CN115918497B

CN115918497B - Rail-mounted water, fertilizer and pesticide integrated device for citrus orchard and application method

Info

Publication number: CN115918497B
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: 2023-07-14
Anticipated expiration: 2042-12-01
Also published as: CN115918497A

Abstract

The invention provides a track type water, fertilizer and pesticide integrated device for a citrus orchard and an application method, which are used for solving the problems that in the prior art, the application accuracy of water, fertilizer and pesticide is low, the time consumption is long, the water, fertilizer and pesticide are used excessively, the citrus planting cost is too high, and the healthy development of the citrus industry is not facilitated. The invention provides a track type water, fertilizer and pesticide integrated device for a citrus orchard and an application method thereof, wherein the track type water, fertilizer and pesticide integrated device comprises the following components: the three-dimensional citrus tree planting device comprises an L-shaped support, wherein a vertical plate is fixedly arranged on the triangle of the lower wall 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, an application angle control mechanism is arranged at the lower part of the horizontal coordinate positioning mechanism, 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 citrus tree demand point, the application of water and fertilizer is carried out, the accuracy is high, the labor cost is low, the economic benefit of citrus planting is improved, and the healthy development of the citrus industry is facilitated.

Description

Rail-mounted 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 track type water, fertilizer and pesticide integrated device for a citrus orchard and an application method.

Background

Citrus varieties are numerous, including oranges, tangerines, sweet oranges, pomelos, lemons, etc., and the planting area is already over that of apples, so that the citrus fruits are first fruits planted nationally. In the citrus planting industry, plant protection is the first thing, but the common plant diseases and insect pests in the citrus growth are up to more than 100, and the cost of pesticide and fertilizer is high, and the vehicle-washing type pesticide application mode is ubiquitous, so that the phenomena of flood irrigation and uneven irrigation exist, the precision is low, the waste of water resources, pesticide and fertilizer is caused, the labor cost is increased increasingly, the citrus planting cost 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 and pesticide application mode mainly uses an artificial knapsack sprayer to take pesticide for preventing and controlling citrus plant diseases and insect pests in the early days, and is time-consuming, labor-consuming and high in labor cost; the existing multi-use drag pipe pesticide spraying machine is used for applying pesticides in a large range, the pertinence is poor, the dosage is huge, and is about 4-5 times that of a knapsack sprayer, so that the pollution of the pesticides is enlarged, the ecological environment is not protected, the pesticide application cost is greatly increased, and the practicability is poor. In the aspects of fertilizer and water irrigation, large-scale broadcast application or flood irrigation application is also adopted, the fertilizer and water effect is poor, and the application return rate is low; in recent years, the emerging plant protection unmanned aerial vehicle has good effect of applying water and fertilizer on gramineous crops such as rice, wheat and the like, but due to complexity of citrus fruit trees, the unmanned aerial vehicle has very much use restriction and control dead angles in plant protection application of the citrus fruit trees, the use effect is poor, and the pest control effect does not reach expectations.

Disclosure of Invention

Therefore, the invention provides a track type integrated device for a citrus orchard and an application method thereof, which are used for solving the problems that in the prior art, due to the current common citrus cultivation and plant protection modes, the application accuracy of the water and fertilizer is low, the labor cost is high, the water and fertilizer is excessively applied in a large range, the citrus planting cost is excessively high, the citrus planting economic benefit is low, and the healthy development of the citrus industry is not facilitated.

In order to achieve the above object, the present invention provides the following technical solutions: track-type liquid manure medicine integrated device for oranges and tangerines orchard, track-type liquid manure medicine integrated device for oranges and tangerines orchard includes:

the device comprises an L-shaped bracket, wherein vertical plates are fixedly arranged on the triangular walls of the lower wall of the L-shaped bracket, a height adjusting mechanism is arranged between the L-shaped bracket 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 mechanism is linked to perform water and fertilizer application work on the positions 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 the citrus trees at different positions, and the application angle control mechanism can accurately apply water and fertilizer to the citrus trees within the range of the horizontal coordinate positioning mechanism;

the application angle control mechanism 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 required parts of the citrus trees and can meet the water and fertilizer medicine requirements of different angle parts of the citrus trees;

the height adjusting mechanism comprises three bottom plates, three top plates, three lead screws, three thread plates, a power motor, two pairs of pulleys and two driving belts, wherein the three bottom plates are respectively and fixedly installed on the three bottom plates, the three top plates are respectively and fixedly installed on the three upper inner walls of the vertical plates, the three lead screws are respectively and rotatably installed on the three bottom plates and the three top plates, the upper ends of the left two lead screws are respectively and rotatably connected with the lower wall of the left part of the L-shaped bracket, the three thread plates are respectively and threadedly installed on the three lead screw outer walls, the power motor is fixedly installed at the right rear corner of the L-shaped bracket, the output end of the power motor is fixedly connected with the upper end of the lead screw, the lower pair of lead screws are fixedly installed on the outer walls of the upper part of the lead screws and the outer walls of the left rear part of the lead screws, and the upper pair of lead screws are fixedly installed on the outer walls of the left front part of the left part of the lead screws and the two driving belts.

Further, the horizontal coordinate positioning mechanism comprises an L-shaped connecting plate, two bidirectional sliding grooves, two sliding blocks, two connecting plates, two limiting grooves and a limiting seat, wherein the L-shaped connecting plate is fixedly arranged on the inner wall of the three threaded plates, the two bidirectional sliding grooves are arranged on the left part and the rear part of the L-shaped connecting plate, the two sliding blocks are respectively and slidably arranged in the two bidirectional sliding grooves, the two connecting plates are respectively and fixedly arranged on the inner walls of the two sliding blocks, the two limiting grooves are respectively arranged in the two connecting plates, and the limiting seat is slidably arranged in the two limiting grooves.

Further, the application angle control mechanism comprises a positioning frame, a micro motor, a driving shaft, a driving chuck, an upper base block, a lower base frame, a driven shaft, two driven cage gears and an output pipe, wherein the positioning frame is fixedly installed at the lower end of the limiting seat, the micro motor is fixedly installed on the rear wall of the positioning frame, the driving shaft is fixedly installed at the output end of the micro motor, the driving shaft is rotationally connected with the rear wall of the positioning frame, the driving chuck is fixedly installed on the outer wall of the front end of the driving shaft, the upper base block is fixedly installed at the lower part of the upper wall of the positioning frame, the lower base frame is fixedly installed at the front part of the rear wall of the positioning frame, the driven shaft is rotationally installed in the upper base block and the front end of the lower base frame, the two driven cage gears are fixedly installed at the upper part and the outer wall of the lower part of the driven shaft, the driving chuck is in intermittent meshing transmission with the two driven cage gears, and the output pipe is fixedly installed at the lower end of the driven shaft.

