chucks 408 are mounted on an outer wall of the upper portion of the driving cage gears 407 and the driven shaft 408, and the lower end of the driven shaft 408, and the driven shaft 408 are engaged with the lower end of the output pipe 409;

the application angle control mechanism 4 is composed of a positioning frame 401, a micro motor 402, a driving shaft 403, a driving chuck 404, an upper base block 405, a lower base frame 406, a driven shaft 407, two driven cage gears 408 and an output pipe 409, the application angle control mechanism 4 is used for controlling the rotation angle of the water and fertilizer medicine output head, so that the water and fertilizer medicine output head can supply water and fertilizer medicine demand parts of citrus trees to meet the water and fertilizer medicine demand of different angle parts of the citrus trees, the citrus orchard intelligent management system can start the micro motor 402 according to the angle of the water and fertilizer medicine demand parts of the citrus trees to enable the output end of the micro motor 402 to drive the driving shaft 403 to rotate, the driving chuck 404 is controlled to be linked to be in meshing transmission with the upper driven cage gear 408 or the lower driven cage gear 408, when the driving chuck 404 rotates to be in meshing transmission with the lower driven cage gear 408, the driven shaft 407 is linked to drive the output pipe 409 to swing anticlockwise from left to right, when the driving chuck 404 rotates and is in meshed transmission with the upper driven cage gear 408, the driven shaft 407 is linked to drive the output pipe 409 to swing anticlockwise from right to left, so that the orientation angle of the output port of the output pipe 409 can be controlled, namely, the output port of the output pipe 409 can be opposite to the part of the citrus trees needing water, fertilizer and pesticide application, the intelligent management system drives the water, fertilizer and pesticide access pipe to output water, fertilizer and pesticide to the output pipe 409 in a quantitative mode, the output pipe 409 can carry out watering, fertilizing or pesticide application to the required part of the citrus trees, the application angle control mechanism 4 can rotate the nozzle of the output pipe 409 at 180 degrees left and right, water, fertilizer and pesticide can be effectively sprayed to all positions of the citrus trees, the flexibility is high, the application angle is comprehensive, and the use effect is good.

More preferably, as shown in fig. 6 to 7, the lower base frame 406 is formed by fixedly connecting a front cube block and a rear cuboid plate, the rear end of the rear cuboid plate of the lower base frame 406 is fixedly connected with the lower portion of the rear wall of the positioning frame 401, the lower portion of the driven shaft 407 is rotatably connected in the front cube block of the lower base frame 406, and the lower base frame 406 provides a rotation base point for the driven shaft 407 and the output pipe 409.

More perfectly, as shown in fig. 6-7, the driving chuck 404 is formed by fixedly connecting a disk and seven cylindrical pins placed at equal intervals, the driven cage gear 408 is formed by fixedly connecting an upper disk, a lower disk and fifteen cylindrical rack bars placed at equal intervals in the middle, and the interval between the fifteen cylindrical rack bars of the driven cage gear 408 is the same as the interval between the seven cylindrical pins placed at equal intervals of the driving chuck 404, so that the driving chuck 404 can be respectively engaged with two driven cage gears 408 for transmission every time of rotating for one circle, and the driven shaft 407 is driven to rotate for 180 degrees clockwise and then rotate for 180 degrees counterclockwise to return.

More perfectly, as shown in fig. 6-7, six rows of output holes are equidistantly arranged on the front wall of the output pipe 409, the rear end of the output pipe 409 is detachably provided with a water-fertilizer-pesticide access pipe, the water-fertilizer-pesticide access pipe can supply water-fertilizer-pesticide to the output pipe 409, and the water-fertilizer-pesticide can be sprayed outwards through the output holes when applied.

More perfectly, as shown in fig. 2-10, the control ends of the micro-motors 402, the two sliding blocks 303 and the power motor 205 are electrically connected with an intelligent management system of a citrus orchard, and a citrus fruit growth state monitoring module is arranged in the intelligent management system, so that the water-fertilizer-pesticide integrated device can automatically apply water-fertilizer-pesticide to fruit trees according to the growth state of the citrus fruit trees, the intelligent degree is high, the manual application is saved, and the cost of citrus planting protection is reduced.

