Farmland sprinkling irrigation robot

Abstract

The invention discloses a farmland sprinkling irrigation robot, and belongs to the technical field of agricultural irrigation, the farmland sprinkling irrigation robot comprises a walking robot, the walking robot comprises walking wheels, the walking robot is further provided with a mud scraping mechanism, the mud scraping mechanism comprises a plurality of arc-shaped scraping plates which are rotatably arranged, and the arc-shaped scraping plates are located on the outer sides of the walking wheels; a liquid storage cylinder is fixedly installed on the walking robot, a feeding assembly is installed on the walking robot in a sliding mode, an electric clamping jaw is rotatably installed on the walking robot, a discharging assembly is arranged in the feeding assembly, bag opening of bagged fertilizer can be achieved, the fertilizer can be poured out through a ripped opening, the cut bag opening can be opened, and the fertilizer can be conveniently and rapidly poured out.

Description

Technical Field

[0001] The present invention relates to the field of agricultural irrigation, and particularly to a farmland sprinkler robot. Background Art

[0002] Sprinkler irrigation is an irrigation technique that uses a water pump and a pipeline system, or relies on the drop of natural water sources, to spray water into the air under a certain pressure, causing it to disperse into small water droplets or form a mist, and then evenly fall onto plants and the ground.

[0003] When irrigating farmland, most of the irrigation robots on the market adopt the method of directly pumping and sprinkling water, or are equipped with water storage tanks to dissolve liquid fertilizers or solid fertilizers. Liquid fertilizers can be transported to the water storage tank through a simple pump and pipeline system, while solid fertilizers usually need to be manually put in.

[0004] However, for some irrigation robots with relatively high water storage tanks, since solid fertilizers are usually in bag form and have a certain weight, and there is a certain danger during the handling process. If the powder scatters everywhere during the jitter feeding process of powdery solid fertilizers, it may not only pose a threat to the health of personnel, but also lead to waste of resources. Summary of the Invention

[0005] The present invention provides a farmland sprinkler robot, which can solve the problem that in the prior art, during the jitter feeding process of powdery solid fertilizers in farmland sprinkler robots, the powder scatters everywhere and poses a threat to the health of personnel.

[0006] A farmland sprinkler robot includes a walking robot, the walking robot includes a frame and walking wheels, and the walking wheels are installed at the four corners of the frame. A liquid storage cylinder is fixedly installed on the walking robot, a feeding component is slidably installed, and an electric gripper is rotatably installed. A liquid storage cylinder is fixedly provided on the frame, and a high-pressure nozzle is connected to the liquid storage cylinder; The feeding component includes a receiving frame slidably provided, a sliding plate is slidably provided at the bottom end of the receiving frame, a first spring is connected between the sliding plate and the receiving frame, a feeding component is slidably provided in the receiving frame, the feeding component includes a first bottom plate and a second bottom plate slidably provided, a first triangular bracket is slidably provided on the first bottom plate, a second triangular bracket is rotatably provided on the second bottom plate, cutting blades are fixedly provided on both the first triangular bracket and the second triangular bracket, and the first triangular bracket and the second triangular bracket can be spliced with each other.

[0007] Further, a mud scraping mechanism is further provided on the walking robot, and the mud scraping mechanism includes a plurality of arc-shaped scrapers rotatably provided, and the arc-shaped scrapers are located outside the walking wheels.

[0008] Further, a high-pressure nozzle is connected to the liquid storage cylinder through a connecting pipe. At one end of the frame, two vertical brackets are fixedly provided. A first telescopic cylinder is arranged between the two vertical brackets, and the first telescopic cylinder is fixedly connected to the high-pressure nozzle.

[0009] Further, the sludge scraping mechanism includes two third gears and two fourth gears. The two third gears and the two fourth gears are respectively rotatably arranged on both sides of the frame. A first long rotating shaft is fixedly connected between the two third gears, and a second long rotating shaft is fixedly connected between the two fourth gears. A first belt pulley is fixedly provided on the second long rotating shaft. A second belt pulley is rotatably arranged on the frame. A synchronous belt is connected between the first belt pulley and the second belt pulley. Long connecting rods are fixedly provided on both the third gear and the fourth gear, and the end of the long connecting rod is fixedly connected to the arc-shaped scraper.