Further, the bidirectional sliding groove is formed by fixedly communicating an external cuboid groove and an internal cuboid groove, the internal cuboid groove of the bidirectional sliding groove is formed by fixedly communicating an internal cuboid groove of the bidirectional sliding groove with an inner wall of the L-shaped connecting plate, the connecting plate is slidably connected in the internal cuboid groove of the bidirectional sliding groove, and the sliding block is slidably connected in the external cuboid groove of the bidirectional sliding groove.

Further, the limit seat is formed by fixedly connecting a cuboid block and a cylinder, the cuboid block of the limit seat is slidably mounted on the right part in the limit groove, and the cylinder of the limit seat is slidably mounted on the front part in the limit groove.

Further, the lower base frame is formed by fixedly connecting a front square block and a rear rectangular plate, the rear end of the rear rectangular plate of the lower base frame is fixedly connected with the lower part of the rear wall of the positioning frame, and the lower part of the driven shaft is rotationally connected in the front square block of the lower base frame.

Further, the driving chuck is formed by fixedly connecting a disc with seven equidistant cylindrical pins, the driven cage gear is formed by fixedly connecting fifteen equidistant cylindrical toothed bars which are arranged on the upper disc, the lower disc and the middle part, and the distance between the fifteen cylindrical toothed bars of the driven cage gear is the same as the distance between the seven equidistant cylindrical pins of the driving chuck.

Further, six rows of output holes are formed in the front wall of the output pipe at equal intervals, and the water, fertilizer and pesticide access pipe is detachably arranged at the rear end of the output pipe.

Further, the miniature motor, the two sliding blocks and the control end of the power motor are electrically connected with an intelligent management system of the citrus orchard, and a citrus fruit tree growth state monitoring module is arranged in the intelligent management system.

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

step one: the method comprises the steps that a plurality of water, fertilizer and medicine integrated devices are horizontally arranged and fixedly connected with each other to cover the whole citrus orchard, the lower ends of three vertical plates of the water, fertilizer and medicine integrated devices are buried in the soil 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, then the single water, fertilizer and medicine integrated devices are responsible, the rear wall edge of the L-shaped support is taken as a broadside, the left wall edge of the L-shaped support is taken as a long edge, the residual height of the vertical plates buried in the soil is taken as a high edge, and water, fertilizer and medicine of all citrus trees in a cubic space formed by the three vertical plates are applied;

step two: the method comprises the steps that a liquid manure medicine access pipe is arranged at the rear end of an output pipe, the liquid manure medicine access pipe is communicated with the output pipe, when a fruit tree growth state monitoring module of an intelligent citrus orchard management system detects that citrus trees in a cubic space of the liquid manure medicine integrated device need to be watered, fertilized or applied, three-dimensional coordinates of the citrus trees can be fed back to the intelligent management system, the intelligent management system autonomously judges watering, fertilized or applied medicine, and the optimal application position coordinates are calculated;

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

step four: secondly, the intelligent management system for the citrus orchard can start the output end of the power motor to rotate forward or reversely according to the Z coordinate position, the right rear screw rod 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 left two screw rods rotate along with the right rear screw rod in a linkage manner, three thread plates and three screw rods can be driven to be in thread transmission, and rise or fall synchronously, so that the L-shaped connecting plates are lifted in a linkage manner, and the horizontal coordinate positioning mechanism is moved to a three-dimensional coordinate point of a part of the citrus tree, where water and fertilizer are required to be applied;

step five: finally, the intelligent management system for the citrus orchard can start the micro motor according to the angle of the position of the citrus tree, which needs to apply the water, fertilizer and medicine, so that the output end of the output pipe drives the driving shaft to rotate, the driving chuck is controlled to be in linkage with the upper driven cage gear or the lower driven cage gear for meshed transmission, when the driving chuck rotates and is in meshed transmission with the lower driven cage gear, the driven shaft is in linkage, the output pipe is driven to swing anticlockwise from left to right, when the driving chuck rotates and is in meshed transmission with the upper driven cage gear, the driven shaft is in linkage, the output pipe is driven to swing anticlockwise from right to left, the direction angle of the output port of the output pipe can be controlled, namely, the output port of the output pipe is enabled to face the position of the citrus tree, which needs to apply the water, fertilizer and medicine, the intelligent management system drives the water, fertilizer and medicine to be quantitatively output to the output pipe, and the watering, fertilizing or medicine applying work to the required position of 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 mutually communicated with the output pipe, when the fruit tree growth state monitoring module of the intelligent citrus orchard management system detects that the citrus trees in the cubic space of the water and fertilizer medicine integrated device need to be watered, fertilized or applied, the three-dimensional coordinates of the citrus trees can be fed back to the intelligent management system, the intelligent management system autonomously judges the watering, fertilized or applied amount, calculates the optimal applied position coordinates, the intelligent citrus orchard management system can firstly start two sliding blocks to slide in two bidirectional sliding grooves respectively 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 grooves in the two connecting plates is changed accordingly, thereby driving the position of the limiting seat to move, the limiting seat drives the horizontal coordinate positioning mechanism to link to reach the horizontal positioning point of the coordinates where the citrus trees are located, which is specified by the intelligent management system, the horizontal coordinate positioning mechanism has high flexibility, the citrus trees with all the horizontal coordinates in the cubic space of the water, fertilizer and medicine integrated device can be positioned, the intelligent management system for the rear citrus orchard can start the output end of the power motor to rotate forward or reversely according to the Z coordinate position, the right rear screw rod rotates along with the output end of the power motor, under the action of the belt transmission of two pairs of belt wheels and two transmission belts, the left two screw rods rotate along with the right rear screw rod in a linked manner, three screw plates can be driven to drive the three screw rods to synchronously rise or fall, the L-shaped connecting plates can be lifted in a linked manner, the horizontal coordinate positioning mechanism can be moved to the three-dimensional coordinate point of the position where the water, fertilizer and medicine are required to be applied to the citrus trees, and the height adjusting mechanism can be used for the citrus trees with different heights, the height of the application angle control mechanism is adjusted to be flush with a citrus tree demand point, 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 citrus tree demand point to apply water and fertilizer, the accuracy is high, the citrus tree can be subjected to symptomatic pesticide delivery, scientific pesticide application and accurate pesticide application, accurate citrus disease and pest control are realized, pesticide investment is saved, the ecological environment is protected, the practicability is high, the effective irrigation of the citrus tree is realized, water conservation is facilitated, disease and pest infection caused by flood irrigation is greatly avoided, accurate fertilization can be performed, high-utility fertilizer is facilitated, fertilizer cost is reduced, fertilizer and water application return rate 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 industry is facilitated, the common citrus planting protection mode in the prior art is solved, the application accuracy of the water and fertilizer is low, the waste of the water and the pesticide is caused, the citrus planting cost is high, the economic benefit of the citrus is low, and the healthy development of the citrus is unfavorable;

