CN115474464B - Mobile water and fertilizer accurate irrigation method - Google Patents

Abstract

The invention provides a mobile water and fertilizer accurate irrigation method which comprises a mobile base, wherein a rotary spraying device, a multi-thread cooperative proportioning device, a mixing and conveying device, a stirring and proportioning device and a water and fertilizer irrigation device are fixedly arranged at the top end of the mobile base, the multi-thread cooperative proportioning device comprises a first blanking mechanism, a second blanking mechanism and a third blanking mechanism which are used for quantitatively dropping different fertilizers, the conveying tail end of the mixing and conveying device is communicated with the stirring and proportioning device, and the water and fertilizer irrigation device is communicated with the stirring and proportioning device. According to the method, a multithread cooperative batching mode is adopted, quantitative weighing and discharging are carried out on different fertilizers to be mixed, the precision of taking materials of various fertilizers is improved, the various fertilizers are mixed and conveyed to a stirring and blending device to be mixed with water through a mixing and conveying device, and finally three axial position adjustment is carried out on an atomizing nozzle through a water and fertilizer applying and filling device, so that precise fertilization is achieved. The precision of the fertilizer concentration and the precision of the fertilization are effectively improved.

Description

Mobile water and fertilizer accurate irrigation method

Technical Field

The invention relates to the technical field of water and fertilizer irrigation of crops, in particular to a movable water and fertilizer accurate irrigation method.

Background

At present, in modern agriculture planting, a greenhouse planting mode occupies an important development position. The agricultural planting adopts a flood irrigation mode and a pipeline irrigation mode, the fertilization adopts a spraying or throwing mode, a large amount of manual operation is needed, and the water consumption is large; the problems of more irrigation water, uneven spraying, inaccurate fertilization, high labor intensity, low production efficiency and the like exist; especially, because pipeline pressure flow is unstable during irrigation, the fluctuation of pesticide fertilizer concentration is large, seedling burning is easy to occur when the concentration is overlarge, and the effect cannot be achieved when the concentration is too low, the precision is low, the equipment material weighing process is rough, the precision is low, and the utilization efficiency of the fertilizer is low.

Disclosure of Invention

The invention aims to provide a movable precise water and fertilizer applying and irrigating method, which is used for accurately applying and irrigating water and fertilizer to crops after multi-line Cheng Xietong material taking, grinding and blending are realized to form water and fertilizer.

The invention provides a mobile water and fertilizer accurate irrigation method which comprises a mobile base, wherein a rotary spraying device, a multi-thread cooperative proportioning device, a mixing and conveying device, a stirring and proportioning device and a water and fertilizer irrigation device are fixedly arranged at the top end of the mobile base, the rotary spraying device and the multi-thread cooperative proportioning device are arranged side by side, and the mixing and conveying device is fixedly arranged below the multi-thread cooperative proportioning device;

The multi-thread cooperative batching device comprises a second supporting frame, a first blanking mechanism, a second blanking mechanism and a third blanking mechanism for quantitatively dropping different fertilizers are sequentially arranged on the second supporting frame, weighing sensors are arranged in the first blanking mechanism, the second blanking mechanism and the third blanking mechanism, a plurality of receiving hoppers which are in one-to-one correspondence with the first blanking mechanism, the second blanking mechanism and the third blanking mechanism are arranged at the top end of the mixing conveying device, the conveying tail ends of the mixing conveying device are communicated with the stirring and batching device, water and fertilizer applying and irrigating devices are symmetrically arranged on two sides of the multi-thread cooperative batching device, and the water and fertilizer applying and irrigating devices are communicated with the stirring and batching device;

the water and fertilizer applying and irrigating device comprises an atomizing spray head, an X axial moving mechanism, a Y axial moving mechanism and two Z axial lifting mechanisms, wherein the X axial moving mechanism, the Y axial moving mechanism and the two Z axial lifting mechanisms are used for driving the atomizing spray head to move, the two Z axial lifting mechanisms are symmetrically and fixedly arranged on two sides of the bottom end of the X axial moving mechanism, and the bottom end of the Z axial lifting mechanism is fixedly connected with the top end of the moving base;

the precise water and fertilizer applying and irrigating method specifically comprises the following steps:

S1: respectively pouring three different kinds of fertilizers into the blanking hoppers above the first blanking mechanism, the second blanking mechanism and the third blanking mechanism, wherein weighing sensors corresponding to the first blanking mechanism, the second blanking mechanism and the third blanking mechanism respectively match the required quantity according to a control system, and blanking the mixed conveying device at the same time;

s2: the three different fertilizers respectively fall into a receiving hopper of the mixing and conveying device after being weighed by the first blanking mechanism, the second blanking mechanism and the third blanking mechanism, are split and taken, are conveyed to the stirring and blending device through the mixing and conveying device, and are stirred and blended with water by the stirring and blending device;

s3: pumping the prepared water and fertilizer to a water and fertilizer applying and irrigating device, and moving the atomizing nozzle to the root position of crops through the cooperative movement of an X axial moving mechanism, a Y axial moving mechanism and two Z axial lifting mechanisms so as to realize accurate applying and irrigating;

s4: the control system controls the movable base to drive the whole equipment to move along the operation area, so that the water and fertilizer applying and irrigating work of all crops in the operation area is realized.

