An intelligent agricultural field integrated water and fertilizer irrigation robot

Abstract

This application relates to the field of irrigation technology, 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 includes a rotating motor, a first rotating shaft and a filter screen. The filter screen is fixedly sleeved on the first rotating shaft, and the bottom end of the filter screen is movably clamped with the inner bottom end of the water supply tank. The irrigation mechanism includes a delivery pipe, and the water inlet end of the delivery pipe is in contact with the wall surface of the filter screen. By covering the water inlet end of the delivery pipe with the filter screen, when the delivery pipe absorbs water and fertilizer materials under the action of a booster pump, the water and fertilizer materials will be filtered by the filter screen and then enter the delivery pipe, effectively reducing the possibility of particulate impurities entering the delivery pipe, preventing the irrigation mechanism from being blocked by particulate impurities, not only slowing down the loss rate of the irrigation robot, but also enhancing the uniformity of irrigation of the irrigation mechanism, avoiding intermittent irrigation due to the blockage of the irrigation mechanism, and effectively improving the irrigation effect.

Description

Technical Field

[0001] This application relates to the field of irrigation technology, and particularly to an intelligent agricultural field water and fertilizer integrated irrigation robot. Background Art

[0002] Smart agriculture refers to the use of advanced technological means, such as Internet of Things, big data analysis, and artificial intelligence, to achieve intelligent and digital management of the agricultural production process. At present, during the use of smart agriculture, a water and fertilizer integrated irrigation system will be adopted to accurately configure fertilizers, save resources, and reduce environmental pollution. The so-called water and fertilizer integration technology is a new agricultural technology that combines irrigation and fertilization. Its application includes a water and fertilizer integrated irrigation robot, which is mainly composed of a water supply device, a fertilizer supply device, a water conveyance device, and a spraying device, etc. First, the irrigation water source located in the pipeline system is conveyed to the water supply device by the water conveyance device, then the fertilizer stored in the fertilizer supply device is dissolved in the water of the water supply device, and finally, irrigation and fertilization are carried out by the spraying device, so as to meet the water and fertilizer requirements of crops in a timely and appropriate manner, and achieve synchronous management and efficient utilization of water and fertilizer.

[0003] However, there are still certain defects in the existing water and fertilizer integrated irrigation robots during use: the irrigation water source in the pipeline system is mainly surface water, that is, river runoff, lakes, and surface runoff intercepted during the confluence process. Generally, surface water 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 speeds up the wear rate of the irrigation robot. Summary of the Invention

[0004] This application proposes an intelligent agricultural field water and fertilizer integrated irrigation robot, which has the advantages of effectively filtering particulate impurities, slowing down the wear rate of the irrigation robot, and improving the irrigation effect, so as to solve the problem that the particulate impurities are easy to block the spraying device.

[0005] To achieve the above object, this application adopts the following technical solution: An intelligent agricultural field water and fertilizer integrated irrigation robot, comprising:

[0006] A water supply mechanism for storing water bodies, and the water supply mechanism includes a water supply tank;

[0007] A rotating mechanism, with a rotating mechanism provided on each side of the water supply tank, and the two rotating mechanisms are centrosymmetric, for filtering 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, the other end of the first rotating shaft passes through a side wall surface of the water supply tank and is movably clamped to the other side wall surface of the water supply tank. The filter screen is fixedly sleeved on the first rotating shaft, and the bottom end of the filter screen is movably clamped to the inner bottom end of the water supply tank;

[0008] Irrigation mechanism, an irrigation mechanism is provided on each side of the water supply tank, and the two irrigation mechanisms are centrosymmetric, used for conveying and spraying water and fertilizer materials. The irrigation mechanism includes a conveying pipe, the water inlet end of the conveying pipe is fixedly sleeved with one side of the water supply tank, and the water inlet end of the conveying pipe is in contact with the wall surface of the filter screen, and the filter screen is used to filter the water and fertilizer materials entering the conveying pipe.

[0009] Furthermore, the water supply mechanism further includes:

[0010] Fixed frame, the fixed frame is arranged at the top of the vehicle body, and the water supply tank is sleeved inside the fixed frame;

[0011] Water conveyance component, one end of the water conveyance component is fixedly communicated with one end of the water supply tank, and the other end of the water conveyance component can be communicated with the pipeline system.

[0012] Furthermore, the shape of the conveying pipe is L-shaped, the water inlet end of the conveying pipe is in a horizontal state, the water outlet end of the conveying pipe is in a vertical state, the rotating motor is located obliquely above the water inlet end of the conveying pipe, and the distance from the conveying pipe to the center of the filter screen is smaller than the radius of the filter screen.

