Intelligent agricultural field water and fertilizer integrated irrigation robot

Abstract

The invention relates to the technical field of irrigation, and discloses an intelligent agricultural field water and fertilizer integrated irrigation robot which is mainly composed of a rotating mechanism and an irrigation mechanism, the rotating mechanism comprises a rotating motor, a first rotating shaft and a filter screen, and the first rotating shaft is fixedly sleeved with the filter screen; the bottom end of the filter screen is movably connected with the bottom end of the interior of the water supply tank in a clamped mode, the irrigation mechanism comprises a conveying pipe, and the water inlet end of the conveying pipe makes contact with the wall face of the filter screen. The water inlet end of the conveying pipe is covered by the filter screen, when the conveying pipe draws water and fertilizer materials under the action of the booster pump, the water and fertilizer materials enter the conveying pipe after being filtered by the filter screen, the possibility that particle impurities enter the conveying pipe is effectively reduced, and the situation that the irrigation mechanism is affected by the particle impurities and blocked is prevented; the loss rate of the irrigation robot is reduced, the irrigation uniformity of the irrigation mechanism is enhanced, intermittent irrigation caused by blockage of the irrigation mechanism is avoided, and the irrigation effect is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of irrigation technology, and in particular to a smart agricultural field water-fertilizer integrated irrigation robot. Background Art

[0002] Smart agriculture refers to the use of advanced scientific and technological means, such as the Internet of Things, big data analysis, and artificial intelligence, to achieve intelligent and digital management of the agricultural production process. At present, smart agriculture will use a water-fertilizer integrated irrigation system during use to accurately configure fertilizers, save resources, and reduce environmental pollution. The so-called water-fertilizer integrated technology refers to a new agricultural technology that integrates irrigation and fertilization. Its application includes a water-fertilizer integrated irrigation robot, which is mainly composed of a water supply device, a fertilizer supply device, a water delivery device, and a spraying device. First, the water delivery device is used to transport the irrigation water source in the pipeline system to the water supply device, and then the fertilizer stored in the fertilizer supply device is dissolved in the water of the water supply device. Finally, the spraying device is used for irrigation and fertilization, so as to meet the needs of crops for water and fertilizer in a timely and appropriate manner, and realize the synchronous management and efficient utilization of water and fertilizer.

[0003] However, the existing water-fertilizer integrated irrigation robots still have certain defects during use: the irrigation water source in the pipeline system is mainly surface water, that is, river runoff, lakes and surface runoff intercepted during confluence, and surface water generally contains particulate impurities. After the irrigation robot uses the irrigation water source containing particulate impurities for a long time, the spraying device is easily blocked, which not only reduces the irrigation uniformity and affects the irrigation effect, but also accelerates the wear rate of the irrigation robot. Summary of the invention

[0004] The present application proposes a smart agricultural field water-fertilizer integrated irrigation robot, which has the advantages of effectively filtering particulate impurities, slowing down the loss rate of the irrigation robot, and improving the irrigation effect, and is used to solve the problem that particulate impurities easily clog the spraying device.

[0005] To achieve the above objectives, the present application adopts the following technical solution: a smart agricultural field water-fertilizer integrated irrigation robot, comprising: A water supply mechanism, used for storing water, the water supply mechanism comprising a water supply tank; A rotating mechanism, a rotating mechanism is provided on both sides of the water supply tank, and the two rotating mechanisms are centrally symmetrical, and are used to filter particulate impurities in the water body. The rotating mechanism includes a rotating motor, a first rotating shaft and a filter screen. One end of the rotating motor is movably connected to one end of the first rotating shaft, and the other end of the first rotating shaft passes through one side wall of the water supply tank and is movably engaged with the other side wall of the water supply tank. A filter screen is fixedly sleeved on the first rotating shaft, and the bottom end of the filter screen is movably engaged with the inner bottom end of the water supply tank; Irrigation mechanism, an irrigation mechanism is arranged on both sides of the water supply tank, and the two irrigation mechanisms are centrally symmetrical, and are used to transport and spray water, fertilizer and materials. The irrigation mechanism includes a delivery pipe, the water inlet end of the delivery pipe is fixedly sleeved with one side of the water supply tank, and the water inlet end of the delivery pipe contacts the wall surface of the filter screen, and the filter screen is used to filter the water, fertilizer and materials entering the delivery pipe.

[0006] Furthermore, the water supply mechanism also includes: A fixing frame, wherein the fixing frame is arranged at the top of the vehicle body, and the water supply tank is sleeved inside the fixing frame; A water delivery component, one end of which is fixedly connected to one end of the water supply tank, and the other end of which can be connected to the pipeline system.

[0007] Furthermore, the shape of the delivery pipe is L-shaped, and the water inlet end of the delivery pipe is horizontal, and the water outlet end of the delivery pipe is vertical, the rotating motor is located obliquely above the water inlet end of the delivery pipe, and the distance from the delivery pipe to the center of the filter is smaller than the radius of the filter.

[0008] Furthermore, the rotating mechanism further comprises: A stirring plate, wherein a plurality of stirring plates are fixedly connected to the wall surface of the first rotating shaft; A second rotating shaft, the other end of the rotating motor being movably connected to one end of the second rotating shaft; A worm gear is fixedly connected to the other end of the second rotating shaft.