Further, the rotary spraying device comprises a first water tank, a cylinder support is symmetrically arranged on two sides of the first water tank, the bottom end of the cylinder support is fixedly connected with the top end of the movable base, a steering engine is fixedly arranged on the top end of the cylinder support, a rotary table is fixedly arranged on an output shaft of the steering engine, a first support frame is fixedly arranged on the top end of the rotary table, a fog gun is rotatably arranged on the first support frame and communicated with the first water tank, a distribution box is fixedly arranged on one side of the cylinder support, the fog gun is electrically connected with the distribution box, when the temperature of an object growing environment is too high, the rotary spraying device is started, and the steering engine can control the fog gun swing head to expand the cooling range.

Further, the first blanking mechanism is located at one side of the multithread cooperative batching device, far away from the rotary spraying device, the first blanking mechanism comprises a first side plate and a second side plate which are symmetrically and fixedly installed on the second support frame, a push box which penetrates through up and down is installed between the first side plate and the second side plate in a sliding mode along the horizontal direction, a first blanking hopper is fixedly installed at the top end of the push box, a first sliding rail is fixedly installed at one side of the first side plate, far away from the push box, a first sliding block matched with the first sliding rail is fixedly installed on the push box, a first rack is fixedly installed at one side of the push box, far away from the first sliding block, and is in sliding connection with the second side plate, a first motor is fixedly installed at one side of the second side plate, far away from the push box, and a first gear matched with the first rack is fixedly installed on an output shaft of the first motor; the utility model discloses a fertilizer feeder, including first curb plate, second curb plate, mounting plate, fixed mounting has mounting plate between the first curb plate with the bottom fixed mounting between the second curb plate, fixed mounting has first weighing sensor on the mounting plate, weighing plate is installed on the top of first weighing sensor, the both ends of weighing plate along vertical direction slidable mounting respectively in first curb plate with on the second curb plate, weighing plate with leave the clearance between the box bottom pushes away, after the required fertilizer weight of first weighing sensor response reaches standard, first motor drive pushes away the box and removes to the unilateral and carry out the unloading.

Further, the second blanking mechanism is located the middle part position of multi-thread cooperation dosing unit, the second blanking mechanism includes fixed mounting and is in the hole roof of digging on the second support frame, the top fixed mounting who digs the hole roof has the second blanking hopper, the bottom of hole roof is hung and is divided the charging tray, divide the charging tray to go up to rotate and install the feed divider, divide the inside a plurality of first feed divider that evenly is equipped with of feed divider, divide the charging tray to go up along its radial symmetry to set up two with the second feed divider that the first feed divider corresponds, be equipped with the intermediate lamella on the second support frame in the below of dividing the charging tray, divide the below symmetry of charging tray be equipped with the intermediate lamella rotates and connects the hole disc, every the bottom of hole disc is along its radial symmetry fixed mounting have a branch magazine, the bottom symmetry fixed mounting of intermediate lamella have two with divide the feed divider and two second weighing sensor, the top of blanking pipe with the second weighing sensor top and the second motor run through to the intermediate lamella the second motor is used for the fixed mounting of motor the bottom plate is used for the second is fixed mounting to have the bottom plate of the second support frame to rotate.

Further, the third blanking mechanism is located be close to on the second support frame one side of rotatory atomizer, the third blanking mechanism includes the third blanking hopper, the bottom fixed mounting of third blanking hopper has a plurality of to be the vibration dish that echelonment was arranged, upper and lower adjacent through spliced pole fixed connection between the vibration dish, be located the bottom the below of vibration dish be equipped with second support frame fixed connection's vibrator, the output of vibrator with the vibration dish butt of bottom, be at the bottom on the second support frame vibration landing point below fixed mounting of vibration dish has the inclined storage storehouse, the both sides of the opening part of inclined storage storehouse are equipped with the second slide rail, slidable mounting has the bin gate on the second slide rail, the bottom fixed mounting of bin gate has the third weighing sensor, fixed mounting has the push pedal in the middle part of the bin gate, fixed mounting on the second support frame with the cylinder that the bin gate is parallel to each other, the output of cylinder with push pedal fixed connection.

Further, the mixing and conveying device comprises a conveying pipeline fixedly installed on the second supporting frame, three feeding holes are formed in the top end of the conveying pipeline, the receiving hopper is welded at the feeding holes of the conveying pipeline, a screw rod is rotatably installed inside the conveying pipeline along the axis direction of the conveying pipeline, a fourth motor for driving the screw rod to rotate is fixedly installed at the end part of the conveying pipeline, the fourth motor drives the screw rod to rotate, and the rotary motion of the screw rod is converted into forward motion of fertilizer.