2. According to the invention, compared with the prior art, the intelligent management system for the citrus orchard can start the micro motor according to the angle of the position of the citrus tree where the water and fertilizer 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 linkage with the upper driven cage gear or the lower driven cage gear for meshed transmission, when the driving chuck rotates and is in meshed transmission with the lower driven cage gear, the driven shaft is in linkage, the output pipe is driven to swing anticlockwise from left to right, when the driving chuck rotates and is in meshed transmission with the upper driven cage gear, the driven shaft is in linkage, the output pipe is driven to swing anticlockwise from right to left, the direction of the output port of the output pipe can be controlled, namely, the output port of the output pipe is enabled to be opposite to the position of the citrus tree where the water and fertilizer are required to be applied, the intelligent management system drives the water and fertilizer access pipe to quantitatively output water, fertilizer and medicine to the output pipe, the output pipe can carry out watering, fertilizing or medicine application work to the position of the citrus tree, the application angle control mechanism can rotate the output nozzle to left and right 180 degrees, the water, fertilizer and medicine are effectively sprayed to each position of the citrus tree, the application angle is strong, the application effect is achieved, the effect is good, and the citrus fruit tree is applied in the application effect is not good, and the application effect is well in the prior art;

3. Compared with the prior art, the application method of the track type water, fertilizer and pesticide integrated device for the citrus orchard comprises the steps of horizontally arranging and arranging a plurality of water, fertilizer and pesticide integrated devices, mutually fixedly connecting, covering the whole citrus orchard, enabling the lower ends of three vertical plates of the water, fertilizer and pesticide integrated devices to be buried in the soil of the citrus orchard, fixing the rear wall of an L-shaped bracket with the inner wall of a culture shed frame of the citrus orchard, taking the rear wall edge of the L-shaped bracket as a wide edge, taking the left wall edge of the L-shaped bracket as a long edge, taking the residual height of the vertical plates buried in the soil as a high edge, applying water, fertilizer and pesticide to all citrus trees in a cubic space formed by the three vertical plates, installing a water, fertilizer and pesticide access pipe at the rear end of an output pipe, enabling the water, fertilizer and pesticide access pipe to be mutually communicated, and when a fruit tree growth state monitoring module of a fruit tree intelligent management system of the citrus orchard detects that the citrus trees in the space of the water, fertilizer and pesticide integrated device need to be watered or applied, the three-dimensional coordinates of the citrus trees can be fed back to an intelligent management system, the intelligent management system autonomously judges watering, fertilizing or pesticide application amount, and calculates the optimal pesticide application position coordinates, the intelligent management system for the citrus orchard can firstly start two sliding blocks to slide in two bidirectional sliding grooves respectively according to the X coordinate position and the Y coordinate position, two connecting plates are respectively linked with the two sliding blocks, the overlooking intersection point of the limiting grooves is changed along with the two sliding blocks, so that the limiting seat is driven to move, the limiting seat drives a horizontal coordinate positioning mechanism to link, the horizontal positioning point of the coordinates of the citrus trees specified by the intelligent management system is reached, secondly, the intelligent management system for the citrus orchard can start the positive rotation or the reverse rotation of the output end of a power motor according to the Z coordinate position, and the right rear screw rod 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 left two screw rods rotate along with the right rear screw rod in a linkage way, so that three screw plates and three screw rods can be driven to be in screw transmission and synchronously ascend or descend, the L-shaped connecting plates are in linkage ascending and descending, the horizontal coordinate positioning mechanism is moved to a three-dimensional coordinate point of a part of the citrus tree, where water and fertilizer are required to be applied, and combined with the height adjusting mechanism, the application angle control mechanism can be moved to the three-dimensional coordinate position of the required point of the citrus tree to apply water and fertilizer, the accuracy is high, the citrus tree can be subjected to symptomatic drug delivery, scientific drug application and accurate drug application, accurate citrus disease and pest control is realized, pesticide investment is saved, ecological environment is protected, practicability is strong, effective irrigation of the citrus tree is realized, water is saved, pest infection caused by flood irrigation is greatly avoided, and accurate fertilization can be performed, the intelligent management system for citrus orchards is favorable for high-efficiency fertilizer, reduces fertilizer cost, has high fertilizer water application return rate, and finally can start a miniature motor according to the angle of a part where water and fertilizer are required to be applied to a citrus tree, so that the output end of the miniature motor drives a driving shaft to rotate, the driving chuck is controlled to be in linkage with an upper driven cage gear or a lower driven cage gear for meshed transmission, the driving chuck is driven to be in linkage with a driven shaft when in meshed transmission with the lower driven cage gear, an output pipe is driven to swing anticlockwise from left to right, the driving chuck is driven to be in linkage with the driven shaft when in meshed transmission with the upper driven cage gear, the output pipe is driven to swing anticlockwise from right to left, the output port of the output pipe can be controlled to face the part where water and fertilizer are required to be applied to the citrus tree, and the intelligent management system drives a water and fertilizer access pipe to quantitatively output water to the output pipe, the fertilizer and the medicine, then the output tube can be watered, fertilize or the work of giving medicine to the citrus tree demand position, the application angle control mechanism can control 180 degrees rotation output tube shower nozzle, effectively spout water, fertilizer and medicine to each position of citrus fruit tree, the flexibility is strong, the application angle is comprehensive, excellent in use effect, degree of automation is high, greatly reduced the planting cost of oranges and tangerines, the economic benefits that oranges and tangerines were planted has been improved, be favorable to the healthy development of oranges and tangerines industry, in addition, this orbital liquid manure medicine integrated device for oranges and tangerines orchard is in the application, not only be limited to the oranges and tangerines orchard, be applicable to the liquid manure medicine integrated management of southern excellent thin fruit trees such as dragon fruit, guava, kiwi fruit, fig, the general nature is strong, facilitate promotion, common oranges and tangerines among the solution prior art are planted the protection mode with high costs, the general low usability, 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 will be apparent to those of ordinary skill in the art that the drawings in the following description are exemplary only and that other implementations can be obtained from the extensions of the drawings provided without inventive effort.

The structures, proportions, sizes, etc. shown in the present specification are shown only for the purposes of illustration and description, and are not intended to limit the scope of the invention, which is defined by the claims, so that any structural modifications, changes in proportions, or adjustments of sizes, which do not affect the efficacy or the achievement of the present invention, should fall within the ambit of the technical disclosure.

Fig. 1 is a perspective view showing the overall structure of the track type water, fertilizer and pesticide integrated device for the citrus orchard.