Example 3

Referring to fig. 1-10, the invention further includes an application method of the rail-type water, fertilizer and pesticide integrated device for the citrus orchard, which specifically includes the following steps:

the method comprises the following steps: the method comprises the following steps of horizontally arranging a plurality of water-fertilizer-pesticide integrated devices, fixedly connecting the water-fertilizer-pesticide integrated devices with one another, covering the whole citrus orchard, burying the lower ends of three vertical plates 101 of the water-fertilizer-pesticide integrated devices into the land of the citrus orchard, fixing the rear wall of an L-shaped support 1 with the inner wall of a culture shed frame of the citrus orchard, and taking a single water-fertilizer-pesticide integrated device to take charge of applying water-fertilizer pesticides of all citrus trees in a cubic space formed by the water-fertilizer-pesticide integrated devices by taking the edge of the rear wall of the L-shaped support 1 as a wide edge, taking the edge of the left wall of the L-shaped support 1 as a long edge and taking the residual height of the vertical plates 101 buried in the soil as a high edge;

step two: installing a water-fertilizer medicine access pipe at the rear end of an output pipe 409 to enable the water-fertilizer medicine access pipe to be communicated with the output pipe 409, feeding back three-dimensional coordinates of citrus trees to an intelligent management system when a fruit tree growth state monitoring module of the intelligent management system for the citrus orchard detects that the citrus trees in the cubic space of the water-fertilizer medicine integrated device need watering, fertilizing or pesticide application, and automatically judging the watering, fertilizing or pesticide application amount by the intelligent management system and calculating the optimal application position coordinates;

step three: the intelligent management system for the citrus orchard can firstly start the two sliding blocks 303 to respectively slide in the two bidirectional sliding grooves 302 according to the X coordinate position and the Y coordinate position, the two connecting plates 304 are respectively linked with the two sliding blocks 303, and the overlooking intersection points of the limiting grooves 305 in the connecting plates are changed along with the two sliding blocks 303, so that the position of the limiting seat 306 is driven to move, the limiting seat 306 drives the horizontal coordinate positioning mechanism 3 to be linked, and the horizontal positioning point of the coordinate where the citrus tree is located, which is specified by the intelligent management system, is reached;

step four: secondly, the intelligent management system of the citrus orchard can start the output end of a power motor 205 to rotate forwards or reversely according to the Z coordinate position, the right rear lead screw 203 rotates along with the output end of the power motor 205, under the belt transmission action of two pairs of belt pulleys 206 and two transmission belts 207, the left two lead screws 203 rotate along with the right rear lead screw 203 in a linkage manner, three threaded plates 204 and three lead screws 203 are driven to perform thread transmission and synchronously ascend or descend, so that the L-shaped connecting plate 301 is lifted in a linkage manner, the horizontal coordinate positioning mechanism 3 is moved to a three-dimensional coordinate point of a part of the citrus trees needing to be applied with water and fertilizer, the horizontal coordinate positioning mechanism 3 is combined with the height adjusting mechanism 2, the application angle control mechanism 4 can be moved to the three-dimensional coordinate position of a demand point of the citrus trees, the water and fertilizer application is performed, the accuracy is high, the citrus trees can be applied with symptoms, the pesticide application is scientific, the citrus orchard pesticide application is accurate, the citrus irrigation is realized, the pesticide investment is saved, the ecological environment is protected, the practicability is strong, the effective irrigation is favorable for saving the water and fertilizer application, the insect pest infection rate is reduced, and the fertilizer application cost is favorable for the fertilizer application return;

step five: finally, the intelligent management system for the citrus orchard can start the micro motor 402 according to the position angle of the position of the citrus trees needing water, fertilizer and pesticide application, so that the output end of the micro motor drives the driving shaft 403 to rotate, the driving chuck 404 is controlled to be linked to be in meshing transmission with the upper driven cage gear 408 or the lower driven cage gear 408, when the driving chuck 404 rotates to be in meshing transmission with the lower driven cage gear 408, the driven shaft 407 is linked to drive the output pipe 409 to swing anticlockwise from left to right, when the driving chuck 404 rotates to be in meshing transmission with the upper driven cage gear 408, the driven shaft 407 is linked to drive the output pipe 409 to swing anticlockwise from right to left, the direction of the output port of the output pipe 409 can be controlled to be directed to an angle, namely, the output port of the output pipe 409 can be directly opposite to the position of the citrus trees needing water, fertilizer and pesticide application, the intelligent management system drives the water-fertilizer-pesticide access pipe to quantitatively output water, fertilizer and pesticide to the output pipe 409, the output pipe 409 can be used for watering, fertilizing or pesticide applying to the required position of the citrus tree, the output pipe 409 can be rotated by 180 degrees left and right by the application angle control mechanism 4, water, fertilizer and pesticide can be effectively sprayed to all positions of the citrus tree, the flexibility is high, the application angle is comprehensive, the use effect is good, the automation degree is high, the citrus planting cost is greatly reduced, the economic benefit of citrus planting is improved, and the healthy development of citrus industry is facilitated.

