WO2020164262A1 - 一种农作物秸秆造肥机器人 - Google Patents

一种农作物秸秆造肥机器人 Download PDF

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Publication number
WO2020164262A1
WO2020164262A1 PCT/CN2019/115802 CN2019115802W WO2020164262A1 WO 2020164262 A1 WO2020164262 A1 WO 2020164262A1 CN 2019115802 W CN2019115802 W CN 2019115802W WO 2020164262 A1 WO2020164262 A1 WO 2020164262A1
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Prior art keywords
straw
crushing
vehicle body
making robot
kneading
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PCT/CN2019/115802
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English (en)
French (fr)
Inventor
周风余
王华峰
尹磊
万方
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山东大学
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Publication of WO2020164262A1 publication Critical patent/WO2020164262A1/zh

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    • C—CHEMISTRY; METALLURGY
    • C05—FERTILISERS; MANUFACTURE THEREOF
    • C05F—ORGANIC FERTILISERS NOT COVERED BY SUBCLASSES C05B, C05C, e.g. FERTILISERS FROM WASTE OR REFUSE
    • C05F17/00—Preparation of fertilisers characterised by biological or biochemical treatment steps, e.g. composting or fermentation
    • C05F17/90—Apparatus therefor
    • C05F17/914—Portable or transportable devices, e.g. transport containers or trucks
    • C—CHEMISTRY; METALLURGY
    • C05—FERTILISERS; MANUFACTURE THEREOF
    • C05F—ORGANIC FERTILISERS NOT COVERED BY SUBCLASSES C05B, C05C, e.g. FERTILISERS FROM WASTE OR REFUSE
    • C05F3/00—Fertilisers from human or animal excrements, e.g. manure

Definitions

  • the invention relates to a crop straw fertilizer making robot, in particular to a crop straw fertilizer making robot for crushing and fermenting the straw.
  • Straw is the general term for the stems and leaves (ears) of mature crops. Usually refers to the remaining part of wheat, rice, corn, potatoes, rape, cotton, sugar cane and other crops (usually coarse grains) after harvesting the seeds. More than half of the products of crop photosynthesis exist in straw. Straw is rich in nitrogen, phosphorus, potassium, calcium, magnesium and organic matter. It is a multi-purpose renewable biological resource. Straw is also a kind of roughage.
  • the present invention discloses a crop straw fertilizer making robot, specifically a robot that can crush and ferment the straw.
  • a crop straw fertilizer making robot including a movable body
  • the unbaling and blending device which is installed at one end of the car body, is used to unbales the bundles of straw and blends the straw and the fecal deposits at the same time;
  • the collecting and crushing device which is set at the other end of the car body, is used to collect the stacked straw and further divide and crush it;
  • Material lifting device which sends the straw collected by the collecting and crushing device to the kneading and crushing device
  • a kneading and crushing device which is set on the car body, is used to knead and crush the straws, and the straws fall from the car body after being kneaded and crushed and are accumulated on the ground;
  • a dirty liquid storage and stirring device which is installed on the vehicle body, for storing dirty liquid
  • the fungus material storage device is arranged on the vehicle body and is used to store fungus powder and fungus liquid.
  • a spray device is also provided at the bottom of the fungus material storage device, and the spray device sprays the bacterial liquid or powder onto the straw.
  • the unbundling blending device includes a bracket and a plurality of rotating rollers installed on the bracket, and spiral blades are provided at both ends of each rotating roller, and the spiral blades at both ends rotate in opposite directions;
  • the middle position of the rotating roller is provided with pulverizing teeth perpendicular to its axis; the spiral blades rotate in the opposite direction to push the straw on both sides of the car body to the middle of the car body, and then pulverize through the middle pulverizing teeth.
  • the support is adjusted by a lifting adjusting device.
  • the kneading and crushing device includes a crushing bin, and two crushing rollers are arranged in the crushing bin; the two crushing rollers are driven by the driving device to rotate in opposite directions to realize the crushing of straw , And the bottom of the crushing bin is open, and the crushed straw can be directly piled on the ground from the bottom of the crushing bin.
  • the material lifting device is a chain transmission device, one end of the chain transmission device faces the ground and the other end faces the kneading and crushing device, and the straw is sent to the kneading and crushing device.
  • One step further, the height of the chain transmission device and the collecting and crushing device is adjusted by a height adjusting device.
  • the sewage storage and stirring device includes a storage bin, in which a first stirring shaft and a second stirring shaft are arranged, and the first stirring shaft is arranged at the second stirring shaft.
  • each is driven by a driving device to rotate.