Fig. 2 is a schematic front perspective view showing a structure of the height adjusting mechanism and the L-shaped bracket.

Fig. 3 is a right perspective view schematically showing a structure of the height adjusting mechanism and the L-shaped bracket according to the present invention.

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

Fig. 5 is a schematic front perspective view showing the cooperation structure of the horizontal coordinate positioning mechanism and the application angle control mechanism.

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

Fig. 7 is a schematic perspective view showing a rear 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 schematic left-hand perspective view of the lower transmission structure of the L-shaped bracket of the present invention.

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

Description of element reference numerals

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

2. a height adjusting mechanism; 201. a bottom plate; 202. a top plate; 203. a screw rod; 204. a thread plate; 205. a power motor; 206. a belt wheel; 207. a transmission belt;

3. a horizontal coordinate positioning mechanism; 301. an L-shaped connecting plate; 302. a two-way chute; 303. a slide block; 304. a connecting plate; 305. a limit groove; 306. a limit seat;

4. An application angle control mechanism; 401. a positioning frame; 402. a micro motor; 403. a driving shaft; 404. an active chuck; 405. an upper base block; 406. a lower base frame; 407. a driven shaft; 408. driven cage gears; 409. and outputting the pipe.

Detailed Description

Further advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present invention, which is described by the following specific examples.

Please refer to fig. 1 to 10. It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the invention to the extent that it can be practiced, since modifications, changes in the proportions, or otherwise, used in the practice of the invention, are not intended to be critical to the essential characteristics of the invention, but are otherwise, required to achieve the objective and effect taught by the invention. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the invention, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the invention may be practiced.

The following examples are given by way of illustration only. Various embodiments may be combined and are not limited to only what is presented in the following single embodiment.

Example 1

Referring to fig. 1-5 and fig. 8-10, in order to achieve the above and other related objects, the present invention provides a track-type integrated device for water, fertilizer and pesticide for citrus orchards, comprising:

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

4-5, 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 in different positions, and the application angle control mechanism 4 can accurately apply water, fertilizer and medicine to the citrus trees within the range of the horizontal coordinate positioning mechanism 3, the horizontal coordinate positioning mechanism 3 comprises 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 arranged on the inner walls of the three threaded plates 204, the two bidirectional sliding grooves 302 are arranged at the left part and the rear part of the L-shaped connecting plate 301, the two sliding blocks 303 are respectively and slidably arranged in the two bidirectional sliding grooves 302, the two connecting plates 303 are respectively and fixedly arranged on the inner walls of the two sliding blocks, the two limiting grooves 305 are respectively arranged in the two connecting plates 304, and the limiting seat 306 is slidably arranged 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 in different positions, the application angle control mechanism 4 can accurately apply water and fertilizer to the citrus trees within the range of the horizontal coordinate positioning mechanism 3, a plurality of water and fertilizer integrated devices are horizontally arranged and placed and fixedly connected with each other to cover the whole citrus orchard, the lower ends of three vertical plates 101 of the water and fertilizer integrated devices are buried in the soil of the citrus orchard, the rear wall of the L-shaped bracket 1 is fixed with the inner wall of a culture rack of the citrus orchard, then the single water and fertilizer integrated device is responsible, the rear wall edge of the L-shaped bracket 1 is taken as a wide edge, the left wall edge of the L-shaped bracket 1 is taken as a long edge, the residual height of the vertical plate 101 after being buried in soil is taken as a high edge, water and fertilizer are applied to all citrus trees in a cubic space formed by the vertical plate 101, a water and fertilizer access pipe is arranged 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 citrus orchard management system detects that the citrus trees in the cubic space of the water and fertilizer integrated device need to be watered, fertilized or applied, three-dimensional coordinates of the citrus trees can be fed back to the intelligent management system, the intelligent management system autonomously judges the watering, fertilized or applied amount, and calculates the optimal application position coordinates, the intelligent citrus orchard management system can firstly start two sliding blocks 303 to slide in two bidirectional sliding grooves 302 respectively according to the X coordinate position and the Y coordinate position, the two connecting plates 304 are linked with the two sliding blocks 303 respectively, the overlooking intersection point of the inner limiting groove 305 changes accordingly, so that the limiting seat 306 is driven to move, the limiting seat 306 drives the horizontal coordinate positioning mechanism 3 to link, the horizontal coordinate positioning mechanism 3 reaches the horizontal positioning point of the coordinates of the citrus trees specified by the intelligent management system, the flexibility of the horizontal coordinate positioning mechanism 3 is high, and the citrus trees with all horizontal coordinates in the cubic space of the water, fertilizer and medicine integrated device can be positioned.

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 perform the application work of the water fertilizer to the parts of the citrus trees with different heights, the height adjusting mechanism 2 comprises three bottom plates 201, three top plates 202, three screw rods 203, three screw plates 204, a power motor 205, two pairs of belt pulleys 206 and two driving belts 207, the three bottom plates 201 are respectively and fixedly arranged on the lower inner walls of the three vertical plates 101, the three top plates 202 are respectively and fixedly arranged on the upper inner walls of the three vertical plates 101, the three screw rods 203 are respectively and rotatably arranged in the three bottom plates 201 and the three top plates 202, the upper ends of the left two lead screws 203 are rotatably connected to the left lower wall of the L-shaped bracket 1, three thread plates 204 are respectively and threadedly mounted on the outer walls of the three lead screws 203, the power motor 205 is fixedly mounted 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 end of the right rear lead screw 203, the lower pair of pulleys 206 is fixedly mounted on the upper outer wall of the right rear lead screw 203 and the upper outer wall of the left rear lead screw 203, the upper pair of pulleys 206 is fixedly mounted on the upper outer wall of the left front lead screw 203 and the upper outer wall of the left rear lead screw 203, and the two driving belts 207 are respectively and drivingly mounted on the outer walls of the two pairs of pulleys 206;

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 pulleys 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, fertilizer and medicine to the positions of different heights of the citrus trees, the intelligent management system of the citrus orchard can start the output end of the power motor 205 to rotate forward 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, the left two lead screws 203 rotate along with the linkage of the right rear lead screw 203 under the belt transmission action of the two pairs of pulleys 206 and the two transmission belts 207, the three thread plates 204 can be driven to drive the three lead screws 203 to drive to move upwards or downwards synchronously, the L-shaped connecting plate 301 is lifted in a linkage way, the horizontal coordinate positioning mechanism 3 is moved to a three-dimensional coordinate point of a position where water and fertilizer are required to be applied to the citrus trees, the height of the application angle control mechanism 4 can be adjusted by the height adjusting mechanism 2 according to the citrus trees with different heights, so that the height of the application angle control mechanism is 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, the application of water and fertilizer is carried out, the precision is high, the symptomatic pesticide and the scientific pesticide application of the citrus trees are realized, the accurate 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 facilitated, the disease and pest infection caused by the flood irrigation is greatly avoided, the accurate fertilization can be carried out, the high-efficiency fertilizer is facilitated, 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, the bidirectional sliding chute 302 is formed by fixedly communicating an external cuboid slot and an internal cuboid slot, the internal cuboid slot of the bidirectional sliding chute 302 is arranged on the inner wall of the L-shaped connecting plate 301, the connecting plate 304 is slidably connected in the internal cuboid slot of the bidirectional sliding chute 302, the sliding block 303 is slidably connected in the external cuboid slot of the bidirectional sliding chute 302, the bidirectional sliding chute 302 provides a transmission space for the linkage of the sliding block 303 and the connecting plate 304, the sliding block 303 slides in the external cuboid slot, and the transmission path of the connecting plate 304 is limited, so that the connecting plate 304 is more stable when moving.