To sum up:

1. in the invention, a water and fertilizer medicine access pipe is arranged at the rear end of an output pipe 409 by utilizing the arrangement of a height adjusting mechanism 2 and a horizontal coordinate positioning mechanism 3, so that the water and fertilizer medicine access pipe is communicated with the output pipe 409, when a fruit tree growth state monitoring module of an intelligent citrus orchard management system detects that a citrus tree in a cubic space of a water and fertilizer integrated device needs to be watered, fertilized or applied, the three-dimensional coordinates of the citrus tree can be fed back to the intelligent management system, the intelligent management system can autonomously judge the watering, fertilizing or applied amount and calculate the optimal application position coordinates, the intelligent citrus orchard management system can firstly start two sliders 303 to respectively slide in two bidirectional chutes 302 according to the X coordinate position and the Y coordinate position, two connecting plates 304 are respectively linked with the two sliders 303, and the overlooking point of a limiting groove 305 in the citrus orchard intelligent management system changes along with the overlooking point, thereby driving the movement of the position of the limiting seat 306, leading the limiting seat 306 to drive the linkage of the horizontal coordinate positioning mechanism 3 to reach the horizontal positioning point of the coordinate of the citrus tree specified by the intelligent management system, leading the horizontal coordinate positioning mechanism 3 to have high flexibility, positioning the citrus tree of each horizontal coordinate in the cubic space of the water and fertilizer integrated device, leading the intelligent management system of the later citrus orchard to start the output end of the power motor 205 to rotate forwards or reversely according to the Z coordinate position, leading the right rear lead screw 203 to rotate along with the output end of the power motor 205, leading the left two lead screws 203 to rotate along with the right rear lead screw 203 in a linkage way under the belt transmission action of the two pairs of belt pulleys 206 and the two transmission belts 207, driving the three thread plates 204 to be in thread transmission with the three lead screws 203, synchronously ascending or descending, leading the L-shaped connecting plate 301 to be in linkage way ascending and descending, leading the horizontal coordinate positioning mechanism 3 to move to the three-dimensional coordinate point of the water and fertilizer part of the citrus tree, the height adjusting mechanism 2 can adjust the height of the application angle control mechanism 4 according to citrus trees with different heights, the height adjusting mechanism is parallel to the demand point of the citrus trees, the horizontal coordinate positioning mechanism 3 is combined with the height adjusting mechanism 2, the application angle control mechanism 4 can be moved to the three-dimensional coordinate position of the demand point of the citrus trees, water and fertilizer application is carried out, accuracy is high, symptomatic medicine application can be carried out on the citrus trees, scientific medicine application and accurate medicine application are achieved, accurate citrus disease and insect pest control is achieved, pesticide investment is saved, the ecological environment is protected, practicability is high, effective irrigation of the citrus trees is achieved, water saving is facilitated, disease and insect infection caused by flood irrigation is greatly avoided, accurate fertilizer application can be carried out, high fertilizer application effect is facilitated, fertilizer cost is reduced, return rate of fertilizer and water application is high, automation degree is high, planting cost of citrus is greatly reduced, economic benefit of citrus planting is improved, healthy development of citrus industry is facilitated, a common citrus planting protection mode in the prior art is solved, application accuracy of water and fertilizer application is low, large-scale citrus planting accuracy is achieved, waste of the citrus industry, and economic benefit of citrus planting is not beneficial to healthy development of citrus.

