Integrated agricultural fog cultivation robot with navigation, charging and water and fertilizer management functions

Abstract

The invention discloses an integrated agricultural fog cultivation robot with navigation, charging and water and fertilizer management functions, which comprises a logistics robot chassis, a camera is arranged on the logistics robot chassis, a water and fertilizer box is arranged at the top of the logistics robot chassis, and a connecting frame is arranged at the top of the water and fertilizer box. A water receiving disc is arranged at the top of the connecting frame, a planting frame is arranged at the top of the water receiving disc, a top cover is arranged at the top of the planting frame, winding cloth is arranged on the outer surface of the planting frame, and a filter screen is arranged on the water receiving disc. Through the chassis of the logistics robot, the logistics robot has navigation and automatic charging capabilities, the mouth-shaped frame can rotate and swing through a single motor to continuously disturb a water and fertilizer solution, break sediments and maintain homogeneity, stable components and smooth flowing of irrigation liquid are ensured, the spraying pipe can periodically deflect to dynamically adjust the atomization angle, a complementary coverage area is formed, and the spraying efficiency is improved. And a fixed spraying blind area is eliminated.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural fog tillage, and in particular to an integrated agricultural fog tillage robot with navigation, charging, and water and fertilizer management functions. Background Art

[0002] As agricultural modernization accelerates, agricultural mist farming technology is emerging as an innovative planting model. Agricultural mist farming robots, the core application of this technology, integrate multiple advanced functions to provide a more precise and efficient environment and maintenance conditions for plant growth. By precisely spraying a water and fertilizer solution around plant roots in atomized form, they not only effectively improve water and fertilizer utilization, but also create a suitable humidity environment for plants, promoting healthy growth.

[0003] However, existing agricultural mist tillage robots still have significant defects: first, the solution in the water and fertilizer tank is prone to sedimentation and stratification due to standing still, causing the fertilizer particles to settle and stratify, resulting in blockage of the suction pipe or imbalance in irrigation concentration, and the need for additional stirring devices to increase energy consumption; second, the fixed-angle spraying pipe forms a linear irrigation belt during movement, resulting in repeated irrigation or missed blind spots in the longitudinal area of ​​the planting rack; third, functions such as liquid extraction, anti-sedimentation stirring, spraying and nozzle angle adjustment require the coordination of multiple motors or electronic control units, which not only has a complex structure and a high failure rate, but also significantly increases manufacturing costs and maintenance difficulties. Summary of the Invention

[0004] The purpose of the present invention is to solve the shortcomings of the existing technology and propose an integrated agricultural fog tillage robot with navigation, charging, and water and fertilizer management functions.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: An integrated agricultural mist tillage robot with navigation, charging, and water and fertilizer management functions includes a logistics robot chassis, a camera is provided on the logistics robot chassis, a water and fertilizer tank is provided on the top of the logistics robot chassis, a connecting frame is provided on the top of the water and fertilizer tank, a water receiving tray is provided on the top of the connecting frame, a planting rack is provided on the top of the water receiving tray, a top cover is provided on the top of the planting rack, a winding cloth is provided on the surface of the planting rack, a filter is provided on the water receiving tray, a recovery pipe connected to the water and fertilizer tank is provided at the bottom of the water receiving tray, a spraying pipe rotatably connected to the water receiving tray is provided through the water receiving tray, a reversing assembly connected to the spraying pipe is provided in the connecting frame, an infusion assembly connected to the spraying pipe is provided on the connecting frame, and an anti-sedimentation assembly connected to the rotating assembly is provided on the water and fertilizer tank.

[0006] Preferably, the reversing assembly includes a motor fixedly mounted on the top of the water and fertilizer tank, a cam fixedly mounted on the output shaft of the motor, a positioning disk and a push rod fixedly mounted on the top of the cam, a rotating disk fixedly mounted on the outer wall of the spray pipe, a plurality of pushing grooves and a plurality of positioning grooves are provided on the periphery of the rotating disk, the pushing rod is adapted to the plurality of pushing grooves, the positioning disk is adapted to the plurality of positioning grooves, and the positioning disk is adapted to the plurality of positioning grooves.

[0007] The lockhole that is formed on the locking rim of the second locking rim is formed on the top of the locking rim, and the locking rim is fixed on the top of the locking rim, so that the locking rim can be locked.