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 mounted on the right part in the limiting groove 305, the cylinder of the limiting seat 306 is slidably mounted on the front part in the limiting groove 305, and the cuboid block and the cylinder are fixedly connected, so that the limiting seat 306 can move along with the overlooking intersection points of the two limiting grooves 305 to generate linkage.

Example 2

Referring to fig. 1 and fig. 6-10, the present invention provides a track-type integrated device for water, fertilizer and pesticide for citrus orchards, which further includes:

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

6-7, the application angle control mechanism 4 is used for controlling the rotation angle of a water and fertilizer medicine output head, so that the water and fertilizer medicine output head can be directly opposite to a water and fertilizer medicine demand part of a citrus tree and can meet the water and fertilizer medicine demands of different angle parts of the citrus tree, 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, wherein the positioning frame 401 is fixedly arranged at the lower end of the limiting seat 306, the micro motor 402 is fixedly arranged at the rear wall of the positioning frame 401, the driving shaft 403 is fixedly arranged at the output end of the micro motor 402, the driving shaft 403 is rotatably connected to the rear wall of the positioning frame 401, the driving chuck 404 is fixedly arranged at 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 block 406 is fixedly arranged at the front part of the rear wall of the positioning frame 401, the driven shaft 407 is rotatably arranged at the upper base block 405 and the lower base block 408 are fixedly arranged at the front of the driven cage 408, the driven shaft 408 and the driven cage 408 are fixedly meshed with the two driven cage gears 409 and the two driven cage 408 are fixedly arranged at the front ends of the driven cage 408;

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, and the application angle control mechanism 4 is used for controlling the rotation angle of the water and fertilizer delivery head, so that the water and fertilizer delivery head can be directly supplied to the water and fertilizer medicine required positions of the citrus trees, the water and fertilizer medicine requirements of different angle positions of the citrus trees can be met, the intelligent management system for the citrus orchard can start the micro motor 402 according to the angle of the water and fertilizer medicine required positions of the citrus trees, the output end of the micro motor is enabled to drive the driving shaft 403 to rotate, the driving chuck 404 is controlled to be in linkage transmission with the upper driven cage gears 408 or the lower driven cage gears 408, 407 are in linkage transmission with the lower driven cage gears 408, the driving chuck 404 is driven to swing left and right, the driven shaft 409 is driven to swing left and right, the output pipe 409 is driven to swing left and right, namely, the output pipe 409 can be controlled to face the water and fertilizer medicine can be directly supplied to the positions of the citrus trees, the intelligent management system for the citrus trees can be directly applied with the water and fertilizer, the application angle of the fertilizer can be fully controlled, the water and the fertilizer can be applied to the positions of the citrus trees, or the water and the fertilizer can be applied to the positions of the citrus trees, and the water and the fertilizer can be applied to the fertilizer and the fertilizer can be applied to the positions 180, or the water and the fertilizer can be applied to the fertilizer and the fertilizer can be applied to the water and quantitatively and have the required positions to the fertilizer application positions to the fertilizer and the fertilizer.

6-7, the lower base frame 406 is formed by fixedly connecting a front square block and a rear rectangular plate, the rear end of the rear rectangular plate of the lower base frame 406 is fixedly connected with the lower part of the rear wall of the positioning frame 401, the lower part of the driven shaft 407 is rotatably connected in the front square 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.

6-7, the driving chuck 404 is formed by fixedly connecting a disc and seven equidistant cylindrical pins, the driven cage gear 408 is formed by fixedly connecting fifteen equidistant cylindrical toothed bars arranged on the upper disc, the lower disc and the middle, and the distance between the fifteen cylindrical toothed bars of the driven cage gear 408 is the same as the distance between the seven equidistant cylindrical pins of the driving chuck 404, so that each time the driving chuck 404 rotates for a circle, the driving chuck 404 can be respectively meshed with the two driven cage gears 408 for transmission, and the driven shaft 407 is driven to rotate 180 degrees clockwise and then rotate 180 degrees anticlockwise for return.

6-7, six rows of output holes are formed in the front wall of the output pipe 409 at equal intervals, a water and fertilizer access pipe is detachably mounted at the rear end of the output pipe 409, water and fertilizer can be supplied to the output pipe 409 through the water and fertilizer access pipe, and then water and fertilizer can be sprayed outwards through the output holes when the water and fertilizer is applied.

More perfectly, as shown in fig. 2-10, the micro motor 402, the two sliding blocks 303 and the control end of 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 and pesticide integrated device can automatically apply water, fertilizer and pesticide to the fruit tree according to the citrus fruit growth state, 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 provides an application method of the track type water, fertilizer and pesticide integrated device for the citrus orchard, which comprises the following specific steps:

step one: the method comprises the steps that a plurality of water, fertilizer and medicine integrated devices are horizontally arranged and fixedly connected with each other to cover the whole citrus orchard, the lower ends of three vertical plates 101 of the water, fertilizer and medicine integrated devices are buried in the soil of the citrus orchard, the rear wall of an L-shaped support 1 is fixed with the inner wall of a culture shed frame of the citrus orchard, then the single water, fertilizer and medicine integrated devices are responsible, the rear wall edge of the L-shaped support 1 is taken as a broadside, the left wall edge of the L-shaped support 1 is taken as a long edge, the residual height of the vertical plates 101 buried in the soil is taken as a high edge, and water, fertilizer and medicine of all citrus trees in a cubic space formed by the three vertical plates are applied;

Step two: the water and fertilizer access pipe is arranged at the rear end of the output pipe 409, so that the water and fertilizer access pipe and the output pipe 409 are communicated with each other, when a fruit tree growth state monitoring module of the intelligent citrus orchard management system detects that the citrus trees in the cubic space of the water and fertilizer integrated device need to be watered, fertilized or applied, three-dimensional coordinates of the citrus trees can be fed back to the intelligent management system, the intelligent management system autonomously judges the watering, fertilized or applied amount, and calculates the coordinates of the optimal application position;