  • the storage bin is connected to a spray device, and the spray device sprays the dirty liquid onto the crushed straw.
  • a manipulator is provided on the circumferential direction of the bottom of the second agitating shaft, and there is a slight gap between the end of the manipulator and the side wall of the storage bin, so that the manipulator can be driven by the second agitating shaft.
  • the dirty liquid at the bottom of the storage bin is turned up to prevent the dirty liquid from accumulating at the bottom of the storage bin.
  • wheels are installed on the movable car body, and the wheels can be steered to control the steering, and the lifting device can also be used to control the lifting; the bottom of the car body forms a straw accumulation space.
  • the specific usage method is as follows:
  • the unbaling and blending device is dropped, and the preparations are started.
  • the unbaling and blending device unbales the bundles of straw and performs initial crushing at the same time.
  • the unbaling and blending device combines the straw and fecal deposits. Blending; in the process of blending, you can spray dirt, bacterial powder or bacterial liquid into the straw through a spray device; then the car body moves forward until the straw is unbundled;
  • the unbaling and blending device is raised, the collecting and crushing device and the lifting device are dropped, the car body moves in the opposite direction, the collecting and crushing device and the lifting device start to work, the collecting and crushing device collects the blended straw, and the material lifting device will collect
  • the straw collected by the crushing device is sent to the rubbing and crushing device; the rubbing and crushing device rubs and crushes the straw. After the straw is crushed and crushed, it falls from the car body and is stacked on the ground. After the whole straw is crushed, the collecting and crushing device and the lifting device are collected Elevate, no longer participate in the follow-up work; the straw begins to ferment;
  • the unbaling and blending device falls, and the car body starts to move, and the unbaling and blending device turns and throws the crushed straw to supply oxygen to the fermentation bacteria;
  • the stored sewage can be sprayed on the straw through the sewage storage and stirring device at any time according to actual needs, and the fungus material storage device sprays the bacterial powder or bacterial liquid required for fermentation on the straw.
  • the present invention uses the movement of the car body to unbales and crush the bundles of straw; at the same time, the spray device sprays dirty liquid, bacterial powder or bacterial liquid, etc. to realize the treatment of the straw, not only does not pollute the environment, but also can Fertilization; after multiple reciprocating movements of the car body, multiple turning and throwing treatments are realized, and the fermentation bacteria are provided with multiple oxygen;
  • the dirty liquid storage and stirring device of the present invention adopts the form of two stirring shaft sets, so that the dirt can be continuously turned up and down for more sufficient stirring.
  • Figure 1 is a schematic diagram of the overall structure of the present invention.
  • Figure 2 is a schematic structural view of the rotating roller of the unbundling blending device of the present invention
  • 1 collection and crushing device 1 collection and crushing device, 2 motors, 3 conveying and lifting devices, 4 height adjustment devices, 5 kneading and crushing devices, 6 control devices, 7 manipulators, 8 stirring devices, 9 second stirring shafts, 10 walking steering lifting devices, 11
  • the first mixing shaft 12 fungus material storage devices, 13 carriages, 14 wheels, 15 lifting adjustment devices, 16 unbundling blending devices.
  • connection may also be an electrical connection, a direct connection, or an indirect connection through an intermediate medium, an internal connection between two elements, or an interaction relationship between two elements.
  • straw is a general term for the stems and leaves (ears) of mature crops. Usually refers to the remaining part of wheat, rice, corn, potatoes, rape, cotton, sugar cane and other crops (usually coarse grains) after harvesting the seeds. More than half of the products of crop photosynthesis exist in straw. Straw is rich in nitrogen, phosphorus, potassium, calcium, magnesium and organic matter. It is a multi-purpose renewable biological resource. Straw is also a kind of roughage. At present, common methods of incineration of straw, straw incineration cause haze weather, and produce a large amount of toxic and harmful substances, which pose a threat to the health of humans and other organisms. It is currently strictly prohibited by the state; therefore, how to treat straws reasonably has changed. Manure is a treasure, which is a technical problem. In order to solve the above technical problem, this application proposes a crop straw fertilizer making robot.
  • a crop straw fertilizer making robot includes a movable vehicle body 10; wheels 11 are installed on the movable vehicle body, and the bottom of the vehicle body A storage space for straws is formed; the wheels 11 can be steered by a steering device, and can also be lifted or dropped by a lifting device; the steering device and lifting device described here use existing devices, which are similar to those of automobiles The wheel control principle is the same, so I won’t repeat it here;
  • the crop straw fertilizer making robot further includes an unbaling and blending device 16, which is arranged at one end of the car body 10, and is arranged at one end of the car body, for unbaling bundles of straw and simultaneously Blending with fecal deposits;
  • the unbundling and blending device 13 in the present invention includes a bracket and a plurality of rotating rollers mounted on the bracket.