[0008] Preferably, the anti-sedimentation component includes a mounting cylinder that is arranged through the top of the water and fertilizer tank and is rotatably connected thereto, a third gear located in the connecting frame is fixedly installed on the outer wall of the mounting cylinder, a first gear is fixedly installed on the outer wall of the motor output shaft, the first gear is meshed with the third gear, a second plug is provided in the mounting cylinder and is slidably connected to its inner wall, a rack is fixedly installed on the bottom of the second plug, a mouth-shaped frame is arranged through the mounting cylinder and is rotatably connected thereto, the mouth-shaped frame is located below the second plug, the second gear located in the mounting cylinder is fixedly installed on the outer wall of the mouth-shaped frame, a plurality of stirring rods located outside the mounting cylinder are fixedly installed on the outer wall of the mouth-shaped frame, an air outlet channel connected to the outside is provided on the inner cavity of the mounting cylinder, and one end of the air outlet channel connected to the inner cavity of the mounting cylinder is located below the second plug.

[0009] The lockhole that is formed on the upper part of the second rim is formed on the upper part of the second rim is fixed with a first spring, and the lockhole that is formed on the upper part of the second rim is formed on the second rim of the second rim is fixed with a first spring.

[0010] Preferably, the spray pipe is provided with a plurality of atomizing nozzles located between the water receiving tray and the top cover.

[0011] Preferably, the ends of the second drainage tube and the third drainage tube communicating with the second fixing box are both located on the side of the third blocking block away from the rectangular block, and one-way valves are provided in the second drainage tube and the third drainage tube.

[0012] Preferably, the inner cavity of the water and fertilizer tank is circular, the inner cavity of the mounting cylinder is rectangular, and the rack is meshed with the second gear.

[0013] Beneficial effects of the present invention: By integrating camera navigation and power monitoring systems into the logistics robot chassis, automatic cruising, autonomous charging during power outages, and reset functions can be achieved. Continuous operation can be achieved without human intervention, significantly reducing operation and maintenance costs.

[0014] By setting up an anti-sedimentation component, the mouth-shaped frame can continuously stir the solution in the water-fertilizer tank through rotation and reciprocating swing, thereby eliminating fertilizer sedimentation and stratification, ensuring uniform composition and optimized fluidity of the irrigation solution, and avoiding pipeline blockage and concentration imbalance.

[0015] By setting up a reversing component, the spray pipe can be deflected clockwise periodically, so that the angle of the atomizing nozzle can be dynamically adjusted to form a complementary spraying belt, eliminating fixed spraying blind spots and improving the irrigation effect.

[0016] By setting up an infusion component, a single motor can integrate the functions of infusion, stirring, spraying and angle adjustment, thereby reducing energy consumption and failure rate, making it more convenient to use and more automated.

[0017] The present invention uses a logistics robot chassis to enable it to have navigation and automatic charging capabilities. A single motor can rotate and swing the mouth-shaped frame to continuously disturb the water and fertilizer solution, break up precipitation and maintain homogeneity, ensure that the irrigation liquid composition is stable and flows smoothly, and the spray pipe can also periodically deflect to dynamically adjust the atomization angle, forming a complementary coverage area and eliminating fixed spraying blind spots. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the three-dimensional structure of one side of the integrated agricultural fog tillage robot with navigation, charging, and water and fertilizer management functions proposed by the present invention; Figure 2 This is a schematic diagram of the three-dimensional structure of the other side of the integrated agricultural mist tillage robot with navigation, charging, and water and fertilizer management functions proposed by the present invention; Figure 3 It is a schematic diagram of the three-dimensional structure of the present invention after being cut along one vertical axis of the installation tube; Figure 4 The present invention is attached Figure 3 Schematic diagram of the enlarged structure at A in the middle; Figure 5 It is a schematic diagram of the three-dimensional structure of the present invention after being cut along another vertical axis of the mounting tube; Figure 6 It is a three-dimensional schematic diagram of the internal structure of the connection frame of the present invention.