Further, the stirring and blending device comprises a crushing and stirring mechanism, a water and fertilizer storage tank and a wastewater tank;

the crushing and stirring mechanism comprises a stirring box, a partition plate is arranged in the stirring box, crushing teeth are rotatably arranged at the top end of the partition plate, a fifth motor for driving the crushing teeth to rotate is fixedly arranged at the bottom end of the partition plate, a second water tank is fixedly arranged at the bottom end of the second support frame, a water outlet of the second water tank is communicated with a water inlet of the stirring box through a first water pump, three fertilizers are mixed and conveyed into the stirring box, and water is pumped into the stirring box through the first water pump, so that the fertilizers and the water are mixed and stirred, and a water fertilizer is formed;

the bottom end inside the stirring box is provided with a first water pumping pipe and a second water pumping pipe, and the outlet end of the first water pumping pipe is communicated with the inlet end of the water and fertilizer storage box through a second water pump and is used for pumping the stirred and mixed water and fertilizer to the water and fertilizer storage box; the outlet end of the second water suction pipe is communicated with the wastewater tank through a third water pump, after water and fertilizer in the stirring tank are pumped, the first water pump sends water into the stirring tank again, the fifth motor is started to drive the crushing teeth to rotate so as to clean the stirring tank, and cleaning wastewater is pumped to the wastewater tank by the third water pump.

Further, the X-axis moving mechanism comprises two first support plates, a third sliding rail is fixedly arranged between the two first support plates, a sliding seat is slidably arranged on the third sliding rail, a first screw rod penetrating through the sliding seat is rotatably arranged on the third sliding rail, the first screw rod is in matched connection with the sliding seat, and a sixth motor for driving the first screw rod to rotate is fixedly arranged at the end part of the third sliding rail;

the Y-axis moving mechanism comprises a second supporting plate fixedly arranged at the top end of the sliding seat, a fourth sliding rail is fixedly arranged at the top end of the second supporting plate, the fourth sliding rail is perpendicular to the third sliding rail along the horizontal direction, a second sliding block is slidably arranged on the fourth sliding rail, an extension plate is fixedly arranged at the top end of the second sliding block, an atomizing nozzle is fixedly arranged at the front end of the extension plate, a camera is fixedly arranged at the front end of the extension plate, a second rack is fixedly arranged at the top end of the extension plate, a supporting column is fixedly arranged at the top end of the sliding seat, a second gear is rotatably arranged on the supporting column, a seventh motor is fixedly arranged at the bottom end of the second supporting plate, and the second gear is connected with the seventh motor through belt transmission or chain transmission;

The Z-axis lifting mechanism comprises a lifting top plate fixed at the bottom end of the first supporting plate and a lifting bottom plate positioned below the lifting top plate, the bottom end of the lifting bottom plate is fixedly connected with the top end of the movable base, a scissor type folding frame is connected between the lifting top plate and the lifting bottom plate, and an eighth motor for driving the scissor type folding frame to lift is arranged on one side of the lifting bottom plate;

the atomizing nozzle is communicated with the water and fertilizer storage box through a fourth water pump.

Further, the atomizing nozzle and the camera are arranged in a downward inclined mode, the root position of crops is determined through the camera, and then the atomizing nozzle is controlled to be aligned with the root of the crops for sprinkling irrigation and water and fertilizer.

Further, the movable base comprises a base body, universal wheels are symmetrically arranged at one side, far away from the rotary spraying device, of the bottom end of the base body, wheels are symmetrically arranged at the middle part of the bottom end of the base body and one side, far away from the universal wheels, of the base body, a ninth motor for driving the wheels at the middle position to rotate is fixedly arranged on the base body, and the wheels at the middle position are connected with the ninth motor through belt transmission and chain transmission;

The wheel comprises a base body, wherein a wheel axle is arranged on two sides of the wheel, a first bearing seat is arranged on the wheel axle on two sides of the wheel, a second bearing seat corresponding to the first bearing seat is fixedly arranged on the base body, a supporting rod is connected between the first bearing seat and the second bearing seat, one end of the supporting rod is fixedly connected with the first bearing seat, the other end of the supporting rod is hinged with the second bearing seat, a shock absorber is hinged to one side of the supporting rod corresponding to the first bearing seat, and the other end of the shock absorber is hinged with the base body.