[0010] Further, long sliding grooves are provided on both of the two vertical brackets. A second connecting seat is rotatably arranged on one of the vertical brackets. A second telescopic cylinder is fixedly provided on the second connecting seat. The output end of the second telescopic cylinder is fixedly provided with a third connecting seat. A connecting shaft is fixedly provided on the third connecting seat, and an electric gripper is fixedly provided on the connecting shaft.

[0011] Further, a feeding component is slidably arranged in the long sliding groove, and the sliding mode includes but is not limited to being realized by means of a threaded rod cooperating with a motor.

[0012] Further, the feeding component includes a U-shaped part. A matching groove is opened on the U-shaped part. A cylindrical rod is fixedly provided on the U-shaped part. An L-shaped rod is fixedly provided on the cylindrical rod. A receiving frame is slidably arranged on the L-shaped rod. A limiting groove is provided on the L-shaped rod. A first gear is rotatably arranged in the limiting groove. A first rack is fixedly provided on the side surface of the receiving frame. The first rack is slidably connected to the limiting groove and is meshed with the first gear for transmission.

[0013] Further, an inclined area is provided inside the receiving frame. A blanking groove is provided at the lowest end of the inclined area. A mounting plate is fixedly provided at the bottom end of the receiving frame. A plurality of first springs are fixedly provided on the mounting plate. The ends of the plurality of first springs are fixedly provided with a sliding plate. A sliding groove is opened on the side surface of the receiving frame. A sliding block is fixedly provided on the sliding plate, and the sliding block is slidably connected to the sliding groove.

[0014] Further, a support railing is fixedly provided inside the receiving frame. A blanking component is slidably arranged on the support railing. The blanking component includes a first moving groove and a second moving groove. A second rack is fixedly provided in the first moving groove. Second springs are fixedly provided at both ends in the second moving groove. The first moving groove and the second moving groove are slidably arranged inside the support railing.

[0015] Further, a first bottom plate is slidably provided above the first moving groove, and a second bottom plate is slidably provided above the second moving groove. A second gear is rotatably provided at the bottom end of the first bottom plate. A rectangular block is fixedly provided at the bottom end of the second bottom plate. The two ends of the rectangular block are respectively fixedly connected to two second springs. A first triangular bracket is rotatably connected above the first bottom plate through a rotating block. A third motor is slidably provided on the side of the second moving groove. The output shaft of the third motor passes through the first bottom plate and the second bottom plate and is fixedly connected to the bottom end of the second triangular bracket. The output shaft of the third motor is rotatably connected to the second bottom plate. A limiting block is further fixedly provided at the top end of the output shaft of the third motor. The limiting block is slidably connected to the first triangular bracket.

[0016] Compared with the prior art, the beneficial effects of the present application are as follows.