[0019] In the figure: 1 logistics robot chassis, 2 camera, 3 water and fertilizer tank, 4 connecting frame, 5 water receiving tray, 6 winding cloth, 7 top cover, 8 planting rack, 9 spraying pipe, 10 filter, 11 recovery pipe, 12 first fixed box, 13 first plug, 14 first drainage pipe, 15 motor, 16 first gear, 17 mouth frame, 18 mounting cylinder, 19 second gear, 20 stirring rod, 21 second plug, 22 first rotary joint, 23 second rotary joint, 24 rotating disk, 25 pushing rod, 26 positioning disk, 27 cam, 28 third gear, 29 second drainage pipe, 30 rack, 31 air outlet channel, 32 third drainage pipe, 33 pushing groove, 34 positioning groove, 35 long block, 36 rectangular block, 37 first spring, 38 first connecting rod, 39 rotating rod, 40 second connecting rod, 41 second spring, 42 second fixed box, 43 third plug. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0021] Reference Figures 1-6, an integrated agricultural fog farming robot with navigation, charging, and water and fertilizer management functions, including a logistics robot chassis 1, a camera 2 is provided on the logistics robot chassis 1, the logistics robot chassis 1 is integrated with a visual sensor and a laser radar, and is also equipped with a charging base and navigation and system management software for realizing autonomous charging and intelligent path planning (the relevant components are not drawn and are prior art), which can be cooperated with the camera 2 for auxiliary positioning, a water and fertilizer tank 3 is provided on the top of the logistics robot chassis 1, a connecting frame 4 is provided on the top of the water and fertilizer tank 3, a water receiving tray 5 is provided on the top of the connecting frame 4, a planting rack 8 is provided on the top of the planting rack 8, a top cover 7 is provided on the top of the planting rack 8, a winding cloth 6 is provided on the surface of the planting rack 8, a filter screen 10 is provided on the water receiving tray 5, and the bottom of the water receiving tray 5 is provided. A recovery pipe 11 is provided which is connected to the water and fertilizer tank 3. A spray pipe 9 is provided through the water receiving tray 5 and is rotatably connected to the water receiving tray 5. The spray pipe 9 is provided with a plurality of atomizing nozzles located between the water receiving tray 5 and the top cover 7. A reversing assembly connected to the spray pipe 9 is provided in the connecting frame 4. The reversing assembly includes a motor 15 fixedly mounted on the top of the water and fertilizer tank 3. A cam 27 is fixedly mounted on the output shaft of the motor 15. A positioning disk 26 and a push rod 25 are fixedly mounted on the top of the cam 27. A rotating disk 24 is fixedly mounted on the outer wall of the spray pipe 9. A plurality of pushing grooves 33 and a plurality of positioning grooves 34 are provided on the periphery of the rotating disk 24. The pushing rod 25 is adapted to the plurality of pushing grooves 33, the positioning disk 26 is adapted to the plurality of positioning grooves 34, and the positioning disk 26 is adapted to the plurality of positioning grooves 34.

[0022] The connecting frame 4 is provided with an infusion assembly connected to the spray pipe 9, and the infusion assembly includes a second fixed box 42 fixedly mounted on the inner wall of one side of the connecting frame 4, and one end of the second fixed box 42 close to the inner wall of the other side of the connecting frame 4 is penetrated by two second connecting rods 40 slidably connected thereto, and one end of the two second connecting rods 40 located in the second fixed box 42 is fixedly mounted with the same third plug 43 slidably connected to the inner wall of the second fixed box 42, and one end of the two second connecting rods 40 located outside the second fixed box 42 is fixedly mounted with the same rectangular block 36, and a second spring 41 is fixedly connected between the third plug 43 and the inner wall of one end of the second fixed box 42 close to the rectangular block 36, and the rectangular block 36 is rotatably connected to a rotating shaft on a side wall close to the push rod 25. Rod 39, the second fixed box 42 is provided with a second drainage tube 29 and a third drainage tube 32 connected to the interior thereof, the second drainage tube 29 extends into the water and fertilizer tank 3 at one end away from the second fixed box 42, and the third drainage tube 32 is connected to the spraying tube 9 at one end of the spraying tube 9 located in the connecting frame 4. A second rotary joint 23 is provided between the end of the third drainage tube 32 away from the second fixed box 42 and the spraying tube 9 located in the connecting frame 4. In order to ensure the spraying effect, a micro-boosting pump can be connected in series to the third drainage tube 32, and the outlet of the micro-boosting pump is connected to the spraying tube 9 through a high-pressure pipeline and a second rotary joint 23. The ends of the second drainage tube 29 and the third drainage tube 32 connected to the second fixed box 42 are both located on the side of the third block 43 away from the rectangular block 36, and a one-way valve is provided in the second drainage tube 29 and the third drainage tube 32.