[0009] Furthermore, the irrigation mechanism also includes: A fixing frame, wherein the outer wall of the fixing frame is fixedly connected with the fixing frame, and the fixing frame is fixedly sleeved with the conveying pipe; A spraying assembly is movably provided on the delivery pipe and is located above the fixed frame for rotating to improve irrigation uniformity; The auxiliary component, the water outlet end of the delivery pipe is connected to the auxiliary component, and the auxiliary component is movably connected to the spray component, which is used to cooperate with the spray component to realize irrigation and clean the spray component in time.

[0010] Furthermore, the spray assembly comprises: A movable pipe, wherein the vertical section of the delivery pipe is movably sleeved with a movable pipe outside; Active balls, the bottom end of the active tube is movably connected with active balls, and there are a number of active balls, and the bottom end of the active balls is in contact with the top end of the fixed frame; A worm wheel, the lower half of the movable tube is fixedly sleeved with a worm wheel, and the worm wheel is meshed with the worm, the space between the worm wheel and the worm is staggered, and the staggered angle of the axes of the two is 90 degrees; A movable part, wherein the top end of the movable tube is fixedly connected to the bottom end of the movable part, the water outlet end of the delivery pipe is located in the movable part, and the water outlet end of the delivery pipe is provided with a plurality of water outlets, and a sealing ring is provided on the wall surface of the delivery pipe movably sleeved with the movable part; A spraying piece is fixedly sleeved on the side wall of the movable piece, and the shape of the spraying piece is composed of a cylinder and a frustum. The number of the spraying pieces is several and they are evenly arranged around the movable piece.

[0011] Furthermore, the auxiliary components include: A fixed plate, the middle part of which is fixedly sleeved with the water outlet end of the delivery pipe, a sealing ring is provided at the bottom end of the fixed plate, and the fixed plate is fitted with the movable part through the sealing ring; A partition plate, the bottom end of the fixed plate is fixedly connected with the partition plate, and the partition plate is located on the side of the fixed plate close to the water supply tank, a sealing film is arranged on the outside of the partition plate, and the partition plate is movably connected with the movable part through the sealing film, and the interior of the movable part is divided into two parts, a slag collecting chamber and a spraying chamber, by the partition plate, the partition plate is an electromagnet, and the partition plate is electrically connected to the control system, and the partition plate is energized and has magnetism; An auxiliary plate, wherein the bottom end of the fixed plate is fixedly connected with the auxiliary plate, and the auxiliary plate is located outside the movable part, there is a space gap between the auxiliary plate and the movable part, and the auxiliary plate is close to the slag collecting cavity of the movable part; A cleaning component, wherein a cleaning groove is provided on the inner wall of the auxiliary plate, and the auxiliary plate is movably connected with the cleaning component through the cleaning groove, and the cleaning component is moved back and forth to clean the spraying part.

[0012] Further, the cleaning component includes: A cleaning plate, wherein the cleaning plate is movably sleeved with the cleaning groove of the auxiliary plate, and the cleaning plate has a magnetic property opposite to that of the partition plate, and a side wall of the cleaning plate is connected to the wall of the cleaning groove of the auxiliary plate via a tension spring; A cleaning rod, one end of which is fixedly connected to the cleaning plate; A cleaning piece, the other end of the cleaning rod is fixedly connected to the cleaning piece, the cleaning piece is in the shape of a hemispherical shell, and the outer wall radius of the cleaning piece is smaller than the minimum radius of the spraying piece.

[0013] Furthermore, it also includes: The vehicle body is used for traveling in the field, and the water supply mechanism is arranged on the top of the vehicle body; A fertilizer supply mechanism is provided at the top of the water supply mechanism for storing fertilizer.

[0014] Furthermore, the fertilizer supply mechanism comprises: A fertilizer supply box, which is fixedly arranged at the top of the water supply box, and has a plurality of storage cavities formed inside the top of the fertilizer supply box; A fertilizer supply cover, the top of the fertilizer supply box is movably connected with the fertilizer supply cover; A drive motor, wherein the drive motor is fixedly arranged at the top of the water supply box and is located at one side of the fertilizer supply box; A driving plate, a feeding hole is provided in the middle of the bottom end of the fertilizer supply box, and the feeding hole passes through the entire storage cavity, one end of the driving plate is movably engaged with the feeding hole of the fertilizer supply box, and the other end of the driving plate is movably connected to the driving motor, the wall surfaces of the fertilizer supply box located on both sides of the feeding hole are inclined, and a collecting hole is provided at the top of the water supply box below the feeding hole.

[0015] This application has the following beneficial effects: The present application provides a smart agricultural field water-fertilizer integrated irrigation robot, which is provided with a rotating mechanism and an irrigation mechanism on a water supply mechanism, and the irrigation mechanism includes a delivery pipe, and the rotating mechanism includes a rotating motor, a first rotating shaft, a filter screen and a stirring plate, so that the water inlet end of the delivery pipe is covered by the filter screen. When the delivery pipe is acted upon by a booster pump to draw water and fertilizer materials, the water and fertilizer materials will be filtered by the filter screen before entering the delivery pipe, effectively reducing the possibility of particulate impurities entering the delivery pipe, preventing the irrigation mechanism from being blocked by the particulate impurities, not only slowing down the loss rate of the irrigation robot, but also enhancing the irrigation mechanism The uniformity of irrigation can be improved to avoid intermittent irrigation due to blockage of the irrigation mechanism, and the irrigation effect can be effectively improved. When particulate impurities are mixed on the filter screen in contact with the delivery pipe, the rotating motor is started to drive the first rotating shaft to rotate, thereby changing the position of the filter screen in contact with the delivery pipe. This can not only ensure the uniform speed of water entering the delivery pipe, but also enable the particulate impurities attached to the filter screen to be cleaned by the impact of the water flow, thereby enhancing the sustainability of the use of the filter screen. In addition, when the first rotating shaft rotates, it can drive the stirring plate to rotate, effectively stirring the water and fertilizer in the water supply tank, thereby achieving full mixing of the fertilizer and the water.