[0013] Furthermore, the rotating mechanism further includes:

[0014] Stirring plate, a plurality of stirring plates are fixedly connected to the wall surface of the first rotating shaft;

[0015] Second rotating shaft, the other end of the rotating motor is movably connected to one end of the second rotating shaft;

[0016] Worm, the other end of the second rotating shaft is fixedly connected with a worm.

[0017] Furthermore, the irrigation mechanism further includes:

[0018] Fixed frame, the outer wall of the fixed frame is fixedly connected with a fixed frame, and the fixed frame is fixedly sleeved with the conveying pipe;

[0019] Spraying component, a spraying component is movably arranged on the conveying pipe, and the spraying component is located above the fixed frame, used for rotating to improve the irrigation uniformity;

[0020] Auxiliary component, the water outlet end of the conveying pipe is connected with the auxiliary component, and the auxiliary component is movably clamped with the spraying component, used for cooperating with the spraying component to achieve irrigation and cleaning the spraying component in time.

[0021] Furthermore, the spraying component includes:

[0022] Movable pipe, the vertical section of the conveying pipe is movably sleeved with a movable pipe;

[0023] Movable ball, the bottom end of the movable pipe is movably clamped with a movable ball, and the number of movable balls is several, and the bottom end of the movable ball contacts the top end of the fixed frame;

[0024] Worm gear, the lower half of the movable pipe is fixedly sleeved with a worm gear, and the worm gear meshes with the worm. The space between the worm gear and the worm is staggered, and the staggered angle between their axes is 90 degrees;

[0025] Movable part, the top end of the movable pipe is fixedly connected to the bottom end of the movable part. The water outlet end of the delivery pipe is located inside the movable part, and several water outlets are opened at the water outlet end of the delivery pipe. A sealing ring is arranged on the wall surface of the delivery pipe movably sleeved with the movable part;

[0026] Spraying part, the side wall of the movable part is fixedly sleeved with a spraying part, and the shape of the spraying part is composed of a cylinder and a frustum of a cone. The number of spraying parts is several and they are evenly arranged around the movable part.

[0027] Further, the auxiliary component includes:

[0028] Fixed plate, the middle part of the fixed plate is fixedly sleeved with the water outlet end of the delivery pipe. A sealing ring is arranged at the bottom end of the fixed plate, and the fixed plate is attached to the movable part through the sealing ring;

[0029] Partition plate, the bottom end of the fixed plate is fixedly connected with a partition plate, and the partition plate is located on one side of the fixed plate close to the water supply tank. A sealing film is arranged outside the partition plate, and the partition plate is movably clamped with the movable part through the sealing film. The inside of the movable part is divided into two parts, a slag collection chamber and a spraying chamber, by the partition plate. The partition plate is a through electromagnet and is electrically connected to the control system. The partition plate is magnetized when energized;

[0030] Auxiliary plate, the bottom end of the fixed plate is fixedly connected with an 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 collection chamber of the movable part;

[0031] Cleaning component, a cleaning groove is opened on the inner wall of the auxiliary plate, and the auxiliary plate is movably connected with the cleaning component through the cleaning groove. The cleaning of the spraying part is realized by moving the cleaning component back and forth.

[0032] Further, the cleaning component includes:

[0033] Cleaning plate, the cleaning plate is movably sleeved in the cleaning groove of the auxiliary plate, and the cleaning plate has a magnetic property opposite to that of the partition plate. One side wall surface of the cleaning plate is connected to the wall surface of the cleaning groove of the auxiliary plate through a tension spring;

[0034] Cleaning rod, one end of the cleaning rod is fixedly connected to the cleaning plate;

[0035] A cleaning member, the other end of the cleaning rod is fixedly connected to the cleaning member, the shape of the cleaning member is a hemispherical shell, and the outer wall radius of the cleaning member is smaller than the minimum radius of the spraying member.

[0036] Furthermore, it further includes:

[0037] A vehicle body for traveling in the field, and the water supply mechanism is arranged at the top of the vehicle body;

[0038] A fertilizer supply mechanism, a fertilizer supply mechanism is arranged at the top of the water supply mechanism for storing fertilizers.

[0039] Furthermore, the fertilizer supply mechanism includes:

[0040] A fertilizer supply tank, the fertilizer supply tank is fixedly arranged at the top of the water supply tank, and a plurality of material storage cavities are opened inside the top of the fertilizer supply tank;

[0041] A fertilizer supply cover, the fertilizer supply cover is movably clamped at the top of the fertilizer supply tank;

[0042] A driving motor, the driving motor is fixedly arranged at the top of the water supply tank and is located on one side of the fertilizer supply tank;

[0043] A driving plate, a material discharging hole is opened in the middle of the bottom end of the fertilizer supply tank, and the material discharging hole passes through all the material storage cavities. One end of the driving plate is movably clamped with the material discharging hole of the fertilizer supply tank, and the other end of the driving plate is movably connected to the driving motor. The wall surfaces of the fertilizer supply tank on both sides of the material discharging hole are arranged in an inclined plane, and a material collecting hole is opened at the top of the water supply tank below the material discharging hole.