2. According to the invention, by means of the arrangement of the application angle control mechanism 4, the intelligent management system of the citrus orchard can start the micro motor 402 according to the angle of a part of a citrus tree to which water, fertilizer and pesticide are required to be applied, so that the output end of the micro motor drives the driving shaft 403 to rotate, the driving chuck 404 is controlled to be in linkage with the upper driven cage gear 408 or the lower driven cage gear 408 for meshing transmission, when the driving chuck 404 rotates and is in meshing transmission with the lower driven cage gear 408, the driven shaft 407 is in linkage, the output pipe 409 is driven to swing from right to left and counterclockwise, so that the direction of the output port of the output pipe 409 can be controlled, namely, the output port of the output pipe 409 can be opposite to the part of the citrus tree to which the water, fertilizer and pesticide are required to be applied, when the driving water, fertilizer and pesticide are quantitatively output to the output pipe 409 by the intelligent management system, the output pipe 409 can carry out water, fertilizer and pesticide application work to the required part of the citrus tree from right and 180 degrees, so that water, fertilizer and pesticide are effectively sprayed to various positions of the citrus trees, the application angle control mechanism 4 can be applied to solve the problem of poor application effect of unmanned aerial vehicles in the fruit trees, and the problem of the prior art of planting.

3. The invention discloses an application method of a rail type water-fertilizer-pesticide integrated device for a citrus orchard, which comprises the steps of horizontally arranging a plurality of water-fertilizer-pesticide integrated devices, mutually and fixedly connecting the water-fertilizer-pesticide integrated devices to cover the whole citrus orchard, burying the lower ends of three vertical plates 101 of the water-fertilizer-pesticide integrated device into the soil of the citrus orchard, fixing the rear wall of an L-shaped support 1 and the inner wall of a culture shelf of the citrus orchard, taking the edge of the rear wall of the L-shaped support 1 as a wide edge, taking the edge of the left wall of the L-shaped support 1 as a long edge, taking the residual height of the vertical plates 101 buried in the soil as a high edge to apply the water-fertilizer-pesticide of all citrus trees in a cubic space, installing a water-fertilizer-pesticide access pipe at the rear end of an output pipe 409, and mutually communicating the water-fertilizer-pesticide access pipe with the output pipe 409, when a fruit tree growth state monitoring module of the intelligent citrus orchard management system detects that citrus trees in the cubic space of the water-fertilizer-pesticide integrated device need watering, fertilizing or pesticide application, the three-dimensional coordinates of the citrus trees can be fed back to the intelligent management system, the intelligent management system can autonomously judge the watering, fertilizing or pesticide application amount and calculate the optimal application position coordinates, the intelligent citrus orchard management system can firstly start two sliders 303 to respectively slide in two bidirectional sliding grooves 302 according to the X coordinate position and the Y coordinate position, two connecting plates 304 are respectively linked with the two sliders 303, the overlooking intersection points of limiting grooves 305 in the connecting plates are changed along with the two sliders 303, so that the limiting seats 306 are driven to move, the limiting seats 306 drive the horizontal coordinate positioning mechanism 3 to be linked to reach the horizontal positioning points of the coordinates of the citrus trees specified by the intelligent management system, and secondly, the intelligent citrus orchard management system can start the output end or reverse rotation of the power motor 205 according to the Z coordinate position, the right rear screw 203 rotates along with the output end of the power motor 205, under the belt transmission action of two pairs of belt wheels 206 and two transmission belts 207, the left two screw 203 rotates along with the right rear screw 203 in a linkage manner, three thread plates 204 and three screw 203 are driven to perform thread transmission and synchronously ascend or descend, so that the L-shaped connecting plate 301 is lifted in a linkage manner, the horizontal coordinate positioning mechanism 3 is moved to a three-dimensional coordinate point of a part of the citrus trees needing water and fertilizer application, the horizontal coordinate positioning mechanism 3 is combined with the height adjusting mechanism 2, the application angle control mechanism 4 can be moved to a three-dimensional coordinate position of a demand point of the citrus trees, the water and fertilizer application is performed, the accuracy is high, the citrus trees can be subjected to symptomatic pesticide application, scientific pesticide application and accurate pesticide application, accurate citrus pest and disease control is realized, pesticide investment is saved, the ecological environment is protected, the practicability is strong, and the citrus trees are effectively irrigated, the method is favorable for saving water, greatly avoids disease and insect pest infection caused by flood irrigation, can carry out precise fertilization, is favorable for high-efficiency fertilization, reduces the cost of chemical fertilizers, has high return rate of fertilization and water application, and finally, an intelligent management system of the citrus orchard can start a micro motor 402 according to the angle of a part of citrus trees needing water, fertilizer and pesticide application, so that the output end of the micro motor drives a driving shaft 403 to rotate, the driving chuck 404 is controlled to be in linkage with an upper driven cage gear 408 or a lower driven cage gear 408 for meshing transmission, when the driving chuck 404 rotates and is in meshing transmission with the lower driven cage gear 408, a driven shaft 407 is in linkage from left to right to drive an output pipe 409 to swing anticlockwise, when the driving chuck 404 rotates and is in meshing transmission with the upper driven cage gear 408, the driven shaft 407 is in linkage to drive the output pipe 409 to swing anticlockwise from right to left, so as to control the orientation angle of the output pipe 409, that is, the output port of the output pipe 409 can be made to face the part of the citrus tree where water, fertilizer and pesticide need to be applied, the intelligent management system drives the water, fertilizer and pesticide access pipe to output water, fertilizer and pesticide quantitatively to the output pipe 409, the output pipe 409 can be used for watering, fertilizing or pesticide applying to the required part of the citrus tree, the output pipe 409 can be rotated by 180 degrees from left to right by the application angle control mechanism 4, water, fertilizer and pesticide can be effectively sprayed to all positions of the citrus tree, the flexibility is strong, the application angle is comprehensive, the use effect is good, the automation degree is high, the planting cost of citrus is greatly reduced, the economic benefit of citrus planting is improved, the healthy development of the citrus industry is facilitated, in addition, the rail type water, fertilizer and pesticide integrated device for the citrus orchard is not only limited to the citrus orchard, but also suitable for water, fertilizer and pesticide integrated management of southern excellent fruit trees such as dragon fruits, guava, kiwi fruits, figs and the like, the water, fertilizer and pesticide integrated device is strong in universality and convenient to popularize, and solves the problems that the common planting protection method in the prior art is high in cost, low in universality and is not beneficial to popularization.

Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.

Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims

1. The utility model provides a oranges and tangerines are rail mounted liquid manure medicine integrated device for orchard, its characterized in that, oranges and tangerines are rail mounted liquid manure medicine integrated device for orchard includes:

the device comprises an L-shaped support (1), wherein vertical plates (101) are fixedly arranged on the lower wall triangles of the L-shaped support (1), a height adjusting mechanism (2) is arranged between the L-shaped support (1) and the three vertical plates (101), a horizontal coordinate positioning mechanism (3) is arranged on the height adjusting mechanism (2), and an application angle control mechanism (4) is arranged at the lower part of the horizontal coordinate positioning mechanism (3);

the height adjusting mechanism (2) is used for controlling the vertical height of the horizontal coordinate positioning mechanism (3), so that the application angle control mechanism (4) is linked to apply water and fertilizer to parts of the citrus trees with different heights;

the horizontal coordinate positioning mechanism (3) is used for adjusting the horizontal position of the application angle control mechanism (4), so that the application angle control mechanism (4) can position citrus trees at different positions, and the application angle control mechanism (4) can accurately apply water and fertilizer medicines to the citrus trees in the range of the horizontal coordinate positioning mechanism (3);

the application angle control mechanism (4) is used for controlling the rotation angle of the water-fertilizer-pesticide output head, so that the water-fertilizer-pesticide output head can supply water, fertilizer and pesticide to the part of the citrus tree with a demand for water, fertilizer and pesticide, and the requirements of the citrus tree on water, fertilizer and pesticide at different angles can be met;

the height adjusting mechanism (2) comprises three bottom plates (201), three top plates (202), three lead screws (203), three thread plates (204), a power motor (205), two pairs of belt wheels (206) and two transmission belts (207), the three bottom plates (201) are respectively and fixedly arranged on the inner walls of the lower parts of the three vertical plates (101), the three top plates (202) are respectively and fixedly arranged on the inner walls of the upper parts of the three vertical plates (101), the three lead screws (203) are respectively and rotatably arranged in the three bottom plates (201) and the three top plates (202), and the upper ends of the two left lead screws (203) are respectively and rotatably connected with the lower wall of the left part of the L-shaped bracket (1), three threading board (204) is threaded respectively and is installed three lead screw (203) outer wall, power motor (205) fixed mounting be in the right back corner of L type support (1), just the output and the right back portion of power motor (205) the upper end fixed connection of lead screw (203), the lower part is a pair of band pulley (206) fixed mounting is at right rear portion the upper portion outer wall and the left rear portion of lead screw (203) the upper portion outer wall of lead screw (203), upper portion is a pair of band pulley (206) fixed mounting is at left front portion the upper portion outer wall and the left rear portion of lead screw (203) the upper end outer wall of lead screw (203), two drive belt (207) transmission respectively install two pairs band pulley (206) outer wall transmission .