[0016] By setting a rotating mechanism and an irrigation mechanism, and the rotating mechanism also includes a second rotating shaft and a worm, the irrigation mechanism also includes a spraying assembly and an auxiliary assembly, so that the worm wheel is meshed with the worm, when the rotating motor drives the worm to rotate, it can drive the worm wheel to rotate, thereby realizing the rotation of the spraying assembly, which can not only make the water and fertilizer materials sprayed by the spraying member have a certain rotational force, thereby enhancing the uniformity of spraying, but also can change the position of the spraying member, providing conditions for the subsequent timely cleaning of the spraying member.

[0017] By arranging a cleaning component on the auxiliary component, when the spraying part needs to be cleaned, the auxiliary plate is energized to attract the cleaning component to move, so that the cleaning component is inserted into the spraying part, so that the granular impurities blocked in the spraying part are pushed and collected into the slag collecting chamber of the movable part, and then the auxiliary plate is de-energized to push the cleaning component to move in the opposite direction, so that the cleaning component withdraws from the spraying part, further cleaning the granular impurities and preparing for cleaning the next spraying part, thereby realizing timely cleaning of the spraying part, improving the service life of the spraying component, further enhancing the uniformity of irrigation, and effectively improving the irrigation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which constitute a part of the specification, illustrate embodiments disclosed in the present application and, together with the description, serve to explain the principles disclosed in the present application.

[0019] The present application can be more clearly understood from the following detailed description with reference to the accompanying drawings, in which: Figure 1 It is the overall three-dimensional structure diagram of the present invention; Figure 2 It is a front view cross-sectional three-dimensional structural diagram of the whole present invention; Figure 3 It is a side cross-sectional perspective structural diagram of the whole of the present invention; Figure 4 It is a three-dimensional structural diagram of the fertilizer supply mechanism in the present invention; Figure 5 It is a three-dimensional structural diagram of the disassembled fertilizer supply box and fertilizer supply cover, drive motor and drive plate in the present invention; Figure 6 It is a three-dimensional structural diagram of the water supply mechanism, the rotating mechanism and the irrigation mechanism in the present invention; Figure 7 It is a cross-sectional three-dimensional structural diagram of the water supply mechanism located at the irrigation mechanism of the present invention; Figure 8 It is a cross-sectional three-dimensional structural diagram of the water supply mechanism located at the rotating mechanism of the present invention; Fig. 9 It is a three-dimensional structural diagram of two sets of rotating mechanisms and irrigation mechanisms in the present invention; Fig.10 It is a cross-sectional three-dimensional structural diagram of the irrigation mechanism in the present invention; Fig.11 For the present invention Fig.10 A magnified structural diagram; Fig.12 For the present invention Fig.10 The enlarged structure diagram at B; Fig.13 For the present invention Fig.12 The enlarged structure diagram at C; Fig.14It is a three-dimensional structural diagram of the spray assembly in the present invention; Fig.15 It is a three-dimensional structural diagram of the auxiliary components in the present invention; Fig.16 It is a three-dimensional structural diagram of the delivery pipe in the present invention.

[0020] In the figure: 1. vehicle body; 2. water supply mechanism; 21. fixed frame; 22. water supply box; 23. water delivery component; 3. fertilizer supply mechanism; 31. fertilizer supply box; 32. fertilizer supply cover; 33. drive motor; 34. drive plate; 4. rotating mechanism; 41. rotating motor; 42. first rotating shaft; 43. filter screen; 44. stirring plate; 45. second rotating shaft; 46. worm; 5. irrigation mechanism; 51. delivery pipe; 52. fixed frame; 6. spraying component; 61. movable pipe; 62. movable ball; 63. worm gear; 64. movable part; 65. spraying part; 7. auxiliary component; 71. fixed plate; 72. partition plate; 73. auxiliary plate; 8. cleaning component; 81. cleaning plate; 82. cleaning rod; 83. cleaning part. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application. Embodiment 1

[0022] A smart agricultural field water-fertilizer integrated irrigation robot, comprising: See also Figure 1-Figure 3 , vehicle body 1, is used for traveling in the fields.

[0023] See also Figure 1-Figure 3 , Figure 6-Figure 8 , water supply mechanism 2, the water supply mechanism 2 is arranged at the top of the vehicle body 1, and is used to store water. The water supply mechanism 2 includes a fixing frame 21, a water supply tank 22 and a water delivery component 23, please refer to Figure 6-Figure 8 The fixed frame 21 is arranged at the top of the vehicle body 1, and the water supply tank 22 is sleeved inside the fixed frame 21. The water supply tank 22 is fixed by the fixed frame 21 to enhance the stability of the water supply tank 22. One end of the water delivery component 23 is fixedly connected to one end of the water supply tank 22, and the other end of the water delivery component 23 can be connected to the pipeline system. When the control system detects that there is a lack of water in the water supply tank 22, the water delivery component 23 can be started to connect the water delivery component 23 to the pipeline system, and then the water in the pipeline system is sucked into the water supply tank 22 through the water delivery component 23, so that the water in the water supply tank 22 is replenished.

