ROBOT-WEEDER WITH FERTIGATION FUNCTION Russian patent published in 2019 - IPC A01B39/18 A01M21/02 A01M21/04 B25J5/00 

FIELD: agriculture; machine building.

SUBSTANCE: robot-weeder operator with fertigation function comprises a frame, control wheels, a control and navigation system with instrumentation, a power system, a vision sensor, a tripod arm with a spray nozzle, a reservoir with a preparation for treatment of plants, a pump with a batcher, a working element with a DC motor and a linear drive, three guides with carriages, a crossbar, three actuating drives. Two guides with carriages are made in form of round rod, and third one – rectangular rod. Two guides with carriages are fixed to the frame by means of supports located on ends of guides, axes of which are parallel to each other in horizontal plane and directed towards movement of robot-weeder. Third guide with carriage and crossbar have rigid attachment with carriages of first and second guides. Axes of cross-beam and third guide are parallel to each other in horizontal plane and perpendicular to axes of first two guides. First and the second actuating drives are fixed with the carriage and with the crossbar at the ends on one side, and the third actuating drive is at the centre with the crossbar on the reverse side and with the frame by means of hinged units with rotary pair of the fifth class. Working element is connected to a DC motor and a linear drive, which are arranged in series vertically one after another and rigidly fixed to the third guide with the carriage.

EFFECT: higher quality of weeding rows and rows of row crops from weeds, reduced damage of cultivated plants due to application of spot treatment, as well as chemical treatment of pests and plant diseases.

1 cl, 2 dwg