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

step four: secondly, the intelligent management system for the citrus orchard can start the output end of the power motor 205 to rotate forward or reversely 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 effect of the two pairs of pulleys 206 and the two transmission belts 207, the left two screws 203 rotate along with the right rear screw 203 in a linkage manner, can drive the three thread plates 204 to drive with the three screw 203 in a thread manner, synchronously ascend or descend, so that the L-shaped connecting plate 301 ascends and descends in a linkage manner, the horizontal coordinate positioning mechanism 3 is moved to a three-dimensional coordinate point of a water and fertilizer application part of the citrus tree, 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 the water and fertilizer application part of the citrus tree, the application of the water and fertilizer is performed, the accuracy is high, the citrus tree can be subjected to symptomatic pesticide and scientific pesticide application, the accurate citrus tree disease control is realized, the pesticide input is saved, the ecological environment is protected, the practicability is strong, the effective irrigation of the citrus tree is realized, the water and the fertilizer is favorable for saving water and fertilizer consumption, the infection caused by flood and the fertilizer is greatly reduced, the cost is high, and the fertilizer application cost is favorable;

Step five: finally, the intelligent management system for the citrus orchard can start the micro motor 402 according to the angle of the part of the citrus tree where the water and fertilizer are needed to be applied, so that the output end of the micro motor 402 drives the driving shaft 403 to rotate, the driving chuck 404 is controlled to be in linkage transmission with the upper driven cage gear 408 or the lower driven cage gear 408 in a meshed manner, when the driving chuck 404 rotates in the meshed transmission with the lower driven cage gear 408, the driven shaft 407 is in linkage, the output pipe 409 is driven to swing anticlockwise from left to right, when the driving chuck 404 rotates in the meshed transmission with the upper driven cage gear 408, the driven shaft 407 is in linkage, the output pipe 409 is driven 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 is enabled to be opposite to the part of the citrus tree where the water and fertilizer are needed to be applied, the intelligent management system drives the water and fertilizer medicine access pipe to quantitatively output water, fertilizer and medicine to the output pipe 409, then the output pipe 409 can carry out watering, fertilizing or medicine application work to the required parts of the citrus trees, the application angle control mechanism 4 can rotate the spray head of the output pipe 409 by 180 degrees left and right, water, fertilizer and medicine are effectively sprayed to each position of the citrus trees, the flexibility is strong, the application angle is comprehensive, the use effect is good, the automation degree is high, the planting cost of the citrus is greatly reduced, the economic benefit of citrus planting is improved, the healthy development of the citrus industry is facilitated, in addition, the track type water and fertilizer medicine integrated device for the citrus orchard is applied, is not only limited to the citrus orchard, but also suitable for water and fertilizer medicine integrated management of southern excellent and thin fruit trees such as dragon fruit, guava, kiwi fruit and fig, has strong universality and is convenient to popularize.

To sum up:

1. the invention utilizes the arrangement of the height adjusting mechanism 2 and the horizontal coordinate positioning mechanism 3 to mount the water-fertilizer-medicine access pipe at the rear end of the output pipe 409, so that the water-fertilizer-medicine access pipe is communicated with the output pipe 409, when a fruit tree growth state monitoring module of the intelligent citrus orchard management system detects that the citrus trees in the cubic space of the water-fertilizer-medicine integrated device need to be watered, fertilized or applied, the three-dimensional coordinates of the citrus trees can be fed back to the intelligent management system, the intelligent management system autonomously judges the watering, fertilized or applied amount, and calculates the optimal applied position coordinates, the intelligent citrus orchard management system can firstly start two sliding blocks 303 to slide in two bidirectional sliding grooves 302 respectively according to the X coordinate position and the Y coordinate position, two connecting plates 304 are respectively linked with the two sliding blocks 303, the overlooking intersection point of the limiting groove 305 in the citrus orchard is changed accordingly, thereby driving the position of the limiting seat 306 to move, the limiting seat 306 drives the horizontal coordinate positioning mechanism 3 to link, the horizontal coordinate positioning mechanism 3 reaches the horizontal positioning point of the coordinates of the citrus tree specified by the intelligent management system, the flexibility of the horizontal coordinate positioning mechanism 3 is high, the citrus tree with each horizontal coordinate in the cubic space of the water-fertilizer-pesticide integrated device can be positioned, the intelligent management system of the rear citrus orchard can start the output end of the power motor 205 to rotate forward or reversely according to the Z coordinate position, the right rear screw 203 rotates 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 screws 203 are linked to rotate along with the right rear screw 203, the three screw plates 204 and the three screws 203 can be driven to drive to synchronously rise or fall, the L-shaped connecting plate 301 is linked to rise and fall, the horizontal coordinate positioning mechanism 3 is moved to the three-dimensional coordinate point of the position of the citrus tree where the water-fertilizer is required to be applied, the height adjustment mechanism 2 can adjust the height of the application angle control mechanism 4 according to citrus trees with different heights, so that the height is flush with the citrus tree demand point, the horizontal coordinate positioning mechanism 3 is combined with the height adjustment mechanism 2, the application angle control mechanism 4 can be moved to the three-dimensional coordinate position of the citrus tree demand point, the application of water and fertilizer can be carried out, the accuracy is high, the citrus trees can be subjected to symptomatic drug delivery, the application of the water and fertilizer is scientific, the accurate drug delivery is realized, the accurate 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 and fertilizer saving is facilitated, the disease and pest infection caused by flood irrigation is greatly avoided, the accurate fertilization can be carried out, the high utility fertilizer is facilitated, the fertilizer cost is reduced, the fertilizer application return rate 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 the water and fertilizer is low, the drug application is realized, the drug is applied on a large scale, the waste of the water and fertilizer is beneficial to the health development of the citrus, the citrus is unfavorable for the growth of the citrus.

2. By utilizing the arrangement of the application angle control mechanism 4, the intelligent management system for the citrus orchard can start the micro motor 402 according to the angle of the part of the citrus tree to be applied with water and fertilizer, so that the output end of the micro motor 402 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 meshed transmission, the driven shaft 407 is driven to swing left to right in linkage when the driving chuck 404 is in meshed transmission with the lower driven cage gear 408, the driven shaft 407 is driven to swing left to right in anticlockwise when the driving chuck 404 is in meshed transmission with the upper driven cage gear 408, the driven shaft 407 is driven to swing left to right in linkage when the driving chuck 404 is in meshed transmission with the upper driven cage gear 408, with this steerable output tube 409's delivery port orientation angle, promptly, can make output tube 409's delivery port just to the position that needs to apply liquid manure medicine of citrus tree, intelligent management system drive liquid manure medicine access tube is to output tube 409 ration output water, fertilizer and medicine, then output tube 409 can water, fertilizer or the work of giving medicine to the citrus tree demand position, it can control mechanism 4 about 180 degrees rotation output tube 409 shower nozzles to apply angle, effectively spray water, fertilizer and medicine to each position of citrus fruit tree, the flexibility is strong, it is comprehensive to apply the angle, excellent in use effect, plant protection unmanned aerial vehicle exists very much application dead angle in the plant protection application of citrus fruit tree among the prior art, the problem of excellent in use effect is solved.