[0024] See also Figure 1-Figure 5 , Fertilizer supply mechanism 3, a fertilizer supply mechanism 3 is provided on the top of the water supply mechanism 2 for storing fertilizer, and the fertilizer supply mechanism 3 includes a fertilizer supply box 31, a fertilizer supply cover 32, a drive motor 33 and a drive plate 34, please refer to Figure 4-Figure 5 The fertilizer supply box 31 is fixedly arranged at the top of the water supply box 22, and a plurality of storage chambers are provided inside the top of the fertilizer supply box 31, which can divide the fertilizer into a plurality of equal parts. The fertilizer in a storage chamber will be used for one irrigation, so as to improve the accuracy of the water-fertilizer ratio. The top of the fertilizer supply box 31 is movably connected with a fertilizer supply cover 32. The fertilizer supply cover 32 can be removed to fill the fertilizer supply box 31 with fertilizer. The fertilizer supply cover 32 can be installed to prevent the fertilizer from splashing out during operation. The driving motor 33 is fixedly arranged at the top of the water supply box 22, and the driving motor 33 is located on one side of the fertilizer supply box 31. A feeding hole is provided in the middle of the bottom end of the fertilizer supply box 31. The feeding hole passes through all the storage cavities, one end of the driving plate 34 is movably engaged with the feeding hole of the fertilizer supply box 31, and the other end of the driving plate 34 is movably connected with the driving motor 33. When the driving motor 33 retracts the driving plate 34 inward, the storage cavities of the fertilizer supply box 31 will be opened one by one, so that the fertilizer in the storage cavity can fall. The wall surfaces of the fertilizer supply box 31 located on both sides of the feeding hole are inclined, which can effectively ensure the full falling of the fertilizer in the storage cavity. A collecting hole is provided at the top of the water supply box 22 located below the feeding hole, which can make the fallen fertilizer pass through the collecting hole into the water supply box 22, so that the fertilizer is dissolved in the water body.

[0025] See also Figure 1-Figure 3 , Figure 6-Figure 9 , rotating mechanism 4, a rotating mechanism 4 is provided on both sides of the water supply tank 22, and the two rotating mechanisms 4 are centrally symmetrical, and are used to filter particulate impurities in the water body. The rotating mechanism 4 includes a rotating motor 41, a first rotating shaft 42, a filter screen 43 and a stirring plate 44, please refer to Fig. 9 One end of the rotating motor 41 is movably connected to one end of the first rotating shaft 42, and the other end of the first rotating shaft 42 passes through one side wall of the water supply tank 22 and is movably engaged with the other side wall of the water supply tank 22. A filter screen 43 is fixedly sleeved on the first rotating shaft 42, and the bottom end of the filter screen 43 is movably engaged with the inner bottom end of the water supply tank 22, which effectively enhances the stability of the filter screen 43. A plurality of stirring plates 44 are fixedly connected to the wall of the first rotating shaft 42. When the first rotating shaft 42 drives the stirring plates 44 to rotate, the stirring plates 44 fully stir the water and fertilizer, so that the fertilizer is fully dissolved in the water, thereby improving the uniformity of fertilizer dispersion in the water.

[0026] See also Figure 1-Figure 3 , Figure 6-Figure 7 , Figure 9-11 , irrigation mechanism 5, an irrigation mechanism 5 is arranged on both sides of the water supply tank 22, and the two irrigation mechanisms 5 are centrally symmetrical, and are used to transport and spray water, fertilizer and materials. The irrigation mechanism 5 includes a transport pipe 51 and a fixing frame 52, see Fig.16 The shape of the delivery pipe 51 is L-shaped, and the water inlet end of the delivery pipe 51 is horizontal, and the water outlet end of the delivery pipe 51 is vertical, so that the water fertilizer materials in the water supply tank 22 are guided by the delivery pipe 51 and transferred to a high place, so as to prepare for subsequent uniform spraying. The water inlet end of the delivery pipe 51 is fixedly connected with one side of the water supply tank 22, and the water inlet end of the delivery pipe 51 contacts the wall surface of the filter 43, and the filter 43 is used to filter the water fertilizer materials entering the delivery pipe 51 to prevent particulate impurities from entering and staying in the irrigation mechanism 5 and accelerating the loss of the irrigation mechanism 5, and at the same time prevent particulate impurities from clogging the irrigation mechanism 5 and affecting the uniformity of irrigation. When the rotating motor 41 is started, the rotating motor 41 can drive the first rotating shaft 42 and the filter 43 to rotate, thereby changing The position of the filter screen 43 in contact with the delivery pipe 51 not only ensures that the filter screen 43 in contact with the delivery pipe 51 is always kept clean, ensuring timely water delivery and irrigation of the delivery pipe 51, but also ensures that the filter screen 43 out of contact with the delivery pipe 51 is impacted by the water flow, so that the particle impurities attached to the filter screen 43 are affected by the movement trajectory of the water flow and are impacted and fall off, thereby cleaning the filter screen 43 and enhancing the continuity of the operation of the filter screen 43. The rotating motor 41 is located at an obliquely upper position of the water inlet end of the delivery pipe 51, and the distance from the delivery pipe 51 to the center of the filter screen 43 is smaller than the radius of the filter screen 43, thereby ensuring that the filter screen 43 can completely cover the delivery pipe 51, fully filter the water that will enter the delivery pipe 51, and reduce the possibility of particle impurities entering the delivery pipe 51. Please refer to Fig.11 The outer wall of the fixed frame 21 is fixedly connected with a fixing frame 52, and the fixing frame 52 is fixedly sleeved with the delivery pipe 51, which can enhance the stability of the delivery pipe 51. The delivery pipe 51 located inside the fixing frame 52 is provided with a booster pump and a solenoid valve. When the delivery pipe 51 needs to suck water, fertilizer and materials, the booster pump is started and the solenoid valve is opened to transfer the water, fertilizer and materials in the water supply tank 22 to the outside. Embodiment 2