[0017] 1. A mud scraping mechanism is provided at the walking wheels of the farmland sprinkler robot of the present application. The mud scraping mechanism includes four arc-shaped scrapers rotatably provided. The four arc-shaped scrapers move synchronously, and the arc-shaped scrapers on the same side realize synchronous opening and closing movements through meshing third gears and fourth gears. At the same time, the arc-shaped scrapers on both sides realize synchronous movement through the first long rotating shaft and the second long rotating shaft. When an excessive amount of mud accumulates on the walking wheels during use, the arc-shaped scrapers can be controlled to gradually rotate and approximately fit with the walking wheels. The mud higher than the arc-shaped scrapers during the rotation of the walking wheels will be scraped off under the action of the arc-shaped scrapers, which can prevent excessive mud from accumulating on the walking wheels and affecting the operation of the walking robot. 2. The farmland sprinkler robot of the present application is also provided with a feeding component. A receiving frame is slidably provided on the feeding component. The receiving frame is slidably connected to the sliding plate through a first spring. When the sliding plate is in contact with the side edge of the feeding port, the receiving frame moves above the feeding port. As the receiving frame continues to move, the sliding plate will slide relative to the receiving frame under the blocking of the feeding port and the action of the first spring. The purpose is to gradually expose the feeding slot at the bottom of the receiving frame. The fertilizer in the receiving frame falls into the liquid storage cylinder through the feeding port for stirring and spraying. This structure is simple and makes feeding more convenient, eliminating the need for manual handling of fertilizer and saving labor costs. A vibration device can also be installed on the back of the receiving frame. The vibration device can be used in cooperation during the feeding process of the receiving frame to achieve better feeding and avoid waste of resources caused by fertilizer remaining in the receiving frame. 3. The farmland sprinkler irrigation robot of the present application is also provided with a material unloading component in the material receiving frame. The cutting blades on the first triangular bracket and the second triangular bracket can move as a whole. The cutting blades move back and forth along the first movable groove to cut the fertilizer bag and open the bagged fertilizer. The fertilizer can be poured out through the cut opening. The first movable groove and the second movable groove can also be controlled to move away from each other. At this time, the two cutting blades will also move away from each other, and the bag opening after cutting will be opened to facilitate the quick pouring of the fertilizer. The part of the fertilizer remaining at the bag opening can also be driven by the third motor to drive the output shaft to rotate The first triangular bracket and the second triangular bracket can be moved back and forth to further realize the slight rotation of the first triangular bracket, so as to facilitate the shaking off of the fertilizer remaining at the bag mouth, further avoid the excess fertilizer remaining in the fertilizer bag, and at the same time will not cause the powdered fertilizer to fly around, thus avoiding the waste of resources. In the process of pouring out the fertilizer, the electric gripper can be used to grab the bagged fertilizer, and then cooperate with the unloading component to open and pour out the bagged fertilizer. The electric gripper can also move the empty fertilizer bag to a suitable position for collection. The material receiving frame can realize the easy loading of fertilizer, reducing the burden on the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The overall structure of the present invention is shown in FIG. Figure Ⅰ ; Figure 2 The overall structure of the present invention is shown in FIG. Figure Ⅱ ; Figure 3 The structure of the feeding assembly of the present invention is schematically shown in FIG. Figure Ⅰ ; Figure 4 The structure of the feeding assembly of the present invention is schematically shown in FIG. Figure Ⅱ ; Figure 5 It is an enlarged schematic diagram of the structure of part A of the present invention; Figure 6 It is an enlarged schematic diagram of the structure of part B of the present invention; Figure 7 It is a front view of the blanking assembly of the present invention; Figure 8 It is a partial cross-sectional view of the blanking assembly of the present invention; Figure 9 This is a schematic diagram of the structure of the blanking assembly of the present invention; Figure 10 It is a schematic diagram of the working of the feeding assembly of the present invention; Figure 11 It is a schematic diagram of the enlarged structure of part C of the present invention.

[0019] Description of reference numerals: 1. Frame; 2. Traveling wheels; 3. Liquid storage cylinder; 4. Connecting pipe; 5. High-pressure nozzle; 6. First telescopic cylinder; 7. Vertical bracket; 8. First connecting seat; 9. Cylindrical rotating shaft; 10. First long rotating shaft; 11. Second long rotating shaft; 12. Third gear; 13. Fourth gear; 14. Long connecting rod; 15. Arc-shaped scraper; 16. First pulley; 17. Second pulley; 18. Synchronous belt; 19. First motor; 20. Second connecting seat; 21. Second telescopic cylinder; 22. Third connecting seat; 23. Connecting shaft; 24. Electric gripper; 25. Long chute; 26. Feeding assembly; 27. Feeding port; 2601. U-shaped part; 2602. Fitting groove; 2603. Cylindrical rod; 2604. L-shaped rod; 2605. Material receiving frame; 2606. Mounting plate; 2607. First spring; 2608. Sliding plate; 2609. Support railing; 2610. Limiting groove; 2611. Second motor; 2612. First rack; 2613. First gear; 2614. Sliding groove; 2615. Sliding block; 2616. First moving groove; 2617. Second moving groove; 2618. Second rack; 2619. Second spring; 2620. First bottom plate; 2621. Second bottom plate; 2622. Second gear; 2623. Rectangular block; 2624. Third motor; 2625. Output shaft; 2626. Limiting block; 2627. First triangular support; 2628. Second triangular support; 2629. Cutting blade; 2630. Block; 2631. Inclined area; 2632. Bidirectional threaded rod; 2633. Rotating block. Detailed implementation manners

[0020] The following details the specific implementation manners of the present invention, but it should be understood that the protection scope of the present invention is not limited by the specific implementation manners.