Compared with the prior art, the technical scheme of the invention has the following beneficial effects: the precise fertilization and irrigation method adopts a multithread cooperative batching mode to quantitatively weigh and discharge different fertilizers to be mixed, improves the precision of taking materials of various fertilizers, and conveys the various fertilizers to a stirring and blending device to be mixed with water through a mixing and conveying device, and finally carries out three axial position adjustment on an atomizing nozzle through a water and fertilizer fertilization and irrigation device, thereby realizing precise fertilization. Meanwhile, the rotary spraying device is arranged to realize sprinkling irrigation of crops and environmental cooling, and the method realizes integration of sprinkling irrigation and fertilization, so that the precision of precise allocation of fertilizer concentration and fertilization are effectively improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of the overall structure of a precision irrigation device according to the present invention;

FIG. 2 is a schematic view of a part of a rotary spraying device according to the present invention;

FIG. 3 is a schematic diagram of the overall structure of the first blanking mechanism in the present invention;

FIG. 4 is a schematic view of another overall structure of the first blanking mechanism of the present invention;

FIG. 5 is a side view of a first blanking mechanism of the present invention;

FIG. 6 is a front view of a second blanking mechanism of the present invention;

FIG. 7 is a schematic diagram showing the overall structure of a second blanking mechanism according to the present invention

FIG. 8 is a schematic view of a part of the structure of a second blanking mechanism in the present invention;

FIG. 9 is an exploded view of the portion of the tray and the portion of the hopper of the present invention;

FIG. 10 is another exploded view of the tray and bin portion of the present invention;

FIG. 11 is a schematic diagram of the overall structure of a third blanking mechanism according to the present invention;

FIG. 12 is a schematic view of a vibrating tray portion of a third blanking mechanism according to the present invention;

FIG. 13 is a schematic view of the overall construction of the inclined silo portion of the present invention;

FIG. 14 is a schematic view of a mixing conveyor apparatus according to the present invention;

FIG. 15 is a schematic diagram of the positional relationship between a multi-threaded co-dispensing device and a mixing and conveying device in accordance with the present invention;

FIG. 16 is a schematic view showing the internal structure of the stirring tank in the present invention;

FIG. 17 is a schematic view of the overall structure of the stirring and blending device in the invention;

FIG. 18 is a schematic view of the overall structure of the water and fertilizer applying and irrigating device according to the present invention;

FIG. 19 is a schematic view showing a part of the structure of the X-axis moving mechanism and the Y-axis moving mechanism in the water and fertilizer applying and irrigating device according to the present invention;

FIG. 20 is a schematic view of the overall structure of the Z-axis lifting mechanism in the water and fertilizer applying and irrigating device according to the present invention;

FIG. 21 is a schematic view of the structure and mounting structure of a wheel portion of the water and fertilizer applying and irrigating apparatus of the present invention;

FIG. 22 is a flow chart of the present invention when irrigation is performed;

reference numerals illustrate: 1-moving base, 101-universal wheel, 102-wheel, 103-ninth motor, 104-first bearing seat, 105-second bearing seat, 106-supporting rod, 107-shock absorber, 2-rotary spraying device, 201-first water tank, 202-cylinder support, 203-distribution box, 204-fog gun, 205-first support frame, 206-turntable, 207-steering engine, 3-second support frame, 4-first blanking mechanism, 401-second side plate, 402-first side plate, 403-first blanking hopper, 404-pushing box, 405-first rack, 406-first motor, 407-first gear, 408-first slide rail, 409-first slide block, 410-blanking hopper, 411-weighing plate, 412-first weighing sensor 413-mounting base plate, 414-backing plate, 5-second blanking mechanism, 501-second blanking hopper, 502-hole digging top plate, 503-distributing tray, 5031-second distributing opening, 504-distributing bin, 5041-first distributing opening, 5042-conical distributing hopper, 505-middle plate, 506-hole digging disc, 507-distributing box, 508-blanking pipe, 509-second weighing sensor, 510-fixed base plate, 511-second motor, 512-third motor, 513-rotating bearing, 6-third blanking mechanism, 601-third blanking hopper, 602-vibrating tray, 603-connecting column, 604-vibrator, 605-inclined storage bin, 606-second slide rail, 607-bin gate, 608-third weighing sensor, 609-push plate, 610-cylinder, 611-A-shaped bracket, 7-mixing and conveying device, 701-conveying pipeline, 702-receiving hopper, 703-screw rod, 704-fourth motor, 8-stirring and blending device, 801-crushing and stirring mechanism, 8011-stirring box, 8012-baffle, 8013-fifth motor, 8014-crushing tooth, 8015-first water suction pipe, 8016-second water suction pipe, 802-water and fertilizer storage box, 803-waste water tank, 804-first water pump, 805-second water pump, 806-third water pump, 9-water and fertilizer applying and pouring device, 901-atomizing nozzle, 902-fourth water pump 903-first support plate, 904-third slide rail, 905-slide seat, 906-first screw rod, 907-sixth motor, 908-second support plate, 909-fourth slide rail, 910-second slide block, 911-camera, 912-extension plate, 913-second rack, 914-support column, 915-second gear, 916-seventh motor, 917-lifting top plate, 918-lifting bottom plate, 919-scissor folding frame, 920-first fixed rod, 921-first sliding rod, 922-sliding screw rod, 923-eighth motor, 924-fixed block, 10-second water tank.