[0044] The present application has the following beneficial effects:

[0045] The present application provides a smart agricultural field water and fertilizer integrated irrigation robot, which is provided with a rotating mechanism and an irrigation mechanism on the 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 affected by particulate impurities and being blocked, not only slowing down the loss rate of the irrigation robot, but also enhancing the irrigation mechanism. The uniformity of irrigation can be improved, and intermittent irrigation due to blockage of the irrigation mechanism can be avoided, thereby effectively improving the irrigation effect. 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 not only ensures the uniform speed of water entering the delivery pipe, but also enables 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 water.

[0046] 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 engaged 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 not only can make the water and fertilizer materials sprayed by the spraying member have a certain rotational force, thereby enhancing the spraying uniformity, but also can change the position of the spraying member, providing conditions for the subsequent timely cleaning of the spraying member.

[0047] 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 exits 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

[0048] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments disclosed herein and, together with the description, serve to explain the principles disclosed herein.

[0049] The present application can be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0050] Figure 1 It is the overall three-dimensional structural diagram of the present invention;

[0051] Figure 2 This is the overall front view sectional three-dimensional structure diagram of the present invention;

[0052] Figure 3 This is the overall side view sectional three-dimensional structure diagram of the present invention;

[0053] Figure 4 This is the three-dimensional structure diagram of the fertilizer supply mechanism in the present invention;

[0054] Figure 5 This is the three-dimensional structure diagram of the disassembled fertilizer supply box, fertilizer supply cover, drive motor, and drive plate in the present invention;

[0055] Figure 6 This is the three-dimensional structure diagram of the water supply mechanism, rotating mechanism, and irrigation mechanism in the present invention;

[0056] Figure 7 This is the sectional three-dimensional structure diagram of the water supply mechanism at the irrigation mechanism in the present invention;

[0057] Figure 8 This is the sectional three-dimensional structure diagram of the water supply mechanism at the rotating mechanism in the present invention;

[0058] Figure 9 This is the three-dimensional structure diagram of two groups of rotating mechanisms and the irrigation mechanism in the present invention;

[0059] Figure 10 This is the sectional three-dimensional structure diagram of the irrigation mechanism in the present invention;

[0060] Figure 11 In the present invention Figure 10 Enlarged structure diagram at position A;

[0061] Figure 12 In the present invention Figure 10 Enlarged structure diagram at position B;

[0062] Figure 13 In the present invention Figure 12 Enlarged structure diagram at position C;

[0063] Figure 14 This is the three-dimensional structure diagram of the spraying assembly in the present invention;

[0064] Figure 15 This is the three-dimensional structure diagram of the auxiliary assembly in the present invention;

[0065] Figure 16 This is the three-dimensional structure diagram of the delivery pipe in the present invention.

[0066] In the figure: 1, vehicle body; 2, water supply mechanism; 21, fixed frame; 22, water supply tank; 23, water delivery component; 3, fertilizer supply mechanism; 31, fertilizer supply tank; 32, fertilizer supply cover; 33, drive motor; 34, drive plate; 4, rotation mechanism; 41, rotation motor; 42, first rotation shaft; 43, filter screen; 44, stirring plate; 45, second rotation shaft; 46, worm; 5, irrigation mechanism; 51, delivery pipe; 52, fixed bracket; 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. Specific implementation manner

[0067] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application. Embodiment 1

[0068] A smart agricultural field water and fertilizer integrated irrigation robot includes:

[0069] Please refer to Figures 1 - 3 , the vehicle body 1, which is used to walk in the field.

[0070] Please refer to Figures 1 - 3 , Figures 6 - 8 , the 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 fixed frame 21, a water supply tank 22 and a water delivery component 23. Please refer to Figures 6 - 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, enhancing the stability of the water supply tank 22. One end of the water delivery component 23 is fixedly communicated with one end of the water supply tank 22, and the other end of the water delivery component 23 can be communicated with the pipeline system. When the control system detects that the water supply tank 22 is short of water, the water delivery component 23 can be started so that the water delivery component 23 is connected to the pipeline system, and then the water in the pipeline system is pumped into the water supply tank 22 through the water delivery component 23, so that the water volume in the water supply tank 22 is replenished.