[0021] As Figures 1 to 11 shown, a farmland sprinkler irrigation robot provided by an embodiment of the present invention.

[0022] As Figure 1 shown, it includes a traveling robot, the traveling robot includes a frame 1 and traveling wheels 2, the traveling wheels 2 are installed at the four corners of the frame 1, a liquid storage cylinder 3 is fixedly provided on the frame 1, the liquid storage cylinder 3 is connected with a high-pressure nozzle 5 through a connecting pipe 4, the liquid in the liquid storage cylinder 3 is transported to the high-pressure nozzle 5 through the connecting pipe 4 and then sprayed out by the high-pressure nozzle 5 for sprinkler irrigation. At one end of the frame 1, two vertical brackets 7 are also fixedly provided, a cylindrical rotating shaft 9 is rotatably provided between the two vertical brackets 7, a first connecting seat 8 is fixedly provided on the cylindrical rotating shaft 9, a first telescopic cylinder 6 is fixedly provided on the first connecting seat 8, the first telescopic cylinder 6 is fixedly connected with the high-pressure nozzle 5, and the rotation of the cylindrical rotating shaft 9 can realize the rotation of the high-pressure nozzle 5, thereby changing the effective range of the high-pressure nozzle 5. The rotation of the cylindrical rotating shaft 9 includes, but is not limited to, being driven by a motor.

[0023] The walking robot mentioned in this embodiment can specifically be an intelligent walking robot. The intelligent walking robot has relatively mature existing technologies. It can, based on Beidou positioning and navigation and AI algorithms, achieve functions such as path planning, dynamic adjustment of irrigation volume, etc., realize functions such as driverless, automatic obstacle avoidance, and path planning. It can also use wireless charging technology or solar power supply to achieve the charging function. Combining with AI algorithms, it can dynamically adjust the water spraying amount and coverage range to achieve accurate water supply on demand and increase the water saving rate.

[0024] As Figure 1 shown, a mud scraping mechanism is further provided on the frame 1. The mud scraping mechanism is used to scrape the mud on the walking wheels 2. The mud scraping mechanism includes two third gears 12 and two fourth gears 13. The two third gears 12 and the two fourth gears 13 are respectively rotatably provided on both sides of the frame 1. Among them, the two third gears 12 are fixedly connected by a first long rotating shaft 10, and the two fourth gears 13 are fixedly connected by a second long rotating shaft 11. As Figure 2 shown, a first belt pulley 16 is fixedly provided on the second long rotating shaft 11. A second belt pulley 17 is rotatably provided on the frame 1. A synchronous belt 18 is connected between the first belt pulley 16 and the second belt pulley 17. And a first motor 19 is connected to the second belt pulley 17. The first motor 19 is fixedly connected to the frame 1. The first motor 19 drives the second belt pulley 17 to rotate, and drives the first belt pulley 16 to rotate through the synchronous belt 18. The first belt pulley 16 rotates coaxially with the second long rotating shaft 11. The third gear 12 and the fourth gear 13 are meshed with each other. Long connecting rods 14 are fixedly provided on both the third gear 12 and the fourth gear 13. An arc-shaped scraping plate 15 is fixedly provided at the end of the long connecting rod 14. That is, the first motor 19 drives the second long rotating shaft 11 to rotate. The second long rotating shaft 11 rotates coaxially with the two fourth gears 13. The two fourth gears 13 and the two third gears 12 are meshed and driven to further realize the opening and closing movement of the long connecting rods 14 on both sides. During the actual operation process, due to the working environment of the equipment being mostly muddy, when the walking robot is walking, it is inevitable that a large amount of mud will adhere to its walking wheels 2. If these muds are not cleaned in time, it will cause the frictional resistance of the walking robot to become larger, further affecting the service life of the equipment. When in use, when the long connecting rods 14 on both sides open, the arc-shaped scraping plate 15 is separated from the walking wheel 2. When the walking wheel 2 accumulates excessive mud, the long connecting rods 14 on both sides close, the arc-shaped scraping plate 15 contacts and presses against the walking wheel 2, and the walking wheel 2 rotates to scrape the mud on the walking wheel 2, effectively preventing excessive mud from accumulating on the walking wheel 2 and affecting the operation of the equipment.