Detailed Description

The technical solutions of the present invention will be clearly and completely described in connection with the embodiments, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise. Furthermore, the terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Example 1

As shown in fig. 1-22, the mobile water and fertilizer accurate spraying and irrigating method is realized based on a mobile water and fertilizer accurate spraying and irrigating device, the device comprises a mobile base 1, a rotary spraying device 2, a multi-thread cooperative proportioning device, a mixing and conveying device 7, a stirring and proportioning device 8 and a water and fertilizer spraying and irrigating device 9 are fixedly arranged at the top end of the mobile base 1, the rotary spraying device 2 and the multi-thread cooperative proportioning device are arranged side by side, and the mixing and conveying device 7 is fixedly arranged below the multi-thread cooperative proportioning device;

the movable base 1 comprises a vehicle body frame formed by welding aluminum profiles, universal wheels 101 are arranged at the front end of the bottom of the vehicle body frame, wheels 102 are arranged at the middle part and the rear end of the bottom end of the vehicle body frame, a ninth motor 103 for driving the middle wheels 102 to rotate is fixedly arranged at the position of the middle wheels 102 on the vehicle body frame, the ninth motor 103 is in transmission connection with the wheels 102 through belt transmission or chain transmission, the ninth motor 103 drives the wheels 102 to rotate, driving force is provided for the middle wheels 102, and movement of the whole equipment is realized. The wheel axle of the both sides of wheel 102 is gone up and is installed first bearing frame 104, fixed mounting has the second bearing frame 105 that corresponds with first bearing frame 104 on the base body, be connected with bracing piece 106 between first bearing frame 104 and the second bearing frame 105, the one end and the first bearing frame 104 fixed connection of bracing piece 106, the other end and the second bearing frame 105 of bracing piece 106 are articulated, the one side corresponding with first bearing frame 104 on the bracing piece 106 articulates there is bumper shock absorber 107, the other end and the base body of bumper shock absorber 107 are articulated, through design shock-absorbing structure on wheel 102, the rocking that appears by a wide margin when can avoiding equipment bulk movement, and then influence the precision when liquid manure is applied and irrigated.

The rotary spraying device 2 comprises a first water tank 201, a cylindrical support 202 is symmetrically arranged on two sides of the first water tank 201, a steering engine 207 is fixedly arranged on the top end of the cylindrical support 202 and fixedly connected with the top end of the movable base 1, a rotary table 206 is fixedly arranged on an output shaft of the steering engine 207, a first support frame 205 formed by welding aluminum profiles is fixedly arranged on the top end of the rotary table 206, a fog gun 204 is rotatably arranged on the first support frame 205, the rotary table 206 and the first support frame 205 are driven to rotate through the steering engine 207, further rotation of the fog gun 204 is achieved, the fog gun 204 is communicated with the first water tank 201, a water pump can be used for supplying water to the fog gun 204 through the first water tank 201, a distribution box 203 is fixedly arranged on one side of the cylindrical support 202, the fog gun 204 is electrically connected with the distribution box 203, power is supplied to the fog gun 204, in high-temperature weather, the distribution box 203 supplies power to the fog gun 204, water in the fog gun 204 is pumped through the water pump, atomized and sprayed and cooled, and the steering engine 207 can control the head of the fog gun 204 to expand the cooling range.

The multithreading cooperative batching device comprises a second support frame 3 formed by welding aluminum profiles, and a first blanking mechanism 4, a second blanking mechanism 5 and a third blanking mechanism 6 for quantitatively dropping A, B, C three different fertilizers are sequentially arranged on the second support frame 3; the top end of the mixing and conveying device 7 is provided with a plurality of receiving hoppers 702 which are in one-to-one correspondence with the first blanking mechanism 4, the second blanking mechanism 5 and the third blanking mechanism 6, and the three blanking mechanisms are used for discharging in a cooperative manner and fall into the receiving hoppers 702 of the mixing and conveying device 7.