  • the two ends of each rotating roller are provided with spiral blades, and the spiral blades at both ends rotate in opposite directions.
  • the middle position of the rotating roller is equipped with pulverizing teeth perpendicular to its axis, (for the specific structure, refer to Figure 2) the spiral blades rotate in the opposite direction in order to push the straw on both sides of the car body to the middle of the car body, and then pass through the middle to crush The teeth are crushed;
  • multiple rotating rollers can be driven to rotate by the same set of driving device and transmission device, or they can be driven to rotate by different driving devices and transmission devices, and set according to the actual situation;
  • the bracket of the unbundling blending device 16 can also be adjusted by the lifting adjustment device 15.
  • the purpose of this design is that when the car body is moved later, if the subsequent collection and crushing work is performed, the entire unbundling blending device 16 can be used. Lifting up, the unbundling blending device 16 does not work.
  • the crop straw fertilization robot further includes a collecting and crushing device 1 which is arranged at the other end of the vehicle body and is used to collect the stacked straw; the structure of the collecting and crushing device 1 and the structure of the unbaling and blending device 16 Relatively close, it also includes a bracket.
  • the bracket is installed on the car body.
  • Fig. 1 two rotating rollers are shown.
  • the two rotating rollers are driven to rotate in the same direction through a set of driving device and transmission device to realize the grabbing of straw; the driving device corresponds to the motor 2 in the figure.
  • the support of the collecting and crushing device 1 can also be adjusted by the lifting adjustment device.
  • the purpose of this design is that during the subsequent reciprocating movement of the car body, only the previous unbaling and blending device 16 is needed to turn and throw the straw or spray the straw. Bacterial powder, bacterial liquid or dirty liquid, etc.; the collecting and crushing device 1 no longer participates in subsequent processes, so the entire collecting and crushing device 1 can be lifted by the lifting device, and the collecting and crushing device 1 does not work.
  • the crop straw fertilizer making robot further includes a material lifting device 3, which sends the straw collected by the collecting and crushing device to the rubbing and crushing device 5; further, in this embodiment, the material lifting device
  • the device can adopt a chain transmission device, one end of the chain transmission device faces the ground, and the other end faces the kneading and crushing device, and the straw is sent to the kneading and crushing device; the advantage of the chain transmission device is that it will not cause slipping.
  • the height of the material lifting device 3 is also adjusted by a height adjustment device; the purpose of this design is that during the subsequent reciprocating movement of the car body, only the previous unbaling and blending device 16 is required to turn the straw or toss the straw. Spray bacterial powder, bacterial liquid or dirty liquid, etc.; the material lifting device 3 no longer participates in subsequent processes, so the entire material lifting device 3 can be lifted by the lifting device, and the height adjusting device does not work.
  • the crop straw fertilizer making robot further includes a kneading and crushing device, which is arranged on the car body and is used to knead and crush the straw. After the straw is kneaded and crushed, the straw falls from the car body and is piled on the ground;
  • the kneading and crushing device includes a crushing bin, and two crushing rollers are arranged in the crushing bin; the two crushing rollers are driven by the driving device to rotate in opposite directions to realize the crushing of straw, and the bottom of the crushing bin Open, the crushed straw can be directly stacked on the ground from the bottom of the crushing bin.
  • the crop straw fertilizer making robot further includes a sewage liquid storage and mixing device 7 which is arranged on the vehicle body and is used to store the sewage liquid; it includes a storage bin in which a first The stirring shaft 11 and the second stirring shaft 9, the first stirring shaft 11 and the second stirring shaft 9 all adopt the auger structure, and the first stirring shaft 11 is arranged in the second stirring shaft 9, and each is driven by a driving device. Rotation, so that the dirt can be constantly turned up and down; the specific first stirring shaft makes the dirt move up from the bottom, and the second stirring shaft makes the dirt turned up from the first stirring shaft move from top to bottom, and finally achieves the pollution Constantly copying things up and down.
  • the storage bin is also connected with a spraying device, and the spraying device sprays the dirty liquid onto the crushed straw.
  • One step further, there is a valve on the spraying device to control whether the spraying device is turned on or not to meet actual needs.
  • a manipulator 7 is provided on the circumferential direction of the bottom of the second stirring shaft. There is a slight gap between the end of the manipulator 7 and the side wall of the storage bin, so that the manipulator 7 is driven by the second stirring shaft.
