CN109328577B

CN109328577B - Shape fertilizer applicator

Info

Publication number: CN109328577B
Application number: CN201811133680.9A
Authority: CN
Inventors: 陶勇
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-09-27
Filing date: 2018-09-27
Publication date: 2022-07-22
Anticipated expiration: 2038-09-27
Also published as: CN109328577A

Abstract

The invention discloses a fertilizer shaping and applying machine which is novel in structural design, easy to use and high in efficiency during fertilizer application, and comprises a rack with walking wheels at the bottom; the frame is provided with: the punching device is used for punching holes on the ground; a feeding device for feeding the fertilizer into the hole; and the soil covering device is used for covering soil on the shape fertilizer put into the hole.

Description

Shape fertilizer applicator

Technical Field

The invention relates to the technical field of agricultural fertilization, in particular to a fertilizer shaping and applying machine.

Background

At present, in order to achieve the effect of slow release or controlled release, a commonly used method of slow release fertilizers in the market is to wrap a film on the outer layer of the fertilizer, and the fertilizer in the fertilizer is protected from being released through the film, but once the film is damaged, the fertilizer in the film can be released in a short time, so-called slow release is delayed release, and the slow release is not strictly slow release; the inventor has invented a shape fertilizer (diameter 8-20cm, height 5-20 cm) which is cylindrical as a whole and can achieve the purpose of slow release in use, and the detailed description of the shape fertilizer can be found in the patent application numbers of the invention applied by the applicant: 2018105164646, respectively. Because the fertilizer has large volume, holes or pits need to be drilled near plants during fertilization, and the manual fertilization mode has time and labor waste and low fertilization efficiency, a fertilizer applicator for fertilizing the fertilizer needs to be designed and developed.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, adapt to practical requirements and provide the fertilizer spreader with novel structural design, easy use and high fertilizer spreading efficiency.

In order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows:

designing a fertilizer shaping and applying machine, which comprises a frame, wherein the bottom of the frame is provided with a traveling wheel; the method is characterized in that: the frame is provided with:

the punching device is used for punching holes on the ground;

a feeding device for feeding the fertilizer into the hole;

and the soil covering device is used for covering soil on the shape fertilizer put into the hole.

Further comprising:

the image taking camera is used for acquiring an image of a plant to be fertilized;

the image operation unit is connected with the image capture camera, and is used for operating the plant image acquired by the image capture camera to acquire the projection of the plant and determining the punching position;

the controller is connected with the image operation unit, and is used for receiving and outputting the hole punching position operated by the image operation unit;

and the data output unit is connected with the controller and sends the punching position information to the punching device, the feeding device and the soil covering device.

The hole punching device comprises a hole punching arm with variable length and a hole punching mechanism arranged at the front end of the hole punching arm, the hole punching mechanism comprises a screw linear motor arranged at the front end of the hole punching arm, and a spiral blade is arranged at the lower end of a power shaft on the screw linear motor.

The feeding device comprises a picking arm and a hand grip arranged at the front end of the picking arm, the hand grip can be moved to the shape fertilizer through the picking arm, and then the hand grip for grabbing the shape fertilizer can be placed above the hole through the picking arm.

Still including setting up the storage device in the frame, fertile arranging in of a plurality of shape is in the storage device.

The invention has the beneficial effects that:

its structural design of this design is novel, compact, can fertilize to shape in the implementation, compares in traditional fertilization mode, and this design in use is labour saving and time saving, and fertilization efficiency is high, can fertilize in plants woods such as orchard, tea garden, is the very important technological innovation in shape fertile fertilization field, can bring important contribution for plant ration fertilization.