[0027] Based on Example 1, please refer to Figure 6-Figure 9 , the rotating mechanism 4 also includes: The second rotating shaft 45 , the other end of the rotating motor 41 is movably connected to one end of the second rotating shaft 45 .

[0028] The worm 46 is fixedly connected to the other end of the second rotating shaft 45. When the rotating motor 41 is started, the rotating motor 41 can drive the first rotating shaft 42 and the second rotating shaft 45 to rotate synchronously, and then the second rotating shaft 45 drives the worm 46 to rotate, thereby providing power for the spraying assembly 6 to rotate, and providing conditions for further improving the service life of the irrigation mechanism 5.

[0029] The irrigation mechanism 5 also includes: See also Figure 6-Figure 7 , Figure 9-14, spray assembly 6, a spray assembly 6 is movably provided on the delivery pipe 51, and the spray assembly 6 is located above the fixed frame 52, and is used to rotate to improve the uniformity of irrigation. The spray assembly 6 includes a movable pipe 61, a movable ball 62, a worm gear 63, a movable part 64 and a spray part 65, please refer to Figure 10-11 The vertical section of the conveying pipe 51 is movably sleeved with a movable pipe 61 on the outside, and the bottom end of the movable pipe 61 is movably connected with a movable ball 62, and the number of movable balls 62 is several, and the bottom end of the movable ball 62 is in contact with the top of the fixed frame 52. When the movable pipe 61 rotates, the movable ball 62 can rotate on the fixed frame 52, thereby reducing the friction resistance between the movable pipe 61 and the fixed frame 52. The lower half of the movable pipe 61 is fixedly sleeved with a worm wheel 63, and the worm wheel 63 is meshed with the worm 46. The space between the worm wheel 63 and the worm 46 is staggered, and the staggered angle of the axes of the two is 90 degrees. When the worm 46 rotates, the gear teeth of the worm wheel 63 slide and roll along the spiral surface of the worm 46, thereby realizing the movement and power transmission between the two axes, so that the worm wheel 63 rotates, and then the self-rotation of the movable pipe 61 is realized. Please refer to Fig.10 , Figure 12-14 The top of the movable tube 61 is fixedly connected to the bottom of the movable part 64. The movable tube 61 can drive the movable part 64 to rotate when it rotates. The water outlet end of the delivery pipe 51 is located in the movable part 64, and the water outlet end of the delivery pipe 51 is provided with a plurality of water outlets, which can transfer the water, fertilizer and materials in the delivery pipe 51 to the movable part 64. The wall surface of the delivery pipe 51 movably sleeved with the movable part 64 is provided with a sealing ring, which can reduce the gap between the movable part 64 and the delivery pipe 51, thereby sealing the bottom end of the movable part 64 to prevent the water, fertilizer and materials from leaking. The side wall of the movable part 64 is fixedly sleeved with a spraying member 65, and the shape of the spraying member 65 is composed of a cylinder and a truncated cone. The number of the spraying members 65 is several, and they are evenly arranged around the movable part 64, so that the water, fertilizer and materials in the movable part 64 can be sprayed out to realize irrigation of crops. In particular, the movable part 64 can drive the spraying member 65 to rotate when rotating, so that the sprayed water, fertilizer and materials have a certain rotation force, thereby enhancing the uniformity of irrigation.

[0030] See also Figure 6-Figure 7 , Figure 9-10 , Figure 12-13 , Fig.15 , the auxiliary component 7, the water outlet end of the delivery pipe 51 is connected to the auxiliary component 7, and the auxiliary component 7 is movably connected with the spray component 6, which is used to cooperate with the spray component 6 to realize irrigation, and timely clean the spray component 6 to prevent the spray component 6 from being blocked and reducing the irrigation efficiency, and prolong the service life of the spray component 6. The auxiliary component 7 includes a fixing plate 71 and a partition plate 72, please refer to Fig.15The middle part of the fixed plate 71 is fixedly sleeved with the water outlet end of the conveying pipe 51 to ensure the stability of the auxiliary component 7 arranged on the conveying pipe 51. A sealing ring is provided at the bottom end of the fixed plate 71, and the fixed plate 71 is fully fitted with the movable part 64 through the sealing ring, which can reduce the gap between the movable part 64 and the fixed plate 71, thereby sealing the top of the movable part 64 to prevent leakage of water, fertilizer and materials. A partition plate 72 is fixedly connected to the bottom end of the fixed plate 71, and the partition plate 72 is located on the side of the fixed plate 71 close to the water supply tank 22. A sealing film is provided on the outside of the partition plate 72, and the partition plate 72 is movably engaged with the movable part 64 through the sealing film, effectively reducing the gap between the movable part 64 and the partition plate 72, further preventing leakage of water, fertilizer and materials. The interior of the movable part 64 is divided into a slag collecting chamber and a spraying chamber by the partition plate 72. The slag collecting chamber is used to collect particulate impurities blocked on the spraying member 65, and the spraying chamber is used to spray water, fertilizer and materials outward. Embodiment 3