  • the dirty liquid at the bottom of the storage bin can be turned up to prevent the dirty liquid from accumulating at the bottom of the storage bin.
  • the number of manipulators 7 can be set to three, or more, which can be set according to actual needs.
  • the crop straw fertilization robot also includes a fungus material storage device 9, which is arranged on the vehicle body for storing fungal powder, bacterial liquid, etc.; the fungus material storage device 9 is also connected to a spray device , The spray device sprays the fungus material on the crushed straw for the decomposing of the straw.
  • a valve is also provided on the spraying device to control whether the spraying device is opened or not to meet actual needs.
  • the above-mentioned decomposed bacterial powder and bacterial liquid of straw are composed of a variety of different beneficial microorganisms, which can quickly decompose organic waste such as straw, and make the organic matter, phosphorus, potassium and other elements contained in the straw become the nutrients needed for plant growth. , And breed a large number of beneficial bacteria microorganisms.
  • the straw is decomposed directionally to produce a large amount of carbon dioxide, and at the same time, the heat, organic matter and inorganic nutrients required for crop growth are produced. Stimulate crop production, improve soil organic matter, enhance plant resistance, reduce fertilizer use, improve crop quality, and solve the problem of protecting continuous stubble planting. Produce green and pollution-free organic food to achieve sustainable agricultural development
  • the specific usage method is as follows:
  • the unbaling and blending device is dropped, and the preparations are started.
  • the unbaling and blending device unbales the bundles of straw and performs initial crushing at the same time.
  • the unbaling and blending device combines the straw and fecal deposits. Blending; in the process of blending, you can spray dirt, bacterial powder or bacterial liquid into the straw through a spray device; then the car body moves forward until the straw is unbundled;