[0025] As Figure 1As shown in the figure, long sliding grooves 25 are provided on both of the two vertical brackets 7. A second connecting seat 20 is rotatably provided on one of the vertical brackets 7. A second telescopic cylinder 21 is fixedly provided on the second connecting seat 20. The output end of the second telescopic cylinder 21 is fixedly provided with a third connecting seat 22. A connecting shaft 23 is fixedly provided on the third connecting seat 22. An electric gripper 24 is fixedly provided on the connecting shaft 23. The electric gripper 24 realizes the grasping of an object. A feeding component 26 is also slidably provided in the long sliding groove 25. The feeding component 26 can slide up and down in the long sliding groove 25. The sliding mode includes but is not limited to being realized by means of a threaded rod cooperating with a motor. A feeding port 27 is also provided on the liquid storage cylinder 3.

[0026] The weight of the bagged fertilizer is generally relatively heavy. If it is directly lifted by manpower, it will increase the workload of the construction workers. Therefore, the electric gripper 24 is adopted in this embodiment to reduce the workload of the construction workers.

[0027] As Figure 3 shown in the figure, the feeding component 26 includes a U-shaped member 2601. A mating groove 2602 is provided on the U-shaped member 2601. When the sliding mode of the feeding component 26 is by means of a threaded rod, the mating groove 2602 is used to cooperate with the threaded rod. A cylindrical rod 2603 is fixedly provided on the U-shaped member 2601. An L-shaped rod 2604 is fixedly provided on the cylindrical rod 2603. A receiving frame 2605 is slidably provided on the L-shaped rod 2604. A limiting groove 2610 is provided on the L-shaped rod 2604. A first gear 2613 is rotatably provided in the limiting groove 2610. A first rack 2612 is also fixedly provided on the side surface of the receiving frame 2605. The first rack 2612 is slidably connected to the limiting groove 2610. At the same time, the first rack 2612 is meshed with the first gear 2613 for transmission. A second motor 2611 is also fixedly provided at the top end of the L-shaped rod 2604. The second motor 2611 is fixedly connected to the first gear 2613. By driving the first gear 2613 to rotate through the second motor 2611, the movement of the receiving frame 2605 is further realized through the meshing transmission between the first gear 2613 and the first rack 2612. An inclined area 2631 is provided inside the receiving frame 2605. A blanking groove is provided at the lowermost end of the inclined area 2631. The inclined area 2631 is more conducive to the sliding of the fertilizer in the receiving frame 2605. The receiving frame 2605 is used for holding liquid fertilizer and solid fertilizer. A mounting plate 2606 is fixedly provided at the bottom end of the receiving frame 2605. A plurality of first springs 2607 are fixedly provided on the mounting plate 2606. The number of the first springs 2607 is any number greater than one. The ends of the plurality of first springs 2607 are fixedly provided with a sliding plate 2608. As Figure 5 shown in the figure, a sliding groove 2614 is provided on the side surface of the receiving frame 2605. A sliding block 2615 is fixedly provided on the sliding plate 2608. The sliding block 2615 is slidably connected to the sliding groove 2614.