Drawings

FIG. 1 is a schematic diagram of the main structure of the design in a side view;

FIG. 2 is a schematic diagram of the main structure of each component of the design in a top view;

FIG. 3 is a schematic view of the main structure of the punching device and the feeding device in a side view;

FIG. 4 is a schematic view of the connection principle of the first arm and the second arm in the present design;

FIG. 5 is a schematic view of the main structure of each part of the gripper in the present design;

FIG. 6 is a schematic view of the structure of the covering device in the present design;

fig. 7 is a schematic main structural view of the storing device in the design in a top view state;

FIG. 8 is a schematic view of the main structure of the storing device in a side view state;

FIG. 9 is a schematic view of the main structure of the retainer plate and the bottom push plate in the design;

FIG. 10 is a schematic view of the electrical control principle of the fertilizer applicator;

fig. 11 is a structural schematic diagram of a fertilizer shaping device used by the fertilizer applicator.

Detailed Description

The invention is further illustrated with reference to the following figures and examples:

example 1: a fertilizer applicator, see fig. 1-11;

it includes that the bottom installs the frame 100 of walking wheel, and the walking wheel can adopt walking wheel (prior art) that have driving motor, can be convenient for walk like this when the action in this design be equipped with in the frame 100:

a punching device 300 for punching holes with the depth of 30-50cm downwards on the ground longitudinally;

a feeding device 400 for feeding the fertilizer 800 into the hole;

a soil covering device for covering soil on the fertilizer 800 thrown into the hole;

a storage device 200, a plurality of shape fertilizers are arranged in the storage device.

In this embodiment, the power source of the device can be a diesel engine with a generator and is disposed at the front of the frame, the storage device is disposed at the rear of the frame, and the hole punching device 300, the feeding device 400 and the soil covering device 500 are disposed below the frame.

Specifically, referring to fig. 1 to 4, the punching device 300 includes a punching arm with a variable length, a punching mechanism disposed at a front end of the punching arm; specifically, the length-variable punching arm comprises a first arm 311, a second arm 313 and a third arm 315, the tail end of the first arm 311 is rotatably mounted on a rotating shaft on the rack 100, a driving gear 304 (the driving gear can rotate on the rotating shaft) is sleeved on the rotating shaft, the driving gear 304 is fixedly connected with the tail end of the first arm 311, a punching rotating motor 306 is mounted on the rack at the side of the driving gear 304, a driving gear 305 is mounted on a power output shaft of the punching rotating motor, the driving gear and the driving gear are meshed to rotate, and therefore the driving gear 304 and the first arm fixedly connected with the driving gear 304 can be driven to rotate through the driving gear 305 driven by the punching rotating motor.

A first shaft rod is fixed at the tail end of the second arm 313, the front end of the first arm 311 is rotatably sleeved on the first shaft rod, a first rotating motor 312 is fixed at the front end of the first arm 311, and a power output shaft of the first rotating motor 312 is connected with the first shaft rod, so that the first shaft rod and a second arm fixedly connected with the first shaft rod can be driven by the first rotating motor 312 to rotate relative to the front end of the first arm and around the first shaft rod. Similarly, a second shaft rod 320 is fixed at the tail end of the third arm 315, the front end of the second arm 313 is rotatably sleeved on the second shaft rod 320, a second rotating motor 314 is fixed at the front end of the second arm 313, and a power output shaft of the second rotating motor 314 is connected with the second shaft rod; thus, the second rotating motor 314 can drive the second shaft rod and the third arm fixedly connected with the second shaft rod to rotate around the second shaft rod relative to the front end of the second arm.

The front end of the third arm 315 is fixedly provided with a rotating motor 303, a power shaft of the rotating motor 303 is horizontally arranged, the punching mechanism is installed on a power output shaft of the rotating motor through an installation plate 316 and can rotate along with the power output shaft of the rotating motor, the punching mechanism comprises a screw linear motor 317 installed on the installation plate 316, and the lower end of the power shaft on the screw linear motor 317 is provided with a spiral blade 319.