  • the unbaling and blending device is raised, the collecting and crushing device and the lifting device are dropped, the car body moves in the opposite direction, the collecting and crushing device and the lifting device start to work, the collecting and crushing device collects the blended straw, and the material lifting device will collect
  • the straw collected by the crushing device is sent to the rubbing and crushing device; the rubbing and crushing device rubs and crushes the straw. After the straw is crushed and crushed, it falls from the car body and is stacked on the ground. After the whole straw is crushed, the collecting and crushing device and the lifting device are collected Elevate, no longer participate in the follow-up work; the straw begins to ferment;
  • the unbaling and blending device falls, and the car body starts to move, and the unbaling and blending device turns over the crushed straw to supply oxygen to the fermentation bacteria;
  • the stored sewage can be sprayed on the straw through the sewage storage and stirring device at any time according to actual needs, and the fungus material storage device sprays the bacterial powder or bacterial liquid required for fermentation on the straw.

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Abstract

本发明公开了一种农作物秸秆造肥机器人，包括可移动的车体；解捆掺和装置，其设置在车体的一端，用于将秸秆沿着车体的行进路线堆放成条状；收集粉碎装置，其设置在车体的另一端，用于收集堆积后的秸秆；物料提升装置，其将收集粉碎装置收集的秸秆送入到揉搓粉碎装置；揉搓粉碎装置，其设置在车体上，用于对秸秆进行揉搓粉碎，秸秆揉搓粉碎后从车体上掉落，被堆积在地上；污液存储搅拌装置，其设置在车体上，用于存储污液。

Description

一种农作物秸秆造肥机器人 技术领域
本发明涉及一种农作物秸秆造肥机器人，具体涉及一种对秸秆进行破碎、发酵处理的农作物秸秆造肥机器人。
背景技术
这里的陈述仅提供与本发明相关的背景技术，而不必然地构成现有技术。
秸秆是成熟农作物茎叶(穗)部分的总称。通常指小麦、水稻、玉米、薯类、油菜、棉花、甘蔗和其它农作物(通常为粗粮)在收获籽实后的剩余部分。农作物光合作用的产物有一半以上存在于秸秆中，秸秆富含氮、磷、钾、钙、镁和有机质等，是一种具有多用途的可再生的生物资源，秸秆也是一种粗饲料。
目前，常见的方法对秸秆进行焚烧，秸秆焚烧造成雾霾天气，并产生大量有毒有害物质，对人与其他生物健康形成威胁，目前也是国家严格禁止的；因此如何对秸秆进行合理的处理，变粪为宝，是一个技术难题。
发明内容
为了解决现有技术中存在的技术问题，本发明公开了一种农作物秸秆造肥机器人，具体的是可以实现对秸秆进行破碎、发酵处理的机器人。
本发明采用的技术方案如下：
一种农作物秸秆造肥机器人，包括可移动车体；
解捆掺和装置，其设置在车体的一端，用于将成捆的秸秆进行解捆，同时将秸秆与粪便堆积物进行掺和；
收集粉碎装置，其设置在车体的另一端，用于收集堆积后的秸秆且进行进一步分粉碎；
物料提升装置，其将收集粉碎装置收集的秸秆送入到揉搓粉碎装置；
揉搓粉碎装置，其设置在车体上，用于对秸秆进行揉搓粉碎，秸秆揉搓粉碎后从车体上掉落，被堆积在地上；
污液存储搅拌装置，其设置在车体上，用于存储污液；