2. The rail-mounted water, fertilizer and pesticide integrated device for the citrus orchard according to claim 1, characterized in that: horizontal coordinate positioning mechanism (3) link board (301), two-way spout (302), two slider (303), two link board (304), two spacing groove (305) and spacing seat (306) including the L type, the L type links board (301) fixed mounting three screw thread board (204) inner wall, two-way spout (302) set up the L type links the left part and the rear portion of board (301), two slider (303) slidable mounting respectively is two in two-way spout (302), two link board (304) fixed mounting respectively is two slider (303) inner wall, two spacing groove (305) sets up respectively two link in board (304), spacing seat (306) slidable mounting is two in spacing groove (305).

3. The rail-mounted water, fertilizer and pesticide integrated device for the citrus orchard according to claim 1, characterized in that: the application angle control mechanism (4) comprises a positioning frame (401), a micro motor (402), a driving shaft (403), a driving chuck (404), an upper base block (405), a lower base frame (406), a driven shaft (407), two driven cage gears (408) and an output pipe (409), the positioning frame (401) is fixedly arranged at the lower end of the limiting seat (306), the micro motor (402) is fixedly arranged on the rear wall of the positioning frame (401), the driving shaft (403) is fixedly arranged at the output end of the micro motor (402), and the driving shaft (403) is rotatably connected with the rear wall of the positioning frame (401), the driving chuck (404) is fixedly arranged on the outer wall of the front end of the driving shaft (403), the upper base block (405) is fixedly arranged at the lower part of the upper wall of the positioning frame (401), the lower base frame (406) is fixedly arranged at the front part of the rear wall of the positioning frame (401), the driven shaft (407) is rotatably installed in the front ends of the upper base block (405) and the lower base frame (406), two driven cage gears (408) are fixedly installed on the upper and lower outer walls of the driven shaft (407), and the driving chuck (404) is in intermittent meshing transmission with the two driven cage gears (408), the output pipe (409) is fixedly arranged at the lower end of the driven shaft (407).

4. The rail-mounted water-fertilizer-pesticide integrated device for the citrus orchard, according to claim 2, is characterized in that: two-way spout (302) are formed by the fixed intercommunication in outside cuboid groove and inside cuboid groove, just the inside cuboid groove setting of two-way spout (302) is in the inner wall of L type even board (301), even board (304) sliding connection be in the inside cuboid inslot of two-way spout (302), slider (303) sliding connection be in the outside cuboid inslot of two-way spout (302).

5. The rail-mounted water, fertilizer and pesticide integrated device for the citrus orchard according to claim 2, characterized in that: the limiting seat (306) is formed by fixedly connecting a cuboid block and a cylinder, the cuboid block of the limiting seat (306) is slidably mounted in the limiting groove (305) at the right part, and the cylinder of the limiting seat (306) is slidably mounted in the limiting groove (305) at the front part.

6. The rail-mounted water, fertilizer and pesticide integrated device for the citrus orchard according to claim 3, characterized in that: the lower base frame (406) is formed by fixedly connecting a front cube block and a rear cuboid plate, the rear end of the rear cuboid plate of the lower base frame (406) is fixedly connected with the lower portion of the rear wall of the positioning frame (401), and the lower portion of the driven shaft (407) is rotatably connected in the front cube block of the lower base frame (406).

7. The rail-mounted water-fertilizer-pesticide integrated device for the citrus orchard, according to claim 3, is characterized in that: the driving chuck (404) is formed by fixedly connecting a disk and seven cylindrical pins which are equidistantly arranged, the driven cage gear (408) is formed by fixedly connecting fifteen cylindrical gear bars which are equidistantly arranged in an upper disk, a lower disk and a middle part, and the distance between the fifteen cylindrical gear bars of the driven cage gear (408) is the same as that between the seven cylindrical pins which are equidistantly arranged in the driving chuck (404).

8. The rail-mounted water, fertilizer and pesticide integrated device for the citrus orchard according to claim 3, characterized in that: the antetheca equidistance of output tube (409) is provided with six rows of delivery outlets, the rear end demountable installation liquid manure medicine of output tube (409) inserts the pipe.