[0028] As Figure 3As shown, a support railing 2609 is fixedly arranged inside the material receiving frame 2605. The support railing 2609 is specifically two L-shaped railings. There is a connection between the two L-shaped railings for supporting one end of the fertilizer bag. A blanking component is slidably arranged at the bottom end of the support railing 2609. As Figure 6 shown, the blanking component includes a first moving groove 2616 and a second moving groove 2617. A second rack 2618 is fixedly arranged in the first moving groove 2616. Two second springs 2619 are fixedly arranged at both ends in the second moving groove 2617. As Figure 7 shown, a bidirectional threaded rod 2632 is rotatably arranged at the bottom end of the support railing 2609 and is driven by a motor. The two threaded sides of the bidirectional threaded rod 2632 are respectively in threaded cooperation with the first moving groove 2616 and the second moving groove 2617. As Figure 8 shown, a first bottom plate 2620 is slidably arranged above the first moving groove 2616, and a second bottom plate 2621 is slidably arranged above the second moving groove 2617. A second gear 2622 is rotatably arranged at the bottom end of the first bottom plate 2620. A rectangular block 2623 is fixedly arranged at the bottom end of the second bottom plate 2621. Both ends of the rectangular block 2623 are fixedly connected to the two second springs 2619. When the rectangular block 2623 moves in the second moving groove 2617, the two second springs 2619 can ensure that it returns to the initial position. The second gear 2622 is in meshing transmission with the second rack 2618 (as Figure 9 shown). A first triangular support 2627 is rotatably connected above the first bottom plate 2620 through a rotating block 2633 (specifically, the first bottom plate 2620 can achieve circumferential rotation through the rotating block 2633). A third motor 2624 is slidably arranged on the side of the second moving groove 2617. The output shaft 2625 of the third motor 2624 passes through the first bottom plate 2620 and the second bottom plate 2621 and is fixedly connected to the bottom end of the second triangular support 2628. The output shaft 2625 of the third motor 2624 is rotatably connected to the second bottom plate 2621. A semi-circular notch is arranged on the first bottom plate 2620. The output shaft 2625 of the third motor 2624 passes through the semi-circular notch and is fixedly connected to the first triangular support 2627. Cutting blades 2629 are fixedly arranged at the tops of both the first triangular support 2627 and the second triangular support 2628. A clamping block 2630 is also fixedly arranged on the second triangular support 2628. The second triangular support 2628 is connected to the first triangular support 2627 through the clamping block 2630. A limiting block 2626 is also fixedly arranged at the top end of the output shaft 2625 of the third motor 2624. The limiting block 2626 is slidably connected to the first triangular support 2627.

[0029] In actual operation, a knife is usually used to directly cut a hole in the fertilizer bag, and then the fertilizer is shaken into the liquid for dissolution and then sprayed. However, some powdered fertilizers are easy to scatter once shaken, which will have a certain impact on the body after human inhalation. The scattered fertilizer will also cause a waste of resources. Therefore, the present application realizes the feeding of fertilizer by providing a movable cutting blade 2629, thereby effectively reducing the scattering of fertilizer.

[0030] When in use, the second gear 2622 is driven to rotate by the motor, and the second gear 2622 is meshed with the second rack 2618 to realize the movement of the first base plate 2620 on the first moving groove 2616. At this time, the first moving groove 2616 and the second moving groove 2617 are in a state of being close to each other, and the second triangular bracket 2628 is engaged with the first triangular bracket 2627 through the clamping block 2630, and the limiting block 2626 is limited in the first triangular bracket 2627. At this time, the first triangular bracket 2627 and the second triangular bracket 2628 form a whole and can move synchronously, that is, the overall movement of the first triangular bracket 2627 and the second triangular bracket 2628 is realized by driving the rotation of the second gear 2622, and the ultimate purpose is to realize the cutting on the first triangular bracket 2627 and the second triangular bracket 2628 The overall movement of the cutting blade 2629, the cutting blade 2629 moves back and forth along the first moving groove 2616 to achieve cutting of the object, mainly to open the bag of bagged fertilizer, the movement of the cutting blade 2629 can cut the bag of bagged fertilizer, and the fertilizer can be poured out through the cut opening. In this process, the first moving groove 2616 and the second moving groove 2617 can also be controlled to move away from each other. At this time, the two cutting blades 2629 will also move away from each other, and the bag opening after cutting will be opened, so as to facilitate the rapid pouring out of the fertilizer. For the part of the fertilizer remaining at the bag opening, the output shaft 2625 can be driven to rotate by the third motor 2624, and the first triangular bracket 2627 and the second triangular bracket 2628 can be further rotated to facilitate the shaking off of the fertilizer remaining at the bag opening, so as to further avoid excessive fertilizer remaining in the fertilizer bag and cause waste of resources. During the fertilizer pouring process, the electric gripper 24 can be used to grab the bagged fertilizer, and then cooperate with the unloading component to open and pour out the bagged fertilizer. After pouring out, the electric gripper 24 can move the empty fertilizer bag to a suitable position for collection.