Wherein: the first blanking mechanism 4 is located the multithread and cooperatees the one side that the dosing unit kept away from rotatory atomizer 2, first blanking mechanism 4 includes first curb plate 402 and second curb plate 401 of symmetry fixed mounting on second support frame 3, horizontal direction slidable mounting is followed between first curb plate 402 and the second curb plate 401 and is had the push away box 404 that link up from top to bottom, the top fixed mounting who pushes away box 404 has first blanking hopper 403 to carry out automatic unloading, one side that push away box 404 was kept away from to first curb plate 402 has first slide rail 408, set up a rectangular hole on the first curb plate 402, fixed mounting has first slider 409 with first slide rail 408 complex on pushing away box 404, first slider 409 runs through rectangular hole and is connected with first slide rail 408 cooperation, make first slider 409 follow rectangular hole and first slide rail 408's length direction removal. Two first racks 405 are fixedly arranged on one side, far away from the first sliding block 409, of the pushing box 404, two strip holes corresponding to the first racks 405 are formed in the second side plate 401, the first racks 405 are in sliding connection with the second side plate 401, a first motor 406 is fixedly arranged on one side, far away from the pushing box 404, of the second side plate 401, two first gears 407 matched with the two first racks 405 are fixedly arranged on an output shaft of the first motor 406, the two first gears 407 are fixed on the same rotating shaft, the first motor 406 drives the first gears 407 to rotate, and then the first racks 405 are driven to slide along the strip holes on the second side plate 401 through the first gears 407, so that horizontal movement of the pushing box 404 is achieved.

The bottom end between the first side plate 402 and the second side plate 401 is fixedly provided with a mounting bottom plate 413, the mounting bottom plate 413 is fixedly provided with a first weighing sensor 412, the top end of the first weighing sensor 412 is provided with a weighing plate 411, the upper end and the lower end of the first weighing sensor 412 are respectively connected with a base plate 414, the upper base plate 414 is connected with the weighing plate 411, the lower base plate 414 is connected with the mounting bottom plate 413 and is used for fixing, the two ends of the weighing plate 411 are respectively arranged on the first side plate 402 and the second side plate 401 in a sliding manner along the vertical direction, after the weighing plate 411 is stressed, weight information is transmitted to the first weighing sensor 412, after a required water fertilizer value is reached, the first blanking hopper 403 stops discharging, at the moment, the first motor 406 is started, the pushing box 404 is driven to move towards the direction of the required water fertilizer blending, enough fertilizer particles are pushed into the corresponding blanking hopper 410 through the pushing box 404, and then the fertilizer falls into the receiving hopper 702 of the mixing conveying device 7, and blanking is completed; wherein: a gap is reserved between the weighing plate 411 and the bottom end of the pushing box 404, and the distance between the pushing box 404 and the weighing plate 411 is set to be 1-1.6mm according to the size of fertilizer particles if the size of the fertilizer particles is 2-4.8mm, namely more than 2 mm; if the grain size of the fertilizer is 0.8-2mm, that is, greater than 0.8mm, the distance between the pushing box 404 and the weighing plate 411 can be set to be 0.2-0.4mm, so that a certain gap is reserved between the pushing box 404 and the weighing plate 411, and abrasion between the pushing box 404 and the weighing plate 411 is avoided on the premise of ensuring pushing and conveying of fertilizer grains.

The second blanking mechanism 5 is positioned in the middle of the multi-thread cooperative batching device, the second blanking mechanism 5 comprises a hole digging top plate 502 fixedly arranged on a second supporting frame 3, a second blanking hopper 501 is fixedly arranged at the top end of the hole digging top plate 502, a distributing disc 503 is hung at the bottom end of the hole digging top plate 502, a distributing bin 504 is rotatably arranged on the distributing disc 503 through a rotary bearing 513, and eight first distributing openings 5041 are uniformly arranged in the distributing bin 504; two second distributing openings 5031 corresponding to the first distributing openings 5041 are symmetrically arranged on the distributing plate 503 along the radial direction. The second support frame 3 is provided with a middle plate 505 below the material distributing disc 503, the lower part of the material distributing disc 503 is symmetrically provided with a hole digging disc 506 which is rotationally connected with the middle plate 505, the bottom end of each hole digging disc 506 is fixedly provided with a material distributing box 507 along the radial symmetry of the hole digging disc, the bottom end of the middle plate 505 is symmetrically and fixedly provided with two blanking pipes 508 and two second weighing sensors 509 which correspond to the material distributing boxes 507, the top ends of the blanking pipes 508 and the top ends of the second weighing sensors 509 penetrate to be flush with the top surface of the middle plate 505, the second support frame 3 is fixedly provided with a fixed bottom plate 510 below the middle plate 505, and the fixed bottom plate 510 is fixedly provided with a second motor 511 for driving the material distributing bin 504 to rotate and a third motor 512 for driving the hole digging disc 506 to rotate.