The punching device in the design is arranged below the frame, when the punching device is not in operation, the punching rotating motor rotates the first arm to the lower part of the frame, the rotating motor 303 rotates the screw linear motor 317 by 90 degrees and horizontally arranges a power output shaft on the screw linear motor 317, then the second arm and the third arm respectively rotate to the lower part of the frame through the corresponding first rotating motor and the second rotating motor to realize the retraction of the punching device, when drilling is needed, the first arm 311, the second arm 313 and the third arm 315 respectively rotate out from the lower part of the frame through the rotating motor 303, the first rotating motor and the second rotating motor, then, the rotating motor 303 rotates the screw linear motor 317 by 90 degrees and sets the power output shaft of the screw linear motor 317 in a longitudinal direction, then, the screw linear motor 317 can drive the spiral blade to rotate and descend to achieve the purpose of punching.

Referring to fig. 1, 7 to 9, the storing device 200 is installed at the tail part above the rack, specifically, the storing device includes a box 203 and a flexible conveying belt 205 arranged in the box 203, the flexible conveying belt 205 is in a snake shape or a zigzag shape, and meanwhile, the discharging end and the feeding end of the flexible conveying belt 205 are respectively located at the front side and the rear side of the box.

Further, this design is equipped with opening 220 on the lateral wall of box 203 with flexible transmission band discharge end department, this opening is run through the top of box by the bottom of box all the time, and simultaneously, the discharge end of flexible transmission band 205 extends to the outside of box through the open-ended below, and simultaneously, be equipped with a striker plate 206 in the outside of box, the striker plate cross-section is the U-shaped and detains on the opening, and simultaneously, the inside region of striker plate link up through opening and box inside, and form the clearance between the bottom of striker plate 206 and the flexible transmission band 205 discharge end, this clearance is greater than the fertile height of shape and is less than 2 times the fertile height of shape.

As shown in fig. 8 and 9, in the present design, an arc-shaped push plate 210 is disposed on the left side of the bottom of the striker plate 206, the push plate 210 is connected to an expansion link of a material pushing electric cylinder 212 fixed on the frame, the push plate 210 is disposed opposite to the shape fertilizer at the lowermost layer, a top plate 211 extending toward the material pushing electric cylinder 212 and horizontally disposed is disposed on the top of the push plate 210, the top plate 211 is a smooth stainless steel plate, a material receiving plate 201 is disposed on the right side of the bottom of the striker plate 206, the height of the material receiving plate 201 is the same as that of the discharge end of the flexible conveyor belt, and a raised baffle is disposed at the end of the material receiving plate 201 away from the flexible conveyor belt.

When the storage device is used, the shape fertilizers are positioned on the flexible transmission belt 205, when the shape fertilizers are placed, 5 shape fertilizers are taken as a group, the 5 shape fertilizers are stacked from top to bottom, each group of shape fertilizers are placed on the flexible transmission belt 205 in parallel, and when the storage device is used for blanking, the flexible transmission belt 205 moves forwards for a set distance (the diameter of the shape fertilizers is the same); when the flexible transmission belt 205 rotates, a group of five shape fertilizers at the foremost end of the flexible transmission belt 205 enters the striker plate through the opening, at this time, the flexible transmission belt 205 stops, at this time, the state is as shown in fig. 8 and 9, at this time, the push plate is positioned at the side part of the fertilizer at the bottommost square, then, the push plate is moved towards the shape fertilizer direction by the push plate electric cylinder 212, then, the shape fertilizer is pushed to the receiving plate by the push plate, at this time, the shape fertilizer positioned at the second layer is positioned on the top plate, then, the push plate is reset to the initial position by the push plate electric cylinder 212, at this time, the push plate and the top plate move backwards, the shape fertilizer positioned at the second layer is separated from the top plate, then, the four shape fertilizers at the upper part fall downwards onto the flexible transmission belt, then, the shape fertilizer positioned on the receiving plate can be taken by the feeding device, thereafter, the push plate electric cylinder 212 repeats the above actions to push the next shape fertilizer to the receiving plate, and when all the five shape fertilizers in the first group are pushed out from the striker plate, the flexible transmission belt 205 moves forwards continuously and pushes the second group of 5 shape fertilizers into the material baffle, and then the material pushing electric cylinder 212 repeats the actions to push the shape fertilizers out of the box body one by one.