[0071] Please refer to Figures 1 - 5 , the fertilizer supply mechanism 3, the fertilizer supply mechanism 3 is arranged at the top of the water supply mechanism 2 and is used to store fertilizer. The fertilizer supply mechanism 3 includes a fertilizer supply tank 31, a fertilizer supply cover 32, a drive motor 33 and a drive plate 34. Please refer to Figures 4 - 5, The fertilizer supply tank 31 is fixedly arranged at the top of the water supply tank 22. Inside the top of the fertilizer supply tank 31, several storage chambers are provided, which can divide the fertilizer into several equal parts. One storage chamber of fertilizer will be used for one irrigation, improving the accuracy of the water-fertilizer ratio. A fertilizer supply cover 32 is movably clamped at the top of the fertilizer supply tank 31. Removing the fertilizer supply cover 32 allows filling the fertilizer amount into the fertilizer supply tank 31, and installing the fertilizer supply cover 32 can prevent the fertilizer from splashing out during work. The driving motor 33 is fixedly arranged at the top of the water supply tank 22 and is located on one side of the fertilizer supply tank 31. A material discharging hole is provided in the middle of the bottom end of the fertilizer supply tank 31, and the material discharging hole passes through all the storage chambers. One end of the driving plate 34 is movably clamped with the material discharging hole of the fertilizer supply tank 31, and the other end of the driving plate 34 is movably connected with the driving motor 33. When the driving motor 33 contracts the driving plate 34 inward, the storage chambers of the fertilizer supply tank 31 will be opened one by one, realizing the falling of the fertilizer in the storage chambers. The wall surfaces of the fertilizer supply tank 31 on both sides of the material discharging hole are inclined surfaces, which can effectively ensure the full falling of the fertilizer in the storage chambers. An aggregate hole is provided at the top of the water supply tank 22 below the material discharging hole, which can enable the falling fertilizer to pass through the aggregate hole and enter the water supply tank 22, realizing the dissolution of the fertilizer in the water body.

[0072] Please refer to Figures 1 - 3 、 [[ID= , the rotating mechanism 4. A rotating mechanism 4 is provided on each side of the water supply tank 22, and the two rotating mechanisms 4 are centrosymmetric, used for filtering 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 ​ , One end of the rotating motor 41 is movably connected with one end of the first rotating shaft 42. The other end of the first rotating shaft 42 passes through a side wall surface of the water supply tank 22 and is movably clamped with the other side wall surface 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 clamped with the inner bottom end of the water supply tank 22, effectively enhancing the stability of the filter screen 43. A plurality of stirring plates 44 are fixedly connected to the wall surface 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 body and the fertilizer, making the fertilizer fully dissolve in the water body and improving the uniformity of the fertilizer dispersion in the water body.

[0073] Please refer to ​ 、 ​ 、 ​ , the irrigation mechanism 5. An irrigation mechanism 5 is provided on each side of the water supply tank 22, and the two irrigation mechanisms 5 are centrosymmetric, used for conveying and spraying the water-fertilizer material. The irrigation mechanism 5 includes a conveying pipe 51 and a fixing frame 52. Please refer to ​, the shape of the delivery pipe 51 is L-shaped, and the water inlet end of the delivery pipe 51 is in a horizontal state, while the water outlet end of the delivery pipe 51 is in a vertical state, so that the water and fertilizer materials in the water supply tank 22 are guided by the delivery pipe 51 and transferred to a higher place, thus preparing for subsequent uniform spraying. The water inlet end of the delivery pipe 51 is fixedly sleeved with one side of the water supply tank 22, and the water inlet end of the delivery pipe 51 is in contact with the wall surface of the filter screen 43. The filter screen 43 is used to filter the water and fertilizer materials that will enter the delivery pipe 51, preventing particulate impurities from entering and staying in the irrigation mechanism 5 and accelerating the wear of the irrigation mechanism 5. At the same time, it prevents particulate impurities from blocking the irrigation mechanism 5 and affecting the irrigation uniformity. When the rotating motor 41 is started, the rotating motor 41 can drive the first rotating shaft 42 and the filter screen 43 to rotate, thereby changing the position of the filter screen 43 in contact with the delivery pipe 51. This not only keeps the filter screen 43 in contact with the delivery pipe 51 always in a clean state, ensuring the timely water supply and irrigation of the delivery pipe 51, but also makes the filter screen 43 separated from the delivery pipe 51 be impacted by the water flow. As a result, the particulate impurities attached to the filter screen 43 are impacted and shed under the influence of the water flow movement trajectory, realizing the cleaning of the filter screen 43 and enhancing the continuity of the filter screen 43's work. The rotating motor 41 is located at the upper oblique 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, so as to ensure that the filter screen 43 can completely cover the delivery pipe 51, fully filter the water body that will enter the delivery pipe 51, and reduce the possibility of particulate impurities entering the delivery pipe 51. Please refer to ​ , a fixing frame 52 is fixedly connected to the outer wall of the fixing frame 21, and the fixing frame 52 is fixedly sleeved with the delivery pipe 51, which can enhance the stability of the delivery pipe 51. A booster pump and a solenoid valve are arranged on the delivery pipe 51 inside the fixing frame 52. When the delivery pipe 51 needs to pump water and fertilizer materials, the booster pump is started and the solenoid valve is opened to transfer the water and fertilizer materials in the water supply tank 22 outwards. Embodiment Two