[0031] In order to solve the danger of handling during the loading process, the present application adopts a mechanical method to realize the handling of fertilizers, making the loading process simpler and more convenient.

[0032] The scattered fertilizers are accumulated in the receiving frame 2605, and the receiving frame 2605 is controlled to move upward, such as Figure 10 and Figure 11 As shown, the sliding plate 2608 on the receiving frame 2605 rises to be flush with the feed port 27, as shown in FIG. Figure 4As shown, the second motor 2611 is further used to drive the first gear 2613 to rotate, so as to move the material receiving frame 2605 towards the feeding port 27. When the sliding plate 2608 fits against the side edge of the feeding port 27, the material receiving frame 2605 moves above the feeding port 27. As the material receiving frame 2605 continues to move, the sliding plate 2608 will slide relative to the material receiving frame 2605 under the blocking of the feeding port 27 and the action of the first spring 2607. The purpose is to gradually expose the material discharging groove at the bottom of the material receiving frame 2605. The fertilizer in the material receiving frame 2605 falls into the liquid storage cylinder 3 through the feeding port 27 for stirring and spraying. A vibration device can also be installed on the back of the material receiving frame 2605. During the discharging process of the material receiving frame 2605, cooperating with the vibration device can achieve better discharging and avoid resource waste caused by fertilizer remaining in the material receiving frame 2605.

[0033] The above only discloses several specific embodiments of the present invention. However, the embodiments of the present invention are not limited thereto, and any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A farmland sprinkler irrigation robot, characterized in that: The walking robot comprises a frame (1) and walking wheels (2), the walking wheels (2) being installed at the four corners of the frame (1), a liquid storage cylinder (3) being fixedly installed on the walking robot, a feeding assembly (26) being slidably installed, and an electric clamping claw (24) being rotatably installed, the frame (1) being fixedly provided with a liquid storage cylinder (3), and a high-pressure nozzle (5) being connected to the liquid storage cylinder (3); The feeding assembly (26) comprises a slidably provided material receiving frame (2605), a sliding plate (2608) is slidably provided at the bottom end of the material receiving frame (2605), a first spring (2607) is connected between the sliding plate (2608) and the material receiving frame (2605), a material unloading assembly is slidably provided in the material receiving frame (2605), the material unloading assembly comprises a slidably provided first bottom plate (2620) and a second bottom plate (2621), a first triangular bracket (2627) is slidably provided on the first bottom plate (2620), a second triangular bracket (2628) is rotatably provided on the second bottom plate (2621), cutting blades (2629) are fixedly provided on the first triangular bracket (2627) and the second triangular bracket (2628), and the first triangular bracket (2627) and the second triangular bracket (2628) can be spliced ​​with each other.

2. A farmland sprinkler irrigation robot as claimed in claim 1, characterized in that: The walking robot is also provided with a mud scraping mechanism, which comprises a plurality of rotatably arranged arc-shaped scrapers (15), wherein the arc-shaped scrapers (15) are located outside the walking wheels (2).

3. A farmland sprinkler irrigation robot as claimed in claim 2, characterized in that: The liquid storage cylinder (3) is connected to the high-pressure nozzle (5) via a connecting pipe (4); two vertical brackets (7) are fixedly provided on one end of the frame (1); a first telescopic cylinder (6) is provided between the two vertical brackets (7); and the first telescopic cylinder (6) is fixedly connected to the high-pressure nozzle (5).

4. The farmland sprinkler irrigation robot according to claim 2, characterized in that: The mud scraping mechanism comprises two third gears (12) and two fourth gears (13), which are rotatably arranged on both sides of the frame (1), respectively, wherein the two third gears (12) are fixedly connected via a first long rotating shaft (10), and the two fourth gears (13) are fixedly connected via a second long rotating shaft (11), a first pulley (16) is fixedly arranged on the second long rotating shaft (11), a second pulley (17) is rotatably arranged on the frame (1), a synchronous belt (18) is connected between the first pulley (16) and the second pulley (17), and a long connecting rod (14) is fixedly arranged on the third gear (12) and the fourth gear (13), and the end of the long connecting rod (14) is fixedly connected to the arc-shaped scraper (15).