When in operation, the device comprises: the second blanking hopper 501 is used for blanking once and falls into a material distributing bin 504, a conical material distributing hopper 5042 is arranged in the material distributing bin 504, and under the action of the conical material distributing hopper 5042, fertilizer uniformly falls into eight first material distributing openings 5041 of the material distributing bin 504; therefore, the fertilizer in the two first distributing openings 5041 in the distributing bin 504 falls into the distributing tray 503 and falls into the distributing box 507 from the distributing tray 503, the top and the bottom of the distributing box 507 are hollowed, the weighing sensors at the bottom of the distributing box 507 weigh, when the weight does not reach the standard, the second motor 511 in the middle drives the distributing bin 504 to rotate again, the distributing tray 503 rotates for 1/8 angle each time, the fertilizer is fed into the distributing tray 503 again and then falls into the distributing box 507, the second weighing sensors 509 weigh, if the second motor 511 drives the distributing bin 504 to rotate for a circle, the fertilizer in the distributing bin 504 is fed, but the weight still does not reach the standard, the second dropping hopper 501 at the top discharges again, and the process circulates until the weighing reaches the standard; the third motors 512 on the two sides after the weight reaches the standard drive the corresponding digging discs 506 to rotate respectively, and each time the corresponding digging discs rotate for half a circle, namely 180 degrees, the distribution boxes 507 are driven to rotate for 180 degrees and the positions of the two distribution boxes 507 are exchanged, the distribution boxes 507 with fertilizer scrape the fertilizer to send the fertilizer into the corresponding blanking pipe 508, the blanking is completed, the distribution boxes 507 without fertilizer are turned back to the upper part of the second weighing sensor 509, and the next discharging and weighing of the fertilizer are carried out.

The third blanking mechanism 6 is located one side of the second support frame 3, which is close to the rotary spraying device 2, the third blanking mechanism 6 comprises a third blanking hopper 601, a plurality of vibrating plates 602 which are arranged in a stepped mode are fixedly arranged at the bottom end of the third blanking hopper 601, and the vibrating plates 602 are of a single-V type, double-V type or double-U type structure. The upper and lower adjacent vibration discs 602 are fixedly connected through a connecting column 603, a vibrator 604 fixedly connected with a second support frame 3 is arranged below the bottommost vibration disc 602, the vibrator 604 can be a short-stroke cylinder 610 or a vibration motor and is used for driving the vibration disc 602 to vibrate and discharge, an output end of the vibrator 604 is abutted to the bottommost vibration disc 602, an inclined storage bin 605 is fixedly arranged below a vibration falling point of the bottommost vibration disc 602 on the second support frame 3, second sliding rails 606 are arranged on two sides of an opening at the bottom end of the inclined storage bin 605, a bin door 607 is slidably arranged on the second sliding rails 606, a third weighing sensor 608 is fixedly arranged at the bottom end of the bin door 607, a push plate 609 is fixedly arranged in the middle of the bin door 607, a cylinder 610 which is mutually parallel to the bin door 607 is fixedly arranged on the second support frame 3, and an output end of the cylinder 610 is fixedly connected with the push plate 609, and the cylinder 610 is fixedly arranged on the second support frame 3 through an A-shaped bracket 611, so that the motion stroke of the cylinder 610 is mutually parallel to the motion stroke of the bin door 607.

When in operation, the device comprises: the third blanking hopper 601 intermittently discharges in the set time, fertilizer enters the vibration disc 602, and a baffle is arranged at the rear of the vibration disc 602 on the second supporting frame 3 to prevent leakage during the discharging of the fertilizer. The vibration area is arranged in a step shape from top to bottom. Vibrator 604 drives vibration dish 602 high frequency vibration to make fertilizer under the effect of vibration, evenly fall by the vibration dish 602 of echelonment arrangement, and expand the distribution scope of fertilizer, finally fall into inside the inclined storage bin 605, third weighing sensor 608 is fixed in the door 607 below, the door 607 is hollowed out in a certain limit and is set up weighing plate for third weighing sensor 608 responds to the weight of fertilizer, after third weighing sensor 608 detects weighing standard, cylinder 610 drives push pedal 609, make door 607 upwards slide along second slide rail 606, consequently drive the opening and closing of door 607 through long-stroke cylinder 610, accomplish the unloading.

The conveying end of the mixing conveying device 7 is communicated with the stirring and blending device 8, and specifically: the mixing and conveying device 7 comprises a conveying pipeline 701 fixedly installed on the second supporting frame 3, three feed inlets are formed in the top end of the conveying pipeline 701, a receiving hopper 702 is welded at the feed inlets of the conveying pipeline 701, a spiral rod 703 is rotatably installed inside the conveying pipeline 701 along the axis direction of the conveying pipeline, a fourth motor 704 for driving the spiral rod 703 to rotate is fixedly installed at the end part of the conveying pipeline 701, and the fourth motor 704 drives the spiral rod 703 to rotate, so that three fertilizers are conveyed to the tail end discharge outlets through the spiral rod 703 and fall into the stirring box 8011.