As shown in fig. 2, 3 and 5, the feeding device comprises a pick-up arm, a gripper arranged at the front end of the pick-up arm, the gripper can be moved onto the fertilizer by the pick-up arm, and then the gripper for gripping the fertilizer can be placed above the hole by the pick-up arm, specifically, the pick-up arm comprises a first pick-up arm 411, a second pick-up arm 412, a third pick-up arm 413 and a fourth pick-up arm 414, the tail end of the first pick-up arm 411 is rotatably mounted on a shaft 415 on the rack 100, the shaft 415 is sleeved with a driven gear 403, the driven gear 403 can rotate on the shaft 415, the driven gear 403 is fixedly connected with the tail end of the first pick-up arm 411, a pick-up rotating motor 416 is mounted on the rack at the side of the driven gear 403, a main gear 404 is mounted on the power output shaft of the pick-up rotating motor, the main gear 404 is meshed with the driven gear 403 for rotation, the main gear 404 is rotated by the pick-up rotating motor, so that the driven gear 403 and the first pick-up arm fixedly connected with the driven gear are driven to rotate in the horizontal direction.

Similarly, according to the principle of connection between the first arm and the second arm, the front end of the first pick-up arm 411 and the tail end of the second pick-up arm 412, the front end of the second pick-up arm 412 and the tail end of the third pick-up arm 413, and the front end of the third pick-up arm 413 and the tail end of the fourth pick-up arm 414 are respectively connected in a rotating manner through a power motor 417, and during connection, the power motors are mounted on the side portions of the first pick-up arm 411, the second pick-up arm 412 and the third pick-up arm, and the corresponding power motors drive the second pick-up arm 412 to rotate around the front end of the first pick-up arm 411 in the up-down direction, so as to drive the third pick-up arm to rotate around the front end of the second pick-up arm in the up-up direction, and drive the fourth pick-up arm to rotate around the front end of the third pick-up arm in the up-up direction.

The gripper is arranged at the front end of the fourth picking arm 414, as shown in fig. 5, the gripper includes two arc-shaped gripping plates 402 and a fixing frame fixed at the front end of the fourth picking arm 414, the two gripping plates 402 are symmetrically arranged, connecting rods 421 are respectively fixed on the outer walls of the two gripping plates 402, the middle parts of the two connecting rods are respectively hinged to the front end of the fixing frame through pin shafts, an electric cylinder 428 is fixed in the fixing frame, a driving plate 424 transversely arranged is fixed on a telescopic rod 427 of the electric cylinder, oval sliding grooves 426 are respectively formed at the left end and the right end of the driving plate 424, sliding shafts 425 are respectively fixed at the tail ends of the two connecting rods, and the two sliding shafts 425 are respectively slidably located in the two sliding grooves 426.

Through the design, when the telescopic rod of the electric cylinder extends out, the driving plate 424 applies thrust to the sliding shafts at the lower ends of the two connecting rods, the sliding shafts move towards the middle of the driving plate in the sliding grooves, at the moment, the two connecting plates rotate by taking the hinge shaft as the center respectively, at the moment, the two grabbing plates move in opposite directions to realize the opening action, and on the contrary, when the telescopic rod of the electric cylinder retracts, the two grabbing plates move in opposite directions to realize the grabbing action.

As shown in fig. 6, the soil covering device comprises two telescopic electric cylinders 501 installed below a rack, the extending directions of the telescopic rods of the two telescopic electric cylinders 501 are respectively towards the left side and the right side of the rack, scraper rotating motors 505 are fixed on the end parts of the telescopic rods of the two telescopic electric cylinders 501, and scraper boards 502 are fixed on power shafts of the scraper rotating motors 505.