菌类物料存储装置，其设置在车体上，用于存储菌粉、菌液。
更近一步的，在所述的菌类物料存储装置的底部还设有喷淋装置，喷淋装置 将菌液或菌粉，喷洒到秸秆上。
作为进一步的技术方案，所述的解捆掺和装置，包括一个支架和安装在支架上的多个旋转辊，在每个旋转辊的两端设有螺旋叶片，两端的螺旋叶片旋向相反；旋转辊的中间位置设有与其轴线垂直的粉碎齿；螺旋叶片旋向相反为了将车体两侧的秸秆往车体中间推送，然后再通过中间粉碎齿进行粉碎。
作为进一步的技术方案，所述的支架通过升降调节装置调节其升降。
作为进一步的技术方案，所述的揉搓粉碎装置，包括粉碎仓，在所述的粉碎仓内设有两个粉碎辊；两个粉碎辊在驱动装置的驱动下反向旋转，实现对秸秆的粉碎，且粉碎仓底部敞口，被粉碎后的秸秆可以直接从粉碎仓的底部堆放在地面上。
作为进一步的技术方案，所述的物料提升装置为链条传输装置，链条传输装置的一端朝向地面，另一端朝向揉搓粉碎装置，将秸秆送入到揉搓粉碎装置。
更近一步的，所述的链条传输装置和收集粉碎装置通过高度调节装置调节其高度。
作为进一步的技术方案，所述的污液存储搅拌装置，包括一个存储仓，在所述的存储仓内设有第一搅拌轴和第二搅拌轴，所述的第一搅拌轴设置在第二搅拌轴内，各自通过驱动装置驱动其旋转。
更近一步的，所述的存储仓与喷淋装置相连，喷淋装置将污液喷洒到粉碎后的秸秆上。
更近一步的，所述的第二搅拌轴的底部圆周方向上设有机械手，机械手末端与存储仓的侧壁之间略有间隙，使得机械手在所述的第二搅拌轴的带动下可以将存储仓底部的污液翻起，防止污液的在存储仓底部堆积。
作为进一步的技术方案，所述的可移动车体上安装有车轮，所述的车轮可通过转向控制其转向，且还可以通过升降装置控制其升降；车体的底部形成了秸秆的堆积空间。
具体的使用方法如下：
事前通过叉车等机械装置，将成捆的秸秆放在某个位置，且在成捆的秸秆上撒上粪便；然后该装置移动到指定位置，将位于车体另一端收集粉碎装置和提升装置整体升高，不工作；
解捆掺和装置落下，开始准备工作，解捆掺和装置将成捆的秸秆进行解捆，同时进行初次粉碎，同时在解捆的过程中，解捆掺和装置将秸秆与粪便堆积物进行了掺和；在掺和过程中，可以通过喷淋装置向秸秆内喷洒污物、菌粉或者菌液；然后车体向前移动，直到秸秆解捆完毕；
然后，将解捆掺和装置抬高，收集粉碎装置和提升装置落下，车体向相反方向移动，收集粉碎装置和提升装置开始工作，收集粉碎装置收集掺和后的秸秆，物料提升装置将收集粉碎装置收集的秸秆送入到揉搓粉碎装置；揉搓粉碎装置，对秸秆进行揉搓粉碎，秸秆揉搓粉碎后从车体上掉落，被堆积在地上，整个秸秆被粉碎后，收集粉碎装置和提升装置抬高，不再参与后续的工作；秸秆开始发酵；
在秸秆发酵一段时间后，解捆掺和装置落下，车体开始运动，解捆掺和装置对粉碎后的秸秆进行翻抛，给发酵菌供氧；
翻抛一次后，再过段时间，进行第二次、第三次、第四次。。。。翻抛，直到发酵过程完成；
在整个翻抛和发酵过程中，可以根据实际需要随时通过污液存储搅拌装置将存储的污液喷洒到秸秆上，菌类物料存储装置将发酵所需要的菌粉或者菌液喷洒到秸秆上。
本发明的有益效果如下：
1.本发明通过车体的移动将成捆的秸秆，进行解捆、粉碎；同时通过喷淋装置喷洒污液、菌粉或者菌液等，实现对秸秆的处理，不但不污染环境，而且还可以造肥；经过车体的多次往复运动，实现多次翻抛处理，给发酵菌进行多次供氧；
2.本发明的污液存储搅拌装置采用两个搅拌轴套装的形式，使得污物可以不断的上下翻抄，进行更充分的搅拌。
附图说明
构成本申请的一部分的说明书附图用来提供对本申请的进一步理解，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。
图1是本发明的整体结构示意图；
图2是本发明中的解捆掺和装置的旋转辊的结构示意图；
图中：1收集粉碎装置，2电机，3输送提升装置，4高度调节装置，5揉搓粉碎装置，6控制装置，7机械手，8搅拌装置，9第二搅拌轴，10行走转向提 升装置，11第一搅拌轴，12菌类物料存储装置，13车架，14车轮，15升降调节装置，16解捆掺和装置。
具体实施方式
应该指出，以下详细说明都是例示性的，旨在对本申请提供进一步的说明。除非另有指明，本文使用的所有技术和科学术语具有与本申请所属技术领域的普通技术人员通常理解的相同含义。
需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本申请的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合；
为了方便叙述，本发明中如果出现“上”、“下”、“左”“右”字样，仅表示与附图本身的上、下、左、右方向一致，并不对结构起限定作用,仅仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的设备或元件必须具有特定的方位，以特定的方位构造和操作，因此不能理解为对本发明的限制。