9. The rail-mounted water-fertilizer-pesticide integrated device for the citrus orchard, according to claim 3, is characterized in that: the intelligent management system is characterized by comprising micro motors (402), two sliding blocks (303) and a control end of a power motor (205), wherein the control end is electrically connected with the intelligent management system of the citrus orchard, and a citrus fruit tree growth state monitoring module is arranged in the intelligent management system.

10. The rail-mounted water, fertilizer and pesticide integrated device for the citrus orchard, according to any one of claims 1 to 9, is characterized in that: the application method of the rail-type water-fertilizer-pesticide integrated device for the citrus orchard comprises the following specific steps:

the method comprises the following steps: the method comprises the following steps of horizontally arranging a plurality of water-fertilizer-pesticide integrated devices, fixedly connecting the water-fertilizer-pesticide integrated devices with one another, covering the whole citrus orchard, burying the lower ends of three vertical plates (101) of the water-fertilizer-pesticide integrated devices into the land of the citrus orchard, fixing the rear wall of an L-shaped support (1) with the inner wall of a culture shed frame of the citrus orchard, and enabling a single water-fertilizer-pesticide integrated device to take charge of water-fertilizer-pesticide application of all citrus trees in a cubic space formed by taking the rear wall edge of the L-shaped support (1) as a wide edge, taking the left wall edge of the L-shaped support (1) as a long edge and taking the residual height of the vertical plates (101) buried into the soil as a high edge;

step two: installing a water and fertilizer medicine access pipe at the rear end of an output pipe (409) to enable the water and fertilizer medicine access pipe to be communicated with the output pipe (409), feeding back three-dimensional coordinates of a citrus tree to an intelligent management system when a fruit tree growth state monitoring module of the intelligent management system of the citrus orchard detects that the citrus tree in the cubic space of the water and fertilizer medicine integrated device needs watering, fertilizing or pesticide application, and automatically judging the watering, fertilizing or pesticide application amount by the intelligent management system and calculating the optimal application position coordinates;

step three: the intelligent management system for the citrus orchard can start the two sliding blocks (303) to respectively slide in the two-way sliding grooves (302) according to the X coordinate position and the Y coordinate position, the two connecting plates (304) are linked with the two sliding blocks (303), and the overlooking intersection point of the limiting groove (305) in the connecting plates is changed along with the two sliding blocks, so that the position of the limiting seat (306) is driven to move, the limiting seat (306) drives the horizontal coordinate positioning mechanism (3) to be linked, and the horizontal positioning point of the coordinate where a citrus tree is located, which is specified by the intelligent management system, is reached;

step four: secondly, the intelligent management system of the citrus orchard can start the output end of a power motor (205) to rotate positively or negatively according to the Z coordinate position, a right rear lead screw (203) rotates along with the output end of the power motor (205), under the belt transmission action of two pairs of belt wheels (206) and two transmission belts (207), two left lead screws (203) rotate along with the right rear lead screw (203) in a linkage manner, three thread plates (204) and three lead screws (203) can be driven to perform thread transmission and synchronously ascend or descend, so that an L-shaped connecting plate (301) ascends and descends in a linkage manner, and a horizontal coordinate positioning mechanism (3) is moved to a three-dimensional coordinate point of a part of a citrus tree needing water, fertilizer and pesticide application;

step five: and finally, the intelligent management system for the citrus orchard can start a micro motor (402) according to the angle of a part of the citrus trees needing water, fertilizer or pesticide application, so that the output end of the micro motor drives a driving shaft (403) to rotate, the driving chuck (404) is controlled to be in linkage with the upper driven cage gear (408) or the lower driven cage gear (408) in meshing transmission, when the driving chuck (404) rotates and the lower driven cage gear (408) in meshing transmission, the driven shaft (407) is in linkage, the output pipe (409) is driven to swing anticlockwise from right to left, the direction angle of the output port of the output pipe (409) can be controlled, namely, the output port of the output pipe (409) is opposite to the part of the citrus trees needing water, fertilizer or pesticide application, the intelligent management system drives the water, fertilizer and pesticide access pipe to quantitatively output pipe (409) to output the position of the citrus trees, and the output pipe (409) can carry out water, fertilizer or pesticide application to the required part of the citrus trees.