Further, for this shape fertile fertilizer distributor, it still is equipped with on this shape fertile fertilizer distributor:

the image capturing camera 900 is arranged at the top of the frame, and is used for acquiring a three-dimensional image of a plant to be fertilized;

an image operation unit (image operation processing chip, prior art) connected to the image capturing camera, for performing operation on the three-dimensional image of the plant obtained by the image capturing camera and obtaining the projection of the plant (this technique is a three-dimensional imaging technique, the operation method and module in the three-dimensional imaging technique are the existing mature techniques, and are not described again in this embodiment), and determining a hole punching position, where the hole punching position is 80cm away from the projection boundary;

the controller (main control chip) is connected with the image operation unit, receives and outputs the hole punching position calculated by the image operation unit, and meanwhile, the controller is used as a main control center of the whole fertilizer applicator;

and the data output unit (data output interface) is connected with the controller, and is used for sending the control information to the electric elements in the punching device, the feeding device and the soil covering device and sending the control information to each execution component.

Specifically, in the design, a hole drilling rotating motor 306, a first rotating motor 312, a second rotating motor 314, a rotating motor 303, a screw linear motor 317, a pickup rotating motor 416, a power motor 417, a motor for driving a flexible conveyer belt, a scraper rotating motor 505, a material pushing electric cylinder, an electric cylinder 428 and a telescopic electric cylinder 501 are all connected with a data output unit; the hole drilling rotating motor 306, the first rotating motor 312, the second rotating motor 314, the rotating motor 303, the screw linear motor 317, the pickup rotating motor 416, the power motor 417, the motor for driving the flexible conveyor belt, and the scraper rotating motor 505 in the present design are all stepping motors.

It should be noted that, the specific connection modes between the electric cylinders and the motors and the data output unit, and the connection modes between the controller and the image capturing camera, the image operation unit, the data output unit, and other electrical components are all conventional connection modes, and this embodiment is not described in detail.

The power source in the fertilizer applicator can adopt a diesel engine with a generator to provide power for the fertilizer applicator.

For the fertilizer shaping and applying machine, the fertilizer applying process or the controller of the fertilizer shaping and applying machine controls the operation mode and the steps of each electrical component as follows:

(1) and (4) placing the shape fertilizer on a flexible conveying belt in the box body.

(2) The method comprises the following steps of (1) taking an image of a plant, moving a fertilizer forming and applying machine to the vicinity of the plant to be applied, taking a three-dimensional image of the applied plant by an image taking camera and sending the three-dimensional image information to an image operation unit;

(3) determining a punching position, analyzing a three-dimensional plant image, analyzing a projected image (in the prior art), determining the punching position and sending the punching position to a controller by an image operation unit;

(4) and data is sent, and the controller receives the punching position information and sends the punching position information to each electric component in the punching device, the feeding device and the soil covering device.

(5) Drilling, wherein a controller respectively controls the rotation angles of a drilling rotary motor 306, a first rotary motor 312 and a second rotary motor 314 to extend a drilling arm to a specified position from the rack, then, a rotary motor 303 rotates a screw linear motor 317 for 90 degrees and longitudinally arranges a power output shaft on the screw linear motor 317, and then the screw linear motor 317 drives a spiral blade to rotate and descend to realize drilling; after the hole is punched, the screw linear motor 317 drives the spiral blade to rise above the ground, and then, the hole punching rotary motor 306, the first rotary motor 312 and the second rotary motor 314 rotate a preset position to move the screw linear motor 317 to the side of the frame and separate from the hole.

(6) Blanking, wherein the flexible conveying belt 205 moves forwards for a set distance; at the moment, a group of five shape fertilizers at the foremost end of the flexible conveying belt 205 enter the striker plate through the opening, at the moment, the flexible conveying belt 205 stops, then, the pushing electric cylinder 212 moves the push plate towards the shape fertilizers, then, the push plate pushes the shape fertilizers to the material receiving plate, then, the pushing electric cylinder 212 resets the push plate to the initial position, at the moment, the push plate and the top plate move backwards, the shape fertilizers at the second layer are separated from the top plate, and then, the four shape fertilizers at the upper part fall downwards onto the flexible conveying belt.