如果本发明中出现了“安装”、“相连”、“连接”、“固定”等术语，应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或为一体；可以是机械连接，也可以是电连接，可以是直接连接，也可以是通过中间媒介间接相连，可以是两个元件内部连接，或者两个元件的相互作用关系，对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明的具体含义。
正如背景技术所介绍的，秸秆是成熟农作物茎叶(穗)部分的总称。通常指小麦、水稻、玉米、薯类、油菜、棉花、甘蔗和其它农作物(通常为粗粮)在收获籽实后的剩余部分。农作物光合作用的产物有一半以上存在于秸秆中，秸秆富含氮、磷、钾、钙、镁和有机质等，是一种具有多用途的可再生的生物资源，秸秆也是一种粗饲料。目前，常见的方法对秸秆进行焚烧，秸秆焚烧造成雾霾天气，并产生大量有毒有害物质，对人与其他生物健康形成威胁，目前也是国家严格禁止的；因此如何对秸秆进行合理的处理，变粪为宝，是一个技术难题，为了解决如上的技术问题，本申请提出了一种农作物秸秆造肥机器人。
本申请的一种典型的实施方式中，如图1所示，一种农作物秸秆造肥机器人， 包括可移动的车体10；所述的可移动车体上安装有车轮11，车体的底部形成了秸秆的堆积空间；所述的车轮11可通过转向装置控制其转向，且还可以通过升降装置控制其提升或者落下；这里所述的转向装置、升降装置采用现有的装置，跟汽车的车轮控制原理相同，在此不进行赘述了；
在本实施例中，农作物秸秆造肥机器人还包括解捆掺和装置16，其设置在车体10的一端，其设置在车体的一端，用于将成捆的秸秆进行解捆，同时将秸秆与粪便堆积物进行掺和；
作为进一步的解释，本发明中的解捆掺和装置13，包括一个支架和安装在支架上的多个旋转辊，在每个旋转辊的两端设有螺旋叶片，两端的螺旋叶片旋向相反；旋转辊的中间位置设有与其轴线垂直的粉碎齿，(具体的结构可参考图2所示)螺旋叶片旋向相反为了将车体两侧的秸秆往车体中间推送，然后再通过中间粉碎齿进行粉碎；多个旋转辊可以通过同一套驱动装置和传动装置驱动其旋转，也可以通过不同的驱动装置和传动装置驱动其旋转，根据实际情况进行设置；
在图1中，给出了三个旋转辊，三个旋转辊通过一套驱动装置和传动装置驱动其同向旋转，实现秸秆的抓取。
解捆掺和装置16的支架还可以通过升降调节装置15调节其升降，这样设计的目的是，车体后续移动时，如果是进行后续的收集和粉碎工作，可以将整个解捆掺和装置16提起，解捆掺和装置16不工作。
在本实施例中，农作物秸秆造肥机器人还包括收集粉碎装置1，其设置在车体的另一端，用于收集堆积后的秸秆；收集粉碎装置1的结构跟解捆掺和装置16的结构比较接近，也是包括支架，支架安装在车体上，在安装在支架上的多个旋转辊，在每个旋转辊上设有秸秆抓取爪，用于抓取堆积后的秸秆，然后对秸秆初步处理；多个旋转辊可以通过同一套驱动装置和传动装置驱动其旋转，也可以通过不同的驱动装置和传动装置驱动其旋转，根据实际情况进行设置；
在图1中，给出了两个旋转辊，两个旋转辊通过一套驱动装置和传动装置驱动其同向旋转，实现秸秆的抓取；驱动装置对应图中的电机2。
收集粉碎装置1的支架还可以通过升降调节装置调节其升降，这样设计的目的是，车体后续往复移动过程中，只需要前面的解捆掺和装置16对秸秆进行翻抛，或者给秸秆喷洒菌粉、菌液或者污液等；收集粉碎装置1不再参与后续的工 序，因此可以通过升降装置将整个收集粉碎装置1提起，收集粉碎装置1不工作。
在本实施例中，农作物秸秆造肥机器人还包括物料提升装置3，物料提升装置3将收集粉碎装置收集的秸秆送入到揉搓粉碎装置5；进一步的，本实施例中，所述的物料提升装置可以采用链条传输装置，链条传输装置的一端朝向地面，另一端朝向揉搓粉碎装置，将秸秆送入到揉搓粉碎装置；链条传输装置的好处不会产生打滑现象。
进一步的，物料提升装置3也通过一个高度调节装置调节其高度；这样设计的目的是，车体后续往复移动过程中，只需要前面的解捆掺和装置16对秸秆进行翻抛，或者给秸秆喷洒菌粉、菌液或者污液等；物料提升装置3不再参与后续的工序，因此可以通过升降装置将整个物料提升装置3抬起，高度调节装置不工作。
在本实施例中，农作物秸秆造肥机器人还包括揉搓粉碎装置，其设置在车体上，用于对秸秆进行揉搓粉碎，秸秆揉搓粉碎后从车体上掉落，被堆积在地上；进一步的，所述的揉搓粉碎装置，包括粉碎仓，在所述的粉碎仓内设有两个粉碎辊；两个粉碎辊在驱动装置的驱动下反向旋转，实现对秸秆的粉碎，且粉碎仓底部敞口，被粉碎后的秸秆可以直接从粉碎仓的底部堆放在地面上。
在本实施例中，农作物秸秆造肥机器人还包括污液存储搅拌装置7，其设置在车体上，用于存储污液；其包括一个存储仓，在所述的存储仓内设有第一搅拌轴11和第二搅拌轴9，第一搅拌轴11和第二搅拌轴9均采用绞龙结构，所述的第一搅拌轴11设置在第二搅拌轴9内，各自通过驱动装置驱动其旋转，使得污物可以不断的上下翻抄；具体的第一搅拌轴使得污物从底部向上运动，第二搅拌轴使得从第一搅拌轴翻上来的污物从上向下运动，最后实现污物的不断上下翻抄。
更近一步的，在所述的存储仓还与喷淋装置相连，喷淋装置将污液喷洒到粉碎后的秸秆上。