[0074] On the basis of Embodiment One, please refer to ​ , the rotating mechanism 4 further includes:

[0075] A second rotating shaft 45, and the other end of the rotating motor 41 is movably connected to one end of the second rotating shaft 45.

[0076] A worm 46, the other end of the second rotating shaft 45 is fixedly connected to the worm 46. 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. Further, the second rotating shaft 45 drives the worm 46 to rotate, thereby providing power for promoting the rotation of the spraying assembly 6 and providing conditions for further improving the service life of the irrigation mechanism 5.

[0077] The irrigation mechanism 5 further includes:

[0078] Please refer to ​, ​ , a spraying assembly 6 is movably arranged on the conveying pipe 51, and the spraying assembly 6 is located above the fixing frame 52 and is used for rotating to improve the irrigation uniformity. The spraying assembly 6 includes a movable pipe 61, a movable ball 62, a worm gear 63, a movable member 64 and a spraying member 65. Please refer to ​ , the outer part of the vertical section of the conveying pipe 51 is movably sleeved with a movable pipe 61, the bottom end of the movable pipe 61 is movably clamped with a movable ball 62, and the number of the movable balls 62 is several. The bottom end of the movable ball 62 contacts the top end of the fixing frame 52. When the movable pipe 61 rotates, the movable ball 62 can rotate on the fixing frame 52, thereby reducing the frictional resistance between the movable pipe 61 and the fixing frame 52. The lower half of the movable pipe 61 is fixedly sleeved with a worm gear 63, and the worm gear 63 meshes with a worm 46. The space between the worm gear 63 and the worm 46 is staggered, and the staggered angle between the axes of the two is 90 degrees. When the worm 46 rotates, the teeth of the worm gear 63 slide and roll along the spiral surface of the worm 46, thereby realizing the movement and power transmission between the two shafts, making the worm gear 63 rotate, and further realizing the self-rotation of the movable pipe 61. Please refer to ​ , ​ , the top end of the movable pipe 61 is fixedly connected to the bottom end of the movable member 64. When the movable pipe 61 rotates self-rotationally, it can drive the movable member 64 to rotate. The water outlet end of the conveying pipe 51 is located inside the movable member 64, and a plurality of water outlets are opened at the water outlet end of the conveying pipe 51, which can transfer the water and fertilizer materials in the conveying pipe 51 into the movable member 64. A sealing ring is arranged on the wall surface of the conveying pipe 51 movably sleeved with the movable member 64, which can reduce the gap between the movable member 64 and the conveying pipe 51, thereby closing the bottom end of the movable member 64 and preventing the leakage of water and fertilizer materials. The side wall of the movable member 64 is fixedly sleeved with a spraying member 65, and the shape of the spraying member 65 is composed of a cylinder and a frustum. The number of the spraying members 65 is several and they are evenly arranged around the movable member 64, which can spray the water and fertilizer materials in the movable member 64 to realize the irrigation of crops. Particularly, when the movable member 64 rotates, it can drive the spraying member 65 to rotate, so that the sprayed water and fertilizer materials have a certain rotational force, thereby enhancing the irrigation uniformity.

[0079] Please refer to ​ , ​ , ​ , ​ , an auxiliary assembly 7, the water outlet end of the conveying pipe 51 is connected to the auxiliary assembly 7, and the auxiliary assembly 7 is movably clamped with the spraying assembly 6, which is used to cooperate with the spraying assembly 6 to realize irrigation and clean the spraying assembly 6 in time, prevent the spraying assembly 6 from being blocked and reducing the irrigation efficiency, and extend the service life of the spraying assembly 6. The auxiliary assembly 7 includes a fixing plate 71 and a partition plate 72. Please refer to ​, the 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 arranged at the bottom end of the fixed plate 71, and the fixed plate 71 is fully attached to 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 end of the movable part 64 to prevent the leakage of water and fertilizer 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 one side of the fixed plate 71 close to the water supply tank 22. A sealing film is arranged outside the partition plate 72, and the partition plate 72 is movably clamped with the movable part 64 through the sealing film, effectively reducing the gap between the movable part 64 and the partition plate 72 to further prevent the leakage of water and fertilizer materials. The inside of the movable part 64 is divided into a slag collection chamber and a spraying chamber by the partition plate 72. The slag collection chamber is used to collect the particulate impurities blocked on the spraying part 65, and the spraying chamber is used to spray the water and fertilizer materials outward. Embodiment III