[0031] On the basis of the second embodiment, the auxiliary component 7 further includes: See also Fig.12 , Fig.15 , the partition plate 72 is an electromagnet, and the partition plate 72 is electrically connected to the control system. The partition plate 72 is energized and has magnetism, which can provide power for the cleaning component 8 to move the cleaning spraying member 65.

[0032] See also Figure 12-13 , Fig.15 , auxiliary plate 73, the bottom end of the fixed plate 71 is fixedly connected with the auxiliary plate 73, and the auxiliary plate 73 is located outside the movable part 64, there is a space gap between the auxiliary plate 73 and the movable part 64, and the auxiliary plate 73 is close to the slag collecting cavity of the movable part 64, which can provide space conditions for fixing the cleaning component 8.

[0033] See also Figure 12-13 , Fig.15, cleaning component 8, the inner wall of the auxiliary plate 73 is provided with a cleaning groove, and the auxiliary plate 73 is movably connected to the cleaning component 8 through the cleaning groove, and the cleaning component 8 is used to move back and forth to clean the spraying member 65 to prevent the spraying member 65 from being blocked by particulate impurities. The cleaning component 8 includes a cleaning plate 81, a cleaning rod 82 and a cleaning member 83. The cleaning plate 81 is movably sleeved with the cleaning groove of the auxiliary plate 73, and the cleaning plate 81 has a magnetism opposite to that of the partition plate 72. One side wall of the cleaning plate 81 is connected to the wall of the cleaning groove of the auxiliary plate 73 by a tension spring. When the partition plate 72 is powered on, the cleaning plate 81 moves toward the direction of the movable member 64 under the action of the magnetic attraction of the partition plate 72. When the partition plate 72 is powered off, the cleaning plate 81 Under the action of the tension spring, the movable part 64 moves in the opposite direction. One end of the cleaning rod 82 is fixedly connected to the cleaning plate 81, and the other end of the cleaning rod 82 is fixedly connected to the cleaning part 83. The cleaning part 83 is shaped as a hemispherical shell, and the outer wall radius of the cleaning part 83 is smaller than the minimum radius of the spray part 65. When the cleaning part 83 is inserted into the spray part 65, the particulate impurities accumulated in the spray part 65 can be effectively pushed into the slag collecting chamber of the movable part 64, thereby cleaning the spray part 65. When the cleaning part 83 withdraws from the spray part 65, some of the particulate impurities are driven outward by the shape of the cleaning part 83 and fall from the space gap between the movable part 64 and the auxiliary plate 73, thereby further cleaning the particulate impurities.

[0034] The working principle of the method of the present invention is as follows: When the crops in the farmland need to be irrigated, the vehicle body 1 is started to move the vehicle body 1 to the interface of the pipeline system, and then the water in the pipeline system is transported to the water supply tank 22 by using the water delivery component 23, and then the fertilizer supply mechanism 3 is turned on to make the fertilizer in the fertilizer supply mechanism 3 fall into the water supply tank 22, so that the fertilizer is dissolved in the water, and then the booster pump on the irrigation mechanism 5 is started to make the water and fertilizer materials in the water supply tank 22 be sucked into the spraying chamber of the movable part 64 through the delivery pipe 51, and then sprayed out by the spraying part 65 to realize the irrigation of the crops.

[0035] During the spraying process, the delivery pipe 51 continuously draws water, fertilizer and materials in the water supply tank 22. Since the water inlet end of the delivery pipe 51 is provided with a filter 43, the water, fertilizer and materials will be filtered by the filter 43 before entering the delivery pipe 51, effectively reducing the possibility of particulate impurities entering the delivery pipe 51, and preventing the irrigation mechanism 5 from being blocked by particulate impurities. It not only slows down the loss rate of the irrigation robot, but also enhances the uniformity of irrigation by the irrigation mechanism 5, avoids intermittent irrigation due to blockage of the irrigation mechanism 5, and effectively improves the irrigation effect. At the same time, the rotating motor 41 is started to make the first rotating shaft 42 and the second rotating shaft 45 rotate synchronously. When the first rotating shaft 42 rotates, the position of the filter 43 in contact with the delivery pipe 51 is effectively changed, so that the filter 43 in contact with the delivery pipe 51 is always kept in a clean state, ensuring timely water supply and irrigation of the delivery pipe 51, and making the delivery pipe 51 The filter screen 43 that is out of contact with the tube 51 is impacted by the water flow, so that the particulate impurities attached to the filter screen 43 are affected by the movement trajectory of the water flow and are impacted and fall off, thereby cleaning the filter screen 43 and enhancing the continuity of the operation of the filter screen 43. At the same time, the first rotating shaft 42 effectively drives the stirring plate 44 to rotate when rotating, effectively stirring the water and fertilizer in the water supply tank 22, and achieving full mixing of the fertilizer and the water. When the second rotating shaft 45 rotates, it effectively drives the worm 46 to rotate. Since the gear teeth of the worm wheel 63 slide and roll along the spiral surface of the worm wheel 46, the movement and power transmission between the two shafts are realized, so that the worm wheel 63 rotates, and then the self-rotation of the spraying assembly 6 is realized. In this process, the movable part 64 continuously sprays the water-fertilizer material through the spraying part 65, so that the water-fertilizer material sprayed by the spraying part 65 has a certain rotational force, which effectively enhances the spraying uniformity.