[0023] The water and fertilizer tank 3 is provided with an anti-sedimentation component connected to the rotating component. The anti-sedimentation component includes a mounting cylinder 18 that is arranged on the top of the water and fertilizer tank 3 and is rotatably connected thereto. A third gear 28 located in the connecting frame 4 is fixedly mounted on the outer wall of the mounting cylinder 18. A first gear 16 is fixedly mounted on the outer wall of the output shaft of the motor 15. The first gear 16 is meshed with the third gear 28. A second plug 21 is provided in the mounting cylinder 18 and is slidably connected to its inner wall. A rack 30 is fixedly mounted on the bottom of the second plug 21. The mounting cylinder 18 is provided with a second plug 21 that is slidably connected to the inner wall thereof. 8 is provided with a mouth-shaped frame 17 rotatably connected thereto, the mouth-shaped frame 17 is located below the second plug 21, and a second gear 19 located in the mounting cylinder 18 is fixedly mounted on the outer wall of the mouth-shaped frame 17, and a plurality of stirring rods 20 located outside the mounting cylinder 18 are fixedly mounted on the outer wall of the mouth-shaped frame 17, and an air outlet channel 31 communicating with the outside is provided on the inner cavity of the mounting cylinder 18, and one end of the air outlet channel 31 communicating with the inner cavity of the mounting cylinder 18 is located below the second plug 21, and a first fixed air outlet channel 31 is fixedly mounted on the inner wall of one end of the connecting frame 4. The fixed box 12 has two first connecting rods 38 slidably connected to the outer wall of one end of the first fixed box 12 near the cam 27. The two first connecting rods 38 are located outside the first fixed box 12 and are fixedly installed with a long block 35 that abuts against the cam 27. A first spring 37 is fixedly connected between the long block 35 and the outer wall of one end of the first fixed box 12. The two first connecting rods 38 are located inside the first fixed box 12 and are fixedly installed with a first plug 13 slidably connected to the inner wall of the first fixed box 12. A first drainage tube 14 connected to the interior of a fixed box 12 is provided on the fixed box 12. The end of the first drainage tube 14 connected to the first fixed box 12 is located on the side of the first block 13 away from the cam 27. A first rotary joint 22 is provided between the end of the first drainage tube 14 away from the first fixed box 12 and the upper end of the mounting tube 18. The inner cavity of the water and fertilizer tank 3 is circular, and the inner cavity of the mounting tube 18 is rectangular, so that the second block 21 and the rack 30 can rotate together with the mounting tube 18, and the rack 30 is meshed with the second gear 19.