(7) Feeding, wherein a controller respectively controls a pickup rotating motor and power motors 417 on a pickup arm to move a gripper (two gripper plates) at the front end of the pickup arm to a shape fertilizer 800 at a material receiving plate, then a telescopic rod of an electric cylinder is retracted, a drive plate 424 applies tension to sliding shafts at the lower ends of two connecting rods, the sliding shafts move in opposite directions in a sliding chute, at the moment, the two connecting plates respectively rotate by taking a hinged shaft as a center, at the moment, the two gripper plates move in opposite directions, and then the two gripper plates can grip the shape fertilizer; then, the controller respectively controls the picking rotating motor and each power motor 417 on the picking arm to move the gripper at the front end of the picking arm to the position above the hole, the telescopic rod of the rear electric cylinder extends out, the two gripping plates are loosened, and the shape fertilizer falls into the hole; and then, the controller respectively controls the picking rotating motor and each power motor 417 on the picking arm again to move the gripper at the front end of the picking arm to the material receiving plate to wait for grabbing the next shape fertilizer.

(8) And (3) earthing, wherein the soil scraping plate 502 is pushed out from the rack by a telescopic rod of the telescopic electric cylinder 501, the scraper rotating motor 505 rotates the soil scraping plate 502 for 90 degrees and longitudinally arranges the soil scraping plate 502, then the rack moves forwards by passing through the moving wheels, and the soil scraping plate scrapes soil in the hole into the hole when the rack moves, so that earthing operation is realized.

Therefore, the whole fertilizing operation can be completed through the actions.

The embodiments of the present invention are disclosed as the preferred embodiments, but not limited thereto, and those skilled in the art can easily understand the spirit of the present invention and make various extensions and changes without departing from the spirit of the present invention.

Claims

1. A fertilizer shaping and applying machine comprises a frame, the bottom of which is provided with a traveling wheel; the method is characterized in that: the frame is provided with:

the punching device is used for punching holes on the ground;

a feeding device for feeding the fertilizer into the hole;

the earthing device is used for earthing the shape fertilizer thrown into the hole; further comprising:

the image operation unit is connected with the image capturing camera, and is used for operating the plant image acquired by the image capturing camera to acquire the projection of the plant and determine the hole punching position;

the data output unit is connected with the controller and sends the punching position information to the punching device, the feeding device and the covering device;

also comprises a storage device arranged on the machine frame, a plurality of shaping fertilizers are arranged in the storage device,

the punching device comprises a punching arm with variable length and a punching mechanism arranged at the front end of the punching arm,

the punching arm with the variable length comprises a first arm, a second arm and a third arm, the tail end of the first arm is rotatably mounted on a rotating shaft on the rack, a driving gear is sleeved on the rotating shaft and can rotate on the rotating shaft, the driving gear is fixedly connected with the tail end of the first arm, a punching rotating motor is mounted on the rack on the side portion of the driving gear, a driving gear is mounted on a power output shaft of the punching rotating motor, and the driving gear is meshed with the driving gear to rotate;

a first shaft lever is fixed at the tail end of the second arm, the front end of the first arm is rotationally sleeved on the first shaft lever, a first rotating motor is fixed at the front end of the first arm, and a power output shaft of the first rotating motor is connected with the first shaft lever;

a second shaft lever is fixed at the tail end of the third arm, the front end of the second arm is rotatably sleeved on the second shaft lever, a second rotating motor is fixed at the front end of the second arm, and a power output shaft of the second rotating motor is connected with the second shaft lever;

the front end of the third arm is fixedly provided with a rotating motor, a power shaft of the rotating motor is horizontally arranged, and the hole punching mechanism is arranged on a power output shaft of the rotating motor through an installation plate and can rotate along with the power output shaft of the rotating motor;