更近一步的，在喷淋装置上还设有阀门，用于控制喷淋装置是否开启，满足实际需要。
更近一步的，所述的第二搅拌轴的底部圆周方向上设有机械手7，机械手7末端与存储仓的侧壁之间略有间隙，使得机械手7在所述的第二搅拌轴的带动下 可以将存储仓底部的污液翻起，防止污液的在存储仓底部堆积。
机械手7的个数可以设置成三个，或者是更多个，具体的根据实际需要进行设置。
在本实施例中，农作物秸秆造肥机器人还包括菌类物料存储装置9，其设置在车体上，用于存储菌粉、菌液等；在菌类物料存储装置9也与喷淋装置相连，喷淋装置将菌类物料喷洒到粉碎后的秸秆上，用于秸秆的腐熟。
进一步的，在喷淋装置上还设有阀门，用于控制喷淋装置是否开启，满足实际需要。
上述的秸秆腐熟的菌粉、菌液是由多种不同的有益微生物组成，能使秸秆等有机废弃物快速腐熟，使秸秆中所含的有机质及磷、钾等元素成为植物生长所需的营养，并繁殖大量的有益菌微生物。在秸秆发酵过程中将秸秆定向分解，产生大量的二氧化碳，同时产生作物生长所需要的热量、有机质和无机养分。刺激作物生产，提高土壤有机质，增强植物抗逆性，减少化肥使用量，改善作物品质，同时能解决保护连茬种植障碍问题。生产绿色无污染的有机食品，实现农业的可持续发展
具体的使用方法如下：
事前通过叉车等机械装置，将成捆的秸秆放在某个位置，且在成捆的秸秆上撒上粪便；然后该装置移动到指定位置，将位于车体另一端收集粉碎装置和提升装置整体升高，不工作；
解捆掺和装置落下，开始准备工作，解捆掺和装置将成捆的秸秆进行解捆，同时进行初次粉碎，同时在解捆的过程中，解捆掺和装置将秸秆与粪便堆积物进行了掺和；在掺和过程中，可以通过喷淋装置向秸秆内喷洒污物、菌粉或者菌液；然后车体向前移动，直到秸秆解捆完毕；
然后，将解捆掺和装置抬高，收集粉碎装置和提升装置落下，车体向相反方向移动，收集粉碎装置和提升装置开始工作，收集粉碎装置收集掺和后的秸秆，物料提升装置将收集粉碎装置收集的秸秆送入到揉搓粉碎装置；揉搓粉碎装置，对秸秆进行揉搓粉碎，秸秆揉搓粉碎后从车体上掉落，被堆积在地上，整个秸秆被粉碎后，收集粉碎装置和提升装置抬高，不再参与后续的工作；秸秆开始发酵；
在秸秆发酵一段时间后，解捆掺和装置落下，车体开始运动，解捆掺和装置 对粉碎后的秸秆进行翻抛，给发酵菌供氧；
翻抛一次后，再过段时间，进行第二次、第三次、第四次。。。。翻抛，直到发酵过程完成；
在整个翻抛和发酵过程中，可以根据实际需要随时通过污液存储搅拌装置将存储的污液喷洒到秸秆上，菌类物料存储装置将发酵所需要的菌粉或者菌液喷洒到秸秆上。
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (7)

  1. 一种农作物秸秆造肥机器人，其特征在于，包括可移动的车体；
    解捆掺和装置，其设置在车体的一端，用于将成捆的秸秆进行解捆，同时将秸秆与粪便堆积物进行掺和；所述的解捆掺和装置，包括一个支架和安装在支架上的多个旋转辊，在每个旋转辊的两端设有螺旋叶片，两端的螺旋叶片旋向相反，旋转辊设有与其轴线垂直的粉碎齿；
    收集粉碎装置，其设置在车体的另一端，用于收集堆积后的秸秆且进行进一步分粉碎；
    物料提升装置，其将收集粉碎装置收集的秸秆送入到揉搓粉碎装置；
    揉搓粉碎装置，其设置在车体上，用于对秸秆进行揉搓粉碎，秸秆揉搓粉碎后从车体上掉落，被堆积在地上；所述的揉搓粉碎装置，包括粉碎仓，在所述的粉碎仓内设有两个粉碎辊；两个粉碎辊在驱动装置的驱动下反向旋转，实现对秸秆的粉碎，且粉碎仓底部敞口；
    污液存储搅拌装置，其设置在车体上，用于存储污液；所述的污液存储搅拌装置，包括一个存储仓，在所述的存储仓内设有第一搅拌轴和第二搅拌轴，所述的第一搅拌轴设置在第二搅拌轴内，各自通过驱动装置驱动其旋转；进一步的，所述的存储仓与喷淋装置相连，喷淋装置将污液喷洒到粉碎后的秸秆上；所述的第二搅拌轴的底部圆周方向上设有机械手；
    菌类物料存储装置，其设置在车体上，用于存储菌粉或菌液。
  2. 如权利要求1所述的农作物秸秆造肥机器人，其特征在于，所述的菌类物料存储装置与喷淋装置相连，喷淋装置将菌液或菌粉喷洒到秸秆上。
  3. 如权利要求1所述的农作物秸秆造肥机器人，其特征在于，所述的支架通过升降调节装置调节其升降。
  4. 如权利要求1所述的农作物秸秆造肥机器人，其特征在于，所述的物料提升装置为链条传输装置，链条传输装置的一端朝向地面，另一端朝向揉搓粉碎装置，将秸秆送入到揉搓粉碎装置。
  5. 如权利要求1所述的农作物秸秆造肥机器人，其特征在于，所述的链条传输装置和收集粉碎装置通过高度调节装置调节其高度。
  6. 如权利要求1所述的农作物秸秆造肥机器人，其特征在于，所述机械手末端与存储仓的侧壁之间略有间隙。
  7. 如权利要求1所述的农作物秸秆造肥机器人，其特征在于，所述的可移动车体上安装有车轮，所述的车轮通过转向装置控制其转向，还通过升降装置控制其升降。
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