3. The invention utilizes the application method of the track type water, fertilizer and medicine integrated device for the citrus orchard, horizontally arranges and places the water, fertilizer and medicine integrated devices, is fixedly connected with each other, covers the whole citrus orchard, enables the lower ends of three vertical plates 101 of the water, fertilizer and medicine integrated device to be buried in the soil of the citrus orchard, fixes the rear wall of an L-shaped bracket 1 and the inner wall of a culture shed frame of the citrus orchard, takes charge of the single water, fertilizer and medicine integrated device, takes the rear wall edge of the L-shaped bracket 1 as a wide edge, takes the left wall edge of the L-shaped bracket 1 as a long edge, takes the residual height after the vertical plates 101 are buried in the soil as a high edge, applies water, fertilizer and medicine of all citrus trees in a cubic space is formed, installs a water, fertilizer and medicine access pipe to the rear end of an output pipe 409, and enables the water, fertilizer and medicine access pipe and the output pipe 409 to be mutually communicated, when the fruit tree growth state monitoring module of the intelligent citrus orchard management system detects that the citrus trees in the cubic space of the water, fertilizer and pesticide integrated device need to be watered, fertilized or pesticide applied, three-dimensional coordinates of the citrus trees can be fed back to the intelligent management system, the intelligent management system autonomously judges watering, fertilizing or pesticide application amount and calculates the optimal application position coordinates, the intelligent citrus orchard management system can firstly start two sliding blocks 303 to 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 sliding blocks 303, overlook intersection points of the limiting grooves 305 are changed along with the two sliding blocks, so that the limiting seat 306 is driven to move, the limiting seat 306 drives the horizontal coordinate positioning mechanism 3 to link, the horizontal coordinate positioning mechanism reaches the horizontal positioning point of the coordinates of the citrus trees specified by the intelligent management system, secondly the intelligent citrus orchard management system can start the output end of the power motor 205 to rotate forward or reverse according to the Z coordinate position, the right rear screw 203 rotates 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 screws 203 rotate in linkage with the right rear screw 203, so that three screw plates 204 and three screws 203 can be driven to drive to synchronously rise or fall, the L-shaped connecting plate 301 is in linkage rise or fall, the horizontal coordinate positioning mechanism 3 is moved to the three-dimensional coordinate point of the water and fertilizer medicine application part of the citrus tree, the horizontal coordinate positioning mechanism 3 is combined with the height adjusting mechanism 2, the application angle control mechanism 4 is moved to the three-dimensional coordinate position of the water and fertilizer medicine application part of the citrus tree, the water and fertilizer medicine application is performed, the accuracy is high, the medicine can be applied to the citrus tree in a symptomatic manner, the medicine application is scientific, the accurate citrus disease and pest control is realized, the pesticide input is saved, the ecological environment is protected, the practicability is strong, the effective irrigation of the citrus tree is realized, the intelligent management system for citrus orchards can start the micro motor 402 according to the angle of the position where the water and fertilizer are required to be applied to the citrus trees, so that the output end of the micro motor 402 drives the driving shaft 403 to rotate, the driving chuck 404 is controlled to be in linkage transmission with the upper driven cage gear 408 or the lower driven cage gear 408, the driven shaft 407 is controlled to be in linkage transmission with the lower driven cage gear 408, the output pipe 409 is driven to swing anticlockwise from left to right, the driving chuck 404 is driven to swing anticlockwise from right to left when the driving chuck 404 is in transmission with the upper driven cage gear 408, the driven shaft 407 is controlled to swing the output pipe 409 from right to left when the driving chuck 404 is in transmission with the upper driven cage gear 408, that is, the output port of the output pipe 409 can be made to be opposite to the position where the citrus tree needs to apply the water and fertilizer, the intelligent management system drives the water and fertilizer access pipe to quantitatively output water, fertilizer and medicine to the output pipe 409, then the output pipe 409 can perform watering, fertilizing or medicine application work to the required position of the citrus tree, the application angle control mechanism 4 can rotate the spray head of the output pipe 409 by 180 degrees left and right, water, fertilizer and medicine are effectively sprayed to each position of the citrus tree, the flexibility is strong, the application angle is comprehensive, the using effect is good, the automation degree is high, the planting cost of the citrus is greatly reduced, the economic benefit of citrus planting is improved, the healthy development of the citrus industry is facilitated, in addition, the track type water and fertilizer and medicine integrated device for the citrus is not only limited in the application of the citrus orchard, but also suitable for the water and fertilizer integrated management of southern thin fruit trees such as dragon fruit, guava, kiwi fruit and fig, the problem of the prior art is solved, the cost is high, the universality is low, and the popularization is not facilitated.

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

While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.

Claims

1. Track formula liquid manure medicine integrated device is used in oranges and tangerines orchard, its characterized in that, track formula liquid manure medicine integrated device is used in oranges and tangerines orchard includes:

the device comprises an L-shaped support (1), wherein vertical plates (101) are fixedly arranged on the triangles of the lower wall 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 perform water and fertilizer application work on the positions 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 the citrus trees at different positions, and the application angle control mechanism (4) can accurately apply water and fertilizer to the citrus trees within 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 and fertilizer medicine output head, so that the water and fertilizer medicine output head can supply water and fertilizer medicine required parts of the citrus trees directly, and water and fertilizer medicine requirements of different angle parts of the citrus trees can be met;

the height adjusting mechanism (2) comprises three bottom plates (201), three top plates (202), three screw rods (203), three threaded plates (204), a power motor (205), two pairs of belt wheels (206) and two transmission belts (207), wherein the three bottom plates (201) are respectively and fixedly arranged on the lower inner walls of the three vertical plates (101), the three top plates (202) are respectively and fixedly arranged on the upper inner walls of the three vertical plates (101), the three screw rods (203) are respectively and rotatably arranged in the three bottom plates (201) and the three top plates (202), the upper ends of the two screw rods (203) on the left part are respectively and rotatably connected with the left lower wall of the L-shaped bracket (1), three thread plates (204) are respectively arranged on the outer walls of three screw rods (203) in a threaded manner, a power motor (205) is fixedly arranged 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 end of the screw rod (203) at the right rear part, a pair of belt wheels (206) at the lower part are fixedly arranged on the outer walls of the screw rod (203) at the right rear part and the upper outer wall of the screw rod (203) at the left rear part, a pair of belt wheels (206) at the upper outer wall of the screw rod (203) at the left front part and the outer wall of the upper end of the screw rod (203) at the left rear part, the two driving belts (207) are respectively arranged on the outer walls of the two pairs of pulleys (206) in a driving way;