[0024] When the present invention is used, the water and fertilizer tank 3 is installed to the top of the logistics robot chassis 1 by snap-fitting (existing technology). The logistics robot chassis 1 is an AGV chassis with a service navigation function. The top of the AGV chassis is flat. The AGV chassis has a normal power monitoring function. When the power is less than a specific value, the AGV automatically moves to a specific position and charges autonomously. After charging is completed, it automatically returns to the original position (the service-type AGV robot chassis has very mature technology and can be directly customized by the AGV merchant). By setting up the camera 2, it can facilitate navigation and autonomous charging. When it is necessary to water the vegetables on the planting rack 8, the motor 15 is started to rotate its output shaft, which can make the first gear 16, the cam 27 and the positioning plate 26 (along the attached Figure 6When the cam 27 rotates counterclockwise, the push rod 25 on the cam 27 rotates around the axis of the output shaft of the motor 15. When the first gear 16 rotates, the first gear 16 is engaged with the third gear 28, thereby enabling the mounting cylinder 18 and the mouth-shaped frame 17 to rotate. When the cam 27, the positioning plate 26 and the push rod 25 rotate counterclockwise by 90 degrees, the cam 27 causes the long block 35 to move in the direction close to the first fixed box 12, and the first spring 37 is compressed. By providing the first connecting rod 38, the first plug 13 can slide in the first fixed box 12 in the direction away from the cam 27, thereby enabling the incompressible liquid in the first fixed box 12 located on the side of the first plug 13 away from the cam 27 to be squeezed into the installation cylinder 18 through the first drainage tube 14. By providing the air outlet channel 31, the second plug 21 in the installation cylinder 18 can be moved downward, and the second plug 21 drives the rack 30 to move downward. The rack 30 is meshed with the second gear 19 to enable the mouth-shaped frame 17 to rotate a certain angle in one direction. When the pushing rod 25 rotates ninety degrees counterclockwise, the pushing rod 25 first contacts the rotating rod 39, and as the pushing rod 25 continues to rotate, the rotating rod 39 and the rectangular block 36 move in a direction away from the second fixed box 42, thereby compressing the second spring 41. By providing the second connecting rod 40, the third plug 43 can slide in a direction close to the first fixed box 12, thereby generating a suction effect, and the irrigation solution in the water and fertilizer tank 3 is sucked into the second fixed box 42 through the second drainage pipe 29; When the cam 27, the positioning plate 26 and the push rod 25 rotate counterclockwise by 90 degrees again, the elastic force generated by the compression of the first spring 37 can make the long block 35 and the first plug 13 return to their initial positions, so that the incompressible liquid above the second plug 21 in the mounting cylinder 18 can be re-sucked into the first fixed box 12 through the first drainage tube 14, so that the second plug 21 and the rack 30 can move upward, so that the mouth frame 17 can rotate a certain angle in the other direction. When the axis of the mounting tube 18 rotates, the mouth-shaped frame 17 and the rotating part of the mounting tube 18 rotate back and forth at a certain angle to achieve swinging, so that the solution in the water fertilizer tank 3 can be continuously stirred to prevent the fertilizer particles from settling and agglomerating and promote the uniform diffusion of the solute, thereby maintaining the homogeneous state of the solution before irrigation, ensuring the stability of the composition of the irrigation liquid sucked subsequently, optimizing the fluidity, avoiding pipe blockage or concentration imbalance, and improving the irrigation effect. When the pushing rod 25 rotates counterclockwise for another ninety degrees, the pushing rod 25 contacts the rotating rod 39 and the pushing rod 25 continues to The rotation continues to make the rotating rod 39, the rectangular block 36 and the third plug 43 continue to move a distance, and then due to the continued rotation of the push rod 25, the push rod 25 is no longer in contact with the rotating rod 39, and the elastic force generated by the compression of the second spring 41 can reset the rotating rod 39, the rectangular block 36 and the third plug 43, so that the irrigation solution sucked into the second fixed box 42 can be squeezed into the spray pipe 9 through the third drainage pipe 32 and finally sprayed out through the atomizing nozzle on the spray pipe 9. When the cam 27, the positioning plate 26 and the push rod 25 are In the process of rotating 25 counterclockwise by 180 degrees to return to the initial position, the push rod 25 cooperates with the push groove 33, and the positioning plate 26 cooperates with the positioning groove 34, so that the rotating plate 24 and the spraying pipe 9 can be rotated clockwise by a certain angle. In this way, a complementary coverage area can be formed by dynamically adjusting the spraying angle, eliminating the irrigation blind area caused by fixed spraying, and further improving the irrigation effect. The water receiving tray 5 is provided to receive the water droplets dripping from the top, and the filter screen 10 and the recovery pipe 11 are provided to filter and recover water and fertilizer.

[0025] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. An integrated agricultural fog tillage robot with navigation, charging, and water and fertilizer management functions, including a logistics robot chassis (1), characterized in that: The logistics robot chassis (1) is provided with a camera (2), a water and fertilizer tank (3) is provided on the top of the logistics robot chassis (1), a connecting frame (4) is provided on the top of the water and fertilizer tank (3), a water receiving tray (5) is provided on the top of the connecting frame (4), a planting rack (8) is provided on the top of the water receiving tray (5), a top cover (7) is provided on the top of the planting rack (8), a wrapping cloth (6) is provided on the surface of the planting rack (8), a filter (10) is provided on the water receiving tray (5), a recovery pipe (11) connected to the water and fertilizer tank (3) is provided at the bottom of the water receiving tray (5), a spraying pipe (9) rotatably connected to the water receiving tray (5) is provided through the water receiving tray (5), a reversing component connected to the spraying pipe (9) is provided in the connecting frame (4), an infusion component connected to the spraying pipe (9) is provided on the connecting frame (4), and an anti-sedimentation component connected to the rotating component is provided on the water and fertilizer tank (3).

2. The integrated agricultural mist tillage robot with navigation, charging, and water and fertilizer management functions according to claim 1 is characterized in that: The reversing assembly comprises a motor (15) fixedly mounted on the top of the water and fertilizer tank (3); a cam (27) is fixedly mounted on the output shaft of the motor (15); a positioning disc (26) and a push rod (25) are fixedly mounted on the top of the cam (27); a rotating disc (24) is fixedly mounted on the outer wall of the spray pipe (9); a plurality of pushing grooves (33) and a plurality of positioning grooves (34) are formed on the periphery of the rotating disc (24); the pushing rod (25) is adapted to the plurality of pushing grooves (33); the positioning disc (26) is adapted to the plurality of positioning grooves (34); and the positioning disc (26) is adapted to the plurality of positioning grooves (34).