[0080] On the basis of Embodiment II, the auxiliary component 7 further includes:

[0081] Please refer to ​ , ​ , the partition plate 72. The partition plate 72 is a through electromagnet and is electrically connected to the control system. When the partition plate 72 is electrified, it has magnetism and can provide power for the cleaning component 8 to move and clean the spraying part 65.

[0082] Please refer to ​ , ​ , the auxiliary plate 73. An auxiliary plate 73 is fixedly connected to the bottom end of the fixed plate 71, 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 collection chamber of the movable part 64, which can provide space conditions for fixing the cleaning component 8.

[0083] Please refer to ​ , ​, cleaning component 8. A cleaning groove is formed in the inner wall of the auxiliary plate 73, and the auxiliary plate 73 is movably connected to the cleaning component 8 through the cleaning groove. The cleaning component 8 moves back and forth to clean the spraying part 65, preventing the spraying part 65 from being blocked by particulate impurities. The cleaning component 8 includes a cleaning plate 81, a cleaning rod 82 and a cleaning part 83. The cleaning plate 81 is movably sleeved in 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 surface of the cleaning plate 81 is connected to the wall surface of the cleaning groove of the auxiliary plate 73 through a tension spring. When the partition plate 72 is electrified, the cleaning plate 81 moves towards the direction of the movable part 64 under the magnetic attraction of the partition plate 72. When the partition plate 72 is powered off, the cleaning plate 81 moves in the opposite direction of the movable part 64 under the action of the tension spring. 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 shape of the cleaning part 83 is a hemispherical shell, and the outer wall radius of the cleaning part 83 is smaller than the minimum radius of the spraying part 65. When the cleaning part 83 is inserted into the spraying part 65, the particulate impurities accumulated in the spraying part 65 can be effectively pushed into the slag collecting cavity of the movable part 64 to clean the spraying part 65. When the cleaning part 83 exits the spraying part 65, due to the shape of the cleaning part 83, some particulate impurities can be driven to move outwards and fall from the space gap between the movable part 64 and the auxiliary plate 73, further realizing the cleaning of the particulate impurities.

[0084] The working principle of the usage method of the present invention is as follows:

[0085] When the crops in the farmland need to be irrigated, start the vehicle body 1 to move the vehicle body 1 to the interface of the pipeline system, and then use the water conveying component 23 to convey the water in the pipeline system into the water supply tank 22. Then turn on the fertilizer supply mechanism 3 to make the fertilizer in the fertilizer supply mechanism 3 fall into the water supply tank 22, dissolve the fertilizer in the water. Then start the booster pump on the irrigation mechanism 5 to suck the water and fertilizer mixture in the water supply tank 22 into the spraying cavity of the movable part 64 through the conveying pipe 51, and then spray it out by the spraying part 65 to realize the irrigation of the crops.

[0086] During the spraying process, the delivery pipe 51 continuously sucks the water and fertilizer materials in the water supply tank 22. Since the water inlet end of the delivery pipe 51 is provided with a filter screen 43, the water and fertilizer materials will be filtered by the filter screen 43 before entering the delivery pipe 51, effectively reducing the possibility of particulate impurities entering the delivery pipe 51, preventing the irrigation mechanism 5 from being blocked by particulate impurities, not only slowing down the wear rate of the irrigation robot, but also enhancing the uniformity of irrigation of the irrigation mechanism 5, avoiding intermittent irrigation due to the blockage of the irrigation mechanism 5, and effectively improving the irrigation effect. At the same time, the rotation 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 screen 43 in contact with the delivery pipe 51 is effectively changed, so that the filter screen 43 in contact with the delivery pipe 51 always remains clean, ensuring the timely water delivery and irrigation of the delivery pipe 51, and the filter screen 43 separated from the delivery pipe 51 is impacted by the water flow. Thus, the particulate impurities attached to the filter screen 43 are impacted and shed under the influence of the water flow movement trajectory, realizing the cleaning of the filter screen 43, enhancing the continuity of the filter screen 43's work. At the same time, when the first rotating shaft 42 rotates, it effectively drives the stirring plate 44 to rotate, effectively agitating the water body and fertilizer in the water supply tank 22, realizing the full mixing of the fertilizer and the water body. When the second rotating shaft 45 rotates, it effectively drives the worm 46 to rotate. Since the teeth of the worm wheel 63 slide and roll along the spiral surface of the worm 46, the movement and power transmission between the two shafts are realized, making the worm wheel 63 rotate, and then realizing the self-rotation of the spraying assembly 6. During this process, the movable part 64 continuously sprays the water and fertilizer materials through the spraying part 65, so that the water and fertilizer materials sprayed by the spraying part 65 have a certain rotational force, effectively enhancing the spraying uniformity.