[0036] When the spraying member 65 is blocked, the control system prompts the rotating motor 41 to rotate intermittently. When a spraying member 65 rotates to correspond to the cleaning component 8, the rotating motor 41 stops rotating. At this time, the control system controls the partition plate 72 to be energized and magnetic, so that the cleaning component 8 is inserted into the spraying member 65 under the action of the magnetic attraction force, so that the granular impurities blocked in the spraying member 65 are pushed and collected into the slag collecting chamber of the movable member 64, and then the auxiliary plate 73 is powered off to push the cleaning component 8 to move in the opposite direction, so that the cleaning component 8 exits the spraying member 65, thereby preparing for cleaning the next spraying member 65, and then the rotating motor 41 starts to rotate again, and so on and so forth, to achieve the cleaning of each spraying member 65. In summary, the cleaning component 8 can realize the timely cleaning of the spraying member 65, which can increase the service life of the spraying component 6, further enhance the uniformity of irrigation, and effectively improve the irrigation effect.

Claims

1. A smart agricultural field water-fertilizer integrated irrigation robot, characterized in that: include: A water supply mechanism (2) is used to store water, the water supply mechanism (2) comprising a water supply tank (22); A rotating mechanism (4), wherein a rotating mechanism (4) is provided on both sides of the water supply tank (22), and the two rotating mechanisms (4) are centrally symmetrical and are used to filter particulate impurities in the water body, the rotating mechanism (4) comprising a rotating motor (41), a first rotating shaft (42) and a filter screen (43), one end of the rotating motor (41) is movably connected to one end of the first rotating shaft (42), the other end of the first rotating shaft (42) passes through a side wall of the water supply tank (22) and is movably engaged with the other side wall of the water supply tank (22), the filter screen (43) is fixedly sleeved on the first rotating shaft (42), and the bottom end of the filter screen (43) is movably engaged with the inner bottom end of the water supply tank (22); An irrigation mechanism (5) is provided on each side of the water supply box (22), and the two irrigation mechanisms (5) are centrally symmetrical and are used to transport and spray water, fertilizer and materials. The irrigation mechanism (5) comprises a transport pipe (51), the water inlet end of the transport pipe (51) is fixedly sleeved with one side of the water supply box (22), and the water inlet end of the transport pipe (51) contacts the wall surface of the filter screen (43), and the filter screen (43) is used to filter the water, fertilizer and materials entering the transport pipe (51).

2. The intelligent agricultural field water-fertilizer integrated irrigation robot according to claim 1, characterized in that: The water supply mechanism (2) further comprises: A fixed frame (21), the fixed frame (21) being arranged at the top end of the vehicle body (1), and the water supply tank (22) being sleeved inside the fixed frame (21); A water delivery component (23), one end of the water delivery component (23) being fixedly connected to one end of the water supply tank (22), and the other end of the water delivery component (23) being able to be connected to a pipeline system.

3. The intelligent agricultural field water-fertilizer integrated irrigation robot according to claim 2, characterized in that: The delivery pipe (51) is L-shaped, the water inlet end of the delivery pipe (51) is in a horizontal state, the water outlet end of the delivery pipe (51) is in a vertical state, the rotary motor (41) is located obliquely above the water inlet end of the delivery pipe (51), and the distance from the delivery pipe (51) to the center of the filter screen (43) is smaller than the radius of the filter screen (43).

4. The intelligent agricultural field water-fertilizer integrated irrigation robot according to claim 3, characterized in that: The rotating mechanism (4) further comprises: A stirring plate (44), wherein a plurality of stirring plates (44) are fixedly connected to the wall surface of the first rotating shaft (42); A second rotating shaft (45), the other end of the rotating motor (41) being movably connected to one end of the second rotating shaft (45); A worm (46), the other end of the second rotating shaft (45) being fixedly connected to the worm (46).

5. The intelligent agricultural field water-fertilizer integrated irrigation robot according to claim 4, characterized in that: The irrigation mechanism (5) further comprises: A fixing frame (52), wherein the outer wall of the fixing frame (21) is fixedly connected with the fixing frame (52), and the fixing frame (52) is fixedly sleeved with the conveying pipe (51); A spraying assembly (6), wherein the delivery pipe (51) is movably provided with the spraying assembly (6), and the spraying assembly (6) is located above the fixing frame (52) and is used for rotating to improve irrigation uniformity; The auxiliary component (7) is connected to the water outlet end of the delivery pipe (51), and the auxiliary component (7) is movably connected to the spray component (6) to cooperate with the spray component (6) to achieve irrigation and timely clean the spray component (6).