the hole punching mechanism comprises a screw linear motor arranged at the front end of a hole punching arm, and a spiral blade is arranged at the lower end of a power shaft on the screw linear motor;

the storage device is arranged at the tail part above the rack, and particularly comprises a box body and a flexible conveying belt arranged in the box body, wherein the flexible conveying belt is arranged in a snake shape or a zigzag shape, and meanwhile, the discharge end and the feed end of the flexible conveying belt are respectively positioned at the front side and the rear side of the box body;

the side wall of the box body at the discharge end of the flexible transmission belt is provided with an opening, the opening penetrates through the top of the box body from the bottom of the box body all the time, meanwhile, the discharge end of the flexible transmission belt extends to the outside of the box body through the lower part of the opening, meanwhile, a material baffle plate is arranged on the outside of the box body, the section of the material baffle plate is U-shaped and is buckled on the opening, meanwhile, the inner area of the material baffle plate is communicated with the inside of the box body through the opening, a gap is formed between the bottom of the material baffle plate and the discharge end of the flexible transmission belt, and the gap is larger than the height of the shape fertilizer and smaller than 2 times of the height of the shape fertilizer; an arc-shaped push plate is arranged on the left side of the bottom of the material baffle plate and is connected with a telescopic rod of a material pushing electric cylinder fixed on the rack, the push plate is arranged opposite to the shape fertilizer at the lowest layer, and meanwhile, a top plate which extends towards the direction of the material pushing electric cylinder and is horizontally arranged is arranged at the top of the push plate; a material receiving plate is arranged on the right side of the bottom of the material blocking plate, the material receiving plate and the discharge end of the flexible conveying belt are located at the same height, and meanwhile, a raised baffle is arranged at the end part of the material receiving plate far away from the flexible conveying belt;

the feeding device comprises a picking arm and a hand grip arranged at the front end of the picking arm, the hand grip can be moved to the shape fertilizer through the picking arm, and then the hand grip for gripping the shape fertilizer can be placed above the hole through the picking arm; the picking arm comprises a first picking arm, a second picking arm, a third picking arm and a fourth picking arm, the tail end of the first picking arm is rotatably installed on a shaft on the rack, a driven gear is sleeved on the shaft and can rotate on the shaft, the driven gear is fixedly connected with the tail end of the first picking arm, a picking rotating motor is installed on the rack positioned at the side part of the driven gear, a main gear is installed on a power output shaft of the picking rotating motor, and the main gear and the driven gear are meshed for rotation;

the front end of the first picking arm and the tail end of the second picking arm, the front end of the second picking arm and the tail end of the third picking arm, and the front end of the third picking arm and the tail end of the fourth picking arm are respectively connected in a rotating mode through a power motor;

the gripper is arranged at the front end of the fourth picking arm and comprises two arc-shaped gripping plates and a fixing frame fixed at the front end of the fourth picking arm, the two gripping plates are symmetrically arranged, connecting rods are respectively fixed on the outer walls of the two gripping plates, the middle parts of the two connecting rods are respectively hinged to the front end of the fixing frame through hinge pins, an electric cylinder is fixed in the fixing frame, a transversely-arranged driving plate is fixed on a telescopic rod of the electric cylinder, the left end and the right end of the driving plate are respectively provided with an oval sliding chute, the tail ends of the two connecting rods are respectively fixed with a sliding shaft, and the two sliding shafts are respectively positioned in the two sliding chutes in a sliding manner;

earthing device is including installing two flexible electric jars in the frame below, and the telescopic link direction of stretching out of two flexible electric jars is respectively to the left and right sides of frame, is located to be fixed with scraper blade rotating electrical machines on the tip of two flexible electric jar telescopic links, is fixed with the scraper blade on the power shaft of scraper blade rotating electrical machines, and the scraper blade is when not using, and its scraper blade rotating electrical machines will scrape the rotatory 90 degrees of soil board and will scrape the soil board and be the level setting, and the telescopic link of flexible electric jar is withdrawed, realizes hiding the scraper blade in the frame below.