[0087] When the spraying part 65 is blocked, the control system prompts the rotation motor 41 to rotate intermittently. When a spraying part 65 rotates to correspond to the cleaning assembly 8, the rotation motor 41 stops rotating. At this time, the control system controls the partition plate 72 to be energized and magnetized, so that the cleaning assembly 8 is inserted into the spraying part 65 under the action of magnetic attraction, realizing that the blocked particulate impurities in the spraying part 65 are pushed and collected into the slag collection cavity of the movable part 64. Then, the auxiliary plate 73 is powered off, and the cleaning assembly 8 is pushed to move in the reverse direction, so that the cleaning assembly 8 exits the spraying part 65, thus preparing for cleaning the next spraying part 65. After that, the rotation motor 41 starts to rotate again, and so on, realizing the cleaning of each spraying part 65. In summary, the cleaning assembly 8 realizes the timely cleaning of the spraying part 65, can improve the service life of the spraying assembly 6, further enhance the irrigation uniformity, and effectively improve the irrigation effect.

Claims

1. An intelligent agricultural field integrated water and fertilizer irrigation robot, characterized in that, Comprising: A water supply mechanism (2) for storing water bodies, the water supply mechanism (2) including a water supply tank (22); A rotating mechanism (4), with a rotating mechanism (4) provided on each side of the water supply tank (22), and the two rotating mechanisms (4) being centrosymmetric, for filtering particulate impurities in the water body. The rotating mechanism (4) includes 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 one side wall surface of the water supply tank (22) and is movably clamped to the other side wall surface 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 clamped to the inner bottom end of the water supply tank (22); An irrigation mechanism (5), with an irrigation mechanism (5) provided on each side of the water supply tank (22), and the two irrigation mechanisms (5) being centrosymmetric, for conveying and spraying water and fertilizer materials. The irrigation mechanism (5) includes a delivery pipe (51), the water inlet end of the delivery pipe (51) is fixedly sleeved on one side of the water supply tank (22), and the water inlet end of the delivery pipe (51) is in contact with the wall surface of the filter screen (43), using the filter screen (43) to filter the water and fertilizer materials that will enter the delivery pipe (51); The water supply mechanism (2) further includes: A fixed frame (21), 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); A water delivery assembly (23), one end of the water delivery assembly (23) is fixedly communicated with one end of the water supply tank (22), and the other end of the water delivery assembly (23) can be communicated with a pipeline system; The irrigation mechanism (5) further includes: A fixed bracket (52), the outer wall of the fixed frame (21) is fixedly connected with the fixed bracket (52), and the fixed bracket (52) is fixedly sleeved with the delivery pipe (51); A spraying assembly (6), the spraying assembly (6) is movably arranged on the delivery pipe (51), and the spraying assembly (6) is located above the fixed bracket (52), for rotating to improve the irrigation uniformity; An auxiliary assembly (7), the water outlet end of the delivery pipe (51) is connected to the auxiliary assembly (7), and the auxiliary assembly (7) is movably clamped to the spraying assembly (6), for cooperating with the spraying assembly (6) to achieve irrigation and timely cleaning of the spraying assembly (6).

2. The integrated irrigation robot for water and fertilizer in the field of smart agriculture according to claim 1, wherein, The shape of the delivery pipe (51) is L-shaped, and the water inlet end of the delivery pipe (51) is in a horizontal state, and the water outlet end of the delivery pipe (51) is in a vertical state. The rotating 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).

3. The integrated irrigation robot for water and fertilizer in the field of smart agriculture according to claim 2, wherein The rotating mechanism (4) further includes: Stirring plates (44), several 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) is movably connected to one end of the second rotating shaft (45); A worm (46), and the other end of the second rotating shaft (45) is fixedly connected to the worm (46).