6. The intelligent agricultural field water-fertilizer integrated irrigation robot according to claim 5, characterized in that: The spraying assembly (6) comprises: A movable tube (61), the movable tube (61) being movably sleeved on the outside of the vertical section of the delivery tube (51); A movable ball (62), wherein the bottom end of the movable tube (61) is movably connected with the movable ball (62), and the number of movable balls (62) is a certain number, and the bottom end of the movable ball (62) is in contact with the top end of the fixed frame (52); A worm wheel (63), the lower half of the movable tube (61) is fixedly sleeved with the worm wheel (63), and the worm wheel (63) is meshed with the worm (46), the worm wheel (63) and the worm (46) are spatially staggered, and the staggered angle of the axes of the two is 90 degrees; A movable part (64), the top end of the movable tube (61) is fixedly connected to the bottom end of the movable part (64), the water outlet end of the delivery tube (51) is located in the movable part (64), and the water outlet end of the delivery tube (51) is provided with a plurality of water outlets, and a sealing ring is provided on the wall surface of the delivery tube (51) movably sleeved with the movable part (64); A spraying member (65) is fixedly sleeved on the side wall of the movable member (64), and the spraying member (65) is shaped like a cylinder and a frustum. The number of the spraying members (65) is several and they are evenly arranged around the movable member (64).

7. The intelligent agricultural field water-fertilizer integrated irrigation robot according to claim 6, characterized in that: The auxiliary component (7) comprises: A fixed plate (71), wherein the middle portion of the fixed plate (71) is fixedly sleeved with the water outlet end of the delivery pipe (51), a sealing ring is provided at the bottom end of the fixed plate (71), and the fixed plate (71) is fitted with the movable part (64) via the sealing ring; A partition plate (72), wherein the bottom end of the fixed plate (71) is fixedly connected with the partition plate (72), and the partition plate (72) is located on a side of the fixed plate (71) close to the water supply tank (22); a sealing film is provided on the outside of the partition plate (72), and the partition plate (72) is movably engaged with the movable part (64) through the sealing film; the interior of the movable part (64) is divided into two parts, a slag collecting chamber and a spraying chamber, by the partition plate (72); the partition plate (72) is an electromagnet, and the partition plate (72) is electrically connected to a control system, and the partition plate (72) is magnetic when energized; an auxiliary plate (73), wherein the bottom end of the fixed plate (71) is fixedly connected to the auxiliary plate (73), and the auxiliary plate (73) is located outside the movable part (64), a space gap exists between the auxiliary plate (73) and the movable part (64), and the auxiliary plate (73) is close to the slag collecting cavity of the movable part (64); A cleaning assembly (8), wherein a cleaning groove is formed on the inner wall of the auxiliary plate (73), and the auxiliary plate (73) is movably connected to the cleaning assembly (8) via the cleaning groove, so that the cleaning assembly (8) can be moved back and forth to clean the spraying member (65).

8. The intelligent agricultural field water-fertilizer integrated irrigation robot according to claim 7, characterized in that: The cleaning component (8) comprises: A cleaning plate (81), the cleaning plate (81) being movably sleeved with the cleaning groove of the auxiliary plate (73), and the cleaning plate (81) having a magnetic property opposite to that of the partition plate (72), and a side wall surface of the cleaning plate (81) and a wall surface of the cleaning groove of the auxiliary plate (73) being connected via a tension spring; a cleaning rod (82), one end of the cleaning rod (82) being fixedly connected to the cleaning plate (81); A cleaning piece (83), the other end of the cleaning rod (82) being fixedly connected to the cleaning piece (83), the cleaning piece (83) being in the shape of a hemispherical shell, and the outer wall radius of the cleaning piece (83) being smaller than the minimum radius of the spraying piece (65).

9. The intelligent agricultural field water-fertilizer integrated irrigation robot according to claim 1, characterized in that: Also includes: The vehicle body (1) is used for traveling in the field, and the water supply mechanism (2) is arranged on the top of the vehicle body (1); A fertilizer supply mechanism (3), wherein a fertilizer supply mechanism (3) is provided at the top of the water supply mechanism (2) and is used for storing fertilizer.

10. The intelligent agricultural field water-fertilizer integrated irrigation robot according to claim 9, characterized in that: The fertilizer supply mechanism (3) comprises: A fertilizer supply box (31), the fertilizer supply box (31) being fixedly arranged at the top end of the water supply box (22), and a plurality of material storage cavities being provided inside the top end of the fertilizer supply box (31); A fertilizer supply cover (32), the top end of the fertilizer supply box (31) being movably connected to the fertilizer supply cover (32); A drive motor (33), wherein the drive motor (33) is fixedly disposed on a top end of the water supply box (22), and the drive motor (33) is located on one side of the fertilizer supply box (31); A driving plate (34) is provided at the middle of the bottom end of the fertilizer supply box (31) with a feeding hole, and the feeding hole passes through the entire storage cavity, one end of the driving plate (34) is movably engaged with the feeding hole of the fertilizer supply box (31), and the other end of the driving plate (34) is movably connected to the driving motor (33), the wall surfaces of the fertilizer supply box (31) located on both sides of the feeding hole are inclined, and a collecting hole is provided at the top end of the water supply box (22) located below the feeding hole.

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