5. The farmland sprinkler irrigation robot according to claim 4, characterized in that: The two vertical supports (7) are each provided with a long slide groove (25), one of the vertical supports (7) is also rotatably provided with a second connecting seat (20), a second telescopic cylinder (21) is fixedly provided on the second connecting seat (20), a third connecting seat (22) is fixedly provided at the output end of the second telescopic cylinder (21), a connecting shaft (23) is fixedly provided on the third connecting seat (22), and an electric clamp (24) is fixedly provided on the connecting shaft (23).

6. The farmland sprinkler irrigation robot according to claim 5, characterized in that: A feeding assembly (26) is slidably disposed in the long slide groove (25), wherein the sliding manner includes but is not limited to being achieved by a threaded rod cooperating with a motor.

7. The farmland sprinkler irrigation robot according to claim 6, characterized in that: The feeding assembly (26) comprises a U-shaped member (2601), a matching groove (2602) is provided on the U-shaped member (2601), a cylindrical rod (2603) is fixedly provided on the U-shaped member (2601), an L-shaped rod (2604) is fixedly provided on the cylindrical rod (2603), a material receiving frame (2605) is slidably provided on the L-shaped rod (2604), a limiting groove (2610) is provided on the L-shaped rod (2604), a first gear (2613) is rotatably provided in the limiting groove (2610), a first rack (2612) is fixedly provided on the side of the material receiving frame (2605), the first rack (2612) is slidably connected to the limiting groove (2610), and the first rack (2612) is meshed with the first gear (2613) for transmission.

8. The farmland sprinkler irrigation robot according to claim 7, characterized in that: The receiving frame (2605) is provided with an inclined area (2631) inside, and a material discharge trough is provided at the bottom end of the inclined area (2631). A mounting plate (2606) is fixedly provided at the bottom end of the receiving frame (2605), and a plurality of first springs (2607) are fixedly provided on the mounting plate (2606). A sliding plate (2608) is fixedly provided at the ends of the plurality of first springs (2607). A sliding groove (2614) is provided on the side of the receiving frame (2605), and a sliding block (2615) is fixedly provided on the sliding plate (2608). The sliding block (2615) is slidably connected to the sliding groove (2614).

9. The farmland sprinkler irrigation robot according to claim 8, characterized in that: A support rail (2609) is fixedly provided inside the material receiving frame (2605), a material discharge assembly is slidably provided on the support rail (2609), and the material discharge assembly comprises a first movable groove (2616) and a second movable groove (2617), a second rack (2618) is fixedly provided inside the first movable groove (2616), second springs (2619) are fixedly provided at both ends of the second movable groove (2617), and the first movable groove (2616) and the second movable groove (2617) are slidably provided inside the support rail (2609).

10. The farmland sprinkler irrigation robot according to claim 9, characterized in that: A first bottom plate (2620) is slidably provided above the first moving groove (2616), a second bottom plate (2621) is slidably provided above the second moving groove (2617), a second gear (2622) is rotatably provided at the bottom end of the first bottom plate (2620), a rectangular block (2623) is fixedly provided at the bottom end of the second bottom plate (2621), two ends of the rectangular block (2623) are respectively fixedly connected to two second springs (2619), a first triangular bracket (2627) is rotatably connected to the top of the first bottom plate (2620) via a rotating block (2633), and the second moving groove (2617) is rotatably provided with a second gear (2622). A third motor (2624) is slidably provided on the side of the movable groove (2617); an output shaft (2625) of the third motor (2624) passes through the first bottom plate (2620) and the second bottom plate (2621) and is fixedly connected to the bottom end of the second triangular bracket (2628); the output shaft (2625) of the third motor (2624) is rotatably connected to the second bottom plate (2621); a limit block (2626) is fixedly provided on the top end of the output shaft (2625) of the third motor (2624); and the limit block (2626) is slidably connected to the first triangular bracket (2627).

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