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), wherein the positioning frame (401) is fixedly arranged at the lower end of a limiting seat (306), the micro motor (402) is fixedly arranged at the rear wall of the positioning frame (401), the driving shaft (403) is fixedly arranged at the output end of the micro motor (402), the driving shaft (403) is rotatably connected to the rear wall of the positioning frame (401), the driving chuck (404) is fixedly arranged at 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 arranged in the front end of the positioning frame (401), the two driven cage gears (408) are fixedly arranged at the upper outer wall of the driven cage gears (408) and the lower base frame (406) and are meshed with the outer wall of the driving chuck (408), the output pipe (409) is fixedly arranged at the lower end of the driven shaft (407);

The horizontal coordinate positioning mechanism (3) comprises an L-shaped connecting plate (301), two bidirectional sliding grooves (302), two sliding blocks (303), two connecting plates (304), two limiting grooves (305) and limiting seats (306), wherein the L-shaped connecting plate (301) is fixedly arranged on the inner walls of three threaded plates (204), the two bidirectional sliding grooves (302) are arranged at the left part and the rear part of the L-shaped connecting plate (301), the two sliding blocks (303) are respectively and slidably arranged in the two bidirectional sliding grooves (302), the two connecting plates (304) are respectively and fixedly arranged on the inner walls of the two sliding blocks (303), the two limiting grooves (305) are respectively arranged in the two connecting plates (304), and the limiting seats (306) are slidably arranged in the two limiting grooves (305);

the driving chuck (404) is formed by fixedly connecting a disc and seven equidistant cylindrical pins, the driven cage gear (408) is formed by fixedly connecting fifteen equidistant cylindrical toothed bars which are arranged on the upper disc, the lower disc and the middle part, and the distance between the fifteen cylindrical toothed bars of the driven cage gear (408) is the same as the distance between the seven equidistant cylindrical pins of the driving chuck (404).

2. The orbital water, fertilizer and pesticide integrated device for citrus orchards according to claim 1, wherein: the bidirectional sliding chute (302) is formed by fixedly communicating an external cuboid groove and an internal cuboid groove, the internal cuboid groove of the bidirectional sliding chute (302) is arranged on the inner wall of the L-shaped connecting plate (301), the connecting plate (304) is slidably connected in the internal cuboid groove of the bidirectional sliding chute (302), and the sliding block (303) is slidably connected in the external cuboid groove of the bidirectional sliding chute (302).

3. The orbital water, fertilizer and pesticide integrated device for citrus orchards according to claim 1, wherein: 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 on the right part in the limiting groove (305), and the cylinder of the limiting seat (306) is slidably mounted on the front part in the limiting groove (305).

4. The orbital water, fertilizer and pesticide integrated device for citrus orchards according to claim 1, wherein: the lower base frame (406) is formed by fixedly connecting a front square block and a rear square plate, the rear end of the rear square plate of the lower base frame (406) is fixedly connected with the lower part of the rear wall of the positioning frame (401), and the lower part of the driven shaft (407) is rotatably connected in the front square block of the lower base frame (406).

5. The orbital water, fertilizer and pesticide integrated device for citrus orchards according to claim 1, wherein: six rows of output holes are formed in the front wall of the output pipe (409) at equal intervals, and a water, fertilizer and medicine access pipe is detachably arranged at the rear end of the output pipe (409).

6. The orbital water, fertilizer and pesticide integrated device for citrus orchards according to claim 1, wherein: the miniature motor (402), the two sliding blocks (303) and the control end of the power motor (205) are electrically connected with an intelligent management system of a citrus orchard, and a citrus fruit tree growth state monitoring module is arranged in the intelligent management system.

7. The orbital water, fertilizer and pesticide integrated device for citrus orchards according to any one of claims 1-6, wherein: the application method of the track type water, fertilizer and pesticide integrated device for the citrus orchard comprises the following specific steps:

step one: the method comprises the steps that a plurality of water, fertilizer and medicine integrated devices are horizontally arranged and fixedly connected with each other to cover the whole citrus orchard, the lower ends of three vertical plates (101) of the water, fertilizer and medicine integrated devices are buried in the soil of the citrus orchard, the rear wall of an L-shaped support (1) is fixed with the inner wall of a culture rack of the citrus orchard, then the single water, fertilizer and medicine integrated device takes charge of applying water, fertilizer and medicine to all citrus trees in a cubic space formed by the rear wall of the L-shaped support (1) as a wide edge, the left wall of the L-shaped support (1) as a long edge, and the residual height of the vertical plates (101) buried in the soil as a high edge;

step two: the water and fertilizer access pipe is arranged at the rear end of the 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 citrus orchard management system detects that the citrus trees in the cubic space of the water and fertilizer integrated device need to be watered, fertilized or applied, the three-dimensional coordinates of the citrus trees can be fed back to the intelligent management system, the intelligent management system autonomously judges the watering, fertilized or applied amount, and calculates the coordinates of the optimal application positions;

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

step four: secondly, the intelligent management system for the citrus orchard can start the output end of the power motor (205) to rotate forward or reversely according to the Z coordinate position, the right rear screw rod (203) rotates along with the output end of the power motor (205), under the belt transmission effect of two pairs of belt wheels (206) and two transmission belts (207), the left two screw rods (203) rotate along with the right rear screw rod (203) in a linkage manner, and can drive the three thread plates (204) to drive the three screw rods (203) to move up and down synchronously, so that the L-shaped connecting plate (301) moves up and down in a linkage manner, and the horizontal coordinate positioning mechanism (3) is moved to a three-dimensional coordinate point of a part of the citrus tree, which needs to be applied with water and fertilizer;

step five: finally, the intelligent management system for the citrus orchard can start the micro motor (402) according to the angle of the position where the water, fertilizer and medicine are required to be applied to the citrus trees, 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, 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 anticlockwise from left to right, the driven shaft (407) is in linkage when the driving chuck (404) rotates and is in meshing transmission with the upper driven cage gear (408), the output port of 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 enabled to be opposite to the position where the water, fertilizer and medicine are required to be applied to the citrus trees, and the intelligent management system drives the water, fertilizer and medicine access pipe to quantitatively output water, fertilizer and medicine to the output pipe (409) to the position where the citrus trees are required to be watered, fertilized or applied to the citrus trees.