4. The intelligent agricultural field integrated water and fertilizer irrigation robot according to claim 3, characterized in that, The spraying assembly (6) includes: A movable pipe (61), and the movable pipe (61) is movably sleeved outside the vertical section of the conveying pipe (51); Movable balls (62), the bottom end of the movable pipe (61) is movably clamped with a plurality of movable balls (62), and the bottom ends of the movable balls (62) are in contact with the top end of the fixed frame (52); A worm gear (63), the lower half of the movable pipe (61) is fixedly sleeved with the worm gear (63), and the worm gear (63) meshes with the worm (46). The worm gear (63) and the worm (46) are spatially staggered, and the staggered angle between their axes is 90 degrees; A movable member (64), the top end of the movable pipe (61) is fixedly connected to the bottom end of the movable member (64). The water outlet end of the conveying pipe (51) is located inside the movable member (64), and a plurality of water outlet holes are opened at the water outlet end of the conveying pipe (51). A sealing ring is arranged on the wall surface of the conveying pipe (51) movably sleeved with the movable member (64); A spraying member (65), the side wall of the movable member (64) is fixedly sleeved with the spraying member (65), and the shape of the spraying member (65) is composed of a cylinder and a frustum of a cone. The number of the spraying members (65) is several and they are uniformly arranged around the movable member (64).

5. The integrated irrigation robot for water and fertilizer in the field of smart agriculture according to claim 4, characterized in that, The auxiliary assembly (7) includes: A fixing plate (71), the middle part of the fixing plate (71) is fixedly sleeved with the water outlet end of the conveying pipe (51). A sealing ring is arranged at the bottom end of the fixing plate (71), and the fixing plate (71) is attached to the movable member (64) through the sealing ring; A partition plate (72), the bottom end of the fixing plate (71) is fixedly connected to the partition plate (72), and the partition plate (72) is located on one side of the fixing plate (71) close to the water supply tank (22). A sealing film is arranged outside the partition plate (72), and the partition plate (72) is movably clamped with the movable member (64) through the sealing film. The inside of the movable member (64) is divided into a slag collection chamber and a spraying chamber by the partition plate (72). The partition plate (72) is a through electromagnet and is electrically connected to the control system. The partition plate (72) is magnetized when electrified; An auxiliary plate (73), the bottom end of the fixing plate (71) is fixedly connected to the auxiliary plate (73), and the auxiliary plate (73) is located outside the movable member (64). There is a space gap between the auxiliary plate (73) and the movable member (64), and the auxiliary plate (73) is close to the slag collection chamber of the movable member (64); A cleaning assembly (8), a cleaning groove is opened on the inner wall of the auxiliary plate (73), and the auxiliary plate (73) is movably connected to the cleaning assembly (8) through the cleaning groove. The cleaning of the spraying member (65) is realized by the reciprocating movement of the cleaning assembly (8).

6. The integrated irrigation robot for field water and fertilizer in smart agriculture according to claim 5, wherein, The cleaning assembly (8) includes: Cleaning plate (81), the cleaning plate (81) is movably sleeved with the cleaning groove of the auxiliary plate (73), and the cleaning plate (81) has magnetism opposite to that of the partition plate (72). One side wall surface of the cleaning plate (81) is connected to the wall surface of the cleaning groove of the auxiliary plate (73) through a tension spring; Cleaning rod (82), one end of the cleaning rod (82) is fixedly connected to the cleaning plate (81); Cleaning part (83), the other end of the cleaning rod (82) is fixedly connected to the cleaning part (83). The shape of the cleaning part (83) is a hemispherical shell, and the outer wall radius of the cleaning part (83) is smaller than the minimum radius of the spraying part (65).

7. The integrated irrigation robot for water and fertilizer in the field of smart agriculture according to claim 1, characterized in that It further includes: Vehicle body (1) for traveling in the field, and the water supply mechanism (2) is arranged at the top of the vehicle body (1); Fertilizer supply mechanism (3), the fertilizer supply mechanism (3) is arranged at the top of the water supply mechanism (2) for storing fertilizers.

8. The integrated irrigation robot for water and fertilizer in the field of smart agriculture according to claim 7, wherein, The fertilizer supply mechanism (3) includes: Fertilizer supply tank (31), the fertilizer supply tank (31) is fixedly arranged at the top of the water supply tank (22), and several storage cavities are opened inside the top of the fertilizer supply tank (31); Fertilizer supply cover (32), the fertilizer supply cover (32) is movably clamped at the top of the fertilizer supply tank (31); Drive motor (33), the drive motor (33) is fixedly arranged at the top of the water supply tank (22), and the drive motor (33) is located on one side of the fertilizer supply tank (31); Drive plate (34), a blanking hole is opened in the middle of the bottom end of the fertilizer supply tank (31), and the blanking hole passes through all the storage cavities. One end of the drive plate (34) is movably clamped with the blanking hole of the fertilizer supply tank (31), and the other end of the drive plate (34) is movably connected to the drive motor (33). The wall surfaces of the fertilizer supply tank (31) on both sides of the blanking hole are inclined surfaces, and an aggregate hole is opened at the top of the water supply tank (22) below the blanking hole.

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