3. The integrated agricultural mist tillage robot with navigation, charging, and water and fertilizer management functions according to claim 2 is characterized in that: The infusion assembly comprises a second fixed box (42) fixedly mounted on the inner wall of one side of the connecting frame (4); one end of the second fixed box (42) close to the inner wall of the other side of the connecting frame (4) is penetrated by two second connecting rods (40) slidably connected thereto; one end of the two second connecting rods (40) located inside the second fixed box (42) is fixedly mounted with a third plug (43) slidably connected to the inner wall of the second fixed box (42); one end of the two second connecting rods (40) located outside the second fixed box (42) is fixedly mounted with a same rectangular block (36); the third plug (43) is slidably connected to the second fixed box (42); A second spring (41) is fixedly connected between the inner wall of one end of the box (42) close to the rectangular block (36), and a rotating rod (39) is rotatably connected to a side wall of the rectangular block (36) close to the push rod (25). The second fixed box (42) is provided with a second drainage pipe (29) and a third drainage pipe (32) connected to the interior thereof. The end of the second drainage pipe (29) away from the second fixed box (42) extends into the water and fertilizer tank (3). A second rotary joint (23) is formed between the end of the third drainage pipe (32) away from the second fixed box (42) and the end of the spraying pipe (9) located in the connection frame (4).

4. The integrated agricultural mist tillage robot with navigation, charging, and water and fertilizer management functions according to claim 3 is characterized in that: The anti-precipitation component comprises a mounting cylinder (18) which is arranged through the top of the water fertilizer tank (3) and is rotatably connected thereto, a third gear (28) located in the connecting frame (4) is fixedly mounted on the outer wall of the mounting cylinder (18), a first gear (16) is fixedly mounted on the outer wall of the output shaft of the motor (15), the first gear (16) is meshedly connected with the third gear (28), a second plug (21) is provided in the mounting cylinder (18) which is slidably connected to the inner wall thereof, a rack (30) is fixedly mounted on the bottom of the second plug (21), and the mounting cylinder (18) is fixedly mounted on the outer wall of the output shaft of the motor (15). ) is provided with a mouth-shaped frame (17) rotatably connected thereto, the mouth-shaped frame (17) is located below the second plug (21), a second gear (19) located in the mounting cylinder (18) is fixedly mounted on the outer wall of the mouth-shaped frame (17), a plurality of stirring rods (20) located outside the mounting cylinder (18) are fixedly mounted on the outer wall of the mouth-shaped frame (17), an air outlet channel (31) communicating with the outside is provided on the inner cavity of the mounting cylinder (18), and one end of the air outlet channel (31) communicating with the inner cavity of the mounting cylinder (18) is located below the second plug (21).

5. The integrated agricultural mist tillage robot with navigation, charging, and water and fertilizer management functions according to claim 4 is characterized in that: A first fixing box (12) is fixedly mounted on the inner wall of one end of the connecting frame (4); two first connecting rods (38) are provided on the outer wall of one end of the first fixing box (12) close to the cam (27) and are slidably connected thereto; a same long block (35) abutting against the cam (27) is fixedly mounted on one end of the two first connecting rods (38) located outside the first fixing box (12); a first spring (37) is fixedly connected between the long block (35) and the outer wall of one end of the first fixing box (12); the two first connecting rods (38) A first plug (13) is fixedly mounted at one end of the first fixed box (12) and is slidably connected to the inner wall of the first fixed box (12). The first fixed box (12) is provided with a first drainage tube (14) connected to the interior thereof. An end of the first drainage tube (14) communicating with the first fixed box (12) is located on a side of the first plug (13) away from the cam (27). A first rotary joint (22) is provided between the end of the first drainage tube (14) away from the first fixed box (12) and the upper end of the mounting tube (18).

6. The integrated agricultural mist tillage robot with navigation, charging, and water and fertilizer management functions according to claim 1 is characterized in that: The spray pipe (9) is provided with a plurality of atomizing nozzles located between the water receiving tray (5) and the top cover (7).

7. The integrated agricultural mist tillage robot with navigation, charging, and water and fertilizer management functions according to claim 3 is characterized in that: The ends of the second drainage tube (29) and the third drainage tube (32) that are in communication with the second fixing box (42) are both located on the side of the third plugging block (43) away from the rectangular block (36), and one-way valves are provided in the second drainage tube (29) and the third drainage tube (32).

8. The integrated agricultural mist tillage robot with navigation, charging, and water and fertilizer management functions according to claim 5 is characterized in that: The inner cavity of the water and fertilizer tank (3) is circular, the inner cavity of the mounting cylinder (18) is rectangular, and the rack (30) is meshedly connected with the second gear (19).

Images