The stirring and blending device 8 comprises a crushing and stirring mechanism 801, a water and fertilizer storage box 802 and a wastewater box 803; crushing rabbling mechanism 801 includes agitator tank 8011, agitator tank 8011 inside is equipped with baffle 8012, the top rotation of baffle 8012 is installed crushing tooth 8014, the bottom fixed mounting of baffle 8012 has fifth motor 8013, the output shaft of fifth motor 8013 runs through to the top of baffle 8012, crushing tooth 8014 fixed mounting is on the output shaft of fifth motor 8013, after the fertilizer falls into agitator tank 8011 in whole, fifth motor 8013 starts and drives crushing tooth 8014 high-speed rotation and smashes fertilizer granule, so that make it more quick melt into the aquatic, the bottom fixed mounting of second support frame 3 has second water tank 10, the delivery port of second water tank 10 communicates through first water pump 804 with the water inlet of agitator tank 8011, first water pump 804 pumps the water in the second water tank 10 into agitator tank 8011 when crushing tooth 8014 stirs the fertilizer, in the crushing, carry out water delivery mixing, promote the high-efficient solution of fertilizer.

The bottom inside the stirring box 8011 is provided with a first water pumping pipe 8015 and a second water pumping pipe 8016, the outlet end of the first water pumping pipe 8015 is communicated with the inlet end of the water and fertilizer storage box 802 through a second water pump 805, and the outlet end of the second water pumping pipe 8016 is communicated with the wastewater box 803 through a third water pump 806.

After the stirring box 8011 is crushed and uniformly mixed, the second water pump 805 is started to pump the water fertilizer in the stirring box 8011 into the water fertilizer storage box 802, and the water fertilizer is applied and irrigated; after the single blending operation is completed, the first water pump 804 starts to input the clean water in the second water tank 10 into the stirring tank 8011, meanwhile, the fifth motor 8013 drives the crushing teeth 8014 to operate, drives the clean water to flow and clean the stirring tank 8011, and finally, the third water pump 806 is used for pumping the waste water out of the stirring tank 8011 through the second water pumping pipe 8016 and sending the waste water into the waste water tank 803, so that the cleaning of chemical fertilizer residues is realized.

The water and fertilizer applying and irrigating devices 9 are symmetrically arranged on two sides of the multi-thread cooperative proportioning device, and the water and fertilizer applying and irrigating devices 9 are communicated with the stirring proportioning device 8. Specific: the liquid manure is applied and is irritated device 9 and include this fixed atomizer 901 of downward sloping and be used for driving the X axial moving mechanism, Y axial moving mechanism and Z axial elevating system that atomizer 901 removed, Z axial elevating system fixed mounting is in the both sides of X axial moving mechanism bottom, Z axial elevating system's bottom and the top fixed connection who removes base 1, atomizer 901 passes through fourth water pump 902 and liquid manure bin 802 intercommunication, if detect and need carry out liquid manure and apply and irrigate, fourth water pump 902 starts the liquid manure of extraction liquid manure bin 802, send into atomizer 901, carry out liquid manure and apply and irrigate.

Specific: the X-axis moving mechanism comprises two first support plates 903, a third sliding rail 904 is fixedly arranged between the two first support plates 903, a sliding seat 905 is slidably arranged on the third sliding rail 904, a first screw rod 906 penetrating through the sliding seat 905 is rotatably arranged on the third sliding rail 904, the first screw rod 906 is in matched connection with the sliding seat 905, a sixth motor 907 for driving the first screw rod 906 to rotate is fixedly arranged at the end part of the third sliding rail 904, and the sliding seat 905 is enabled to move along the X-axis by converting the rotation of the first screw rod 906 into the movement of the sliding seat 905;

the Y axial moving mechanism comprises a second supporting plate 908 fixedly arranged at the top end of a sliding seat 905, a fourth sliding rail 909 is fixedly arranged at the top end of the second supporting plate 908, the fourth sliding rail 909 is perpendicular to a third sliding rail 904 along the horizontal direction, a second sliding block 910 is slidably arranged on the fourth sliding rail 909, an extension plate 912 is fixedly arranged at the top end of the second sliding block 910, an atomizing nozzle 901 is fixedly arranged at the front end of the extension plate 912, a camera 911 which is obliquely arranged downwards is fixedly arranged at the front end of the extension plate 912, the position of the root of a crop is determined through the camera 911, then the atomizing nozzle 901 is controlled to align with the root of the crop for sprinkling water and fertilizer, a second rack 913 is fixedly arranged at the top end of the extension plate 912, a supporting column 914 is fixedly arranged at the top end of the sliding seat 905, a second gear 915 is rotatably arranged on the supporting column 914, a seventh motor 916 is fixedly arranged at the bottom end of the second supporting plate 908, and the second gear 915 is connected with the seventh motor 916 through belt transmission or chain transmission, and the working procedures are that: seventh motor 916 drives second gear 915 to rotate, drives second rack 913 and extension board 912 and the second slider 910 of below to the front end removal, and then realizes the removal of atomizer 901 along the Y axial, and through camera 911 to the crops pinpoint when atomizer 901 sprays liquid manure for atomizer 901 removes a comparatively accurate position.

The Z-axis lifting mechanism comprises a lifting top plate 917 fixed at the bottom end of the first supporting plate 903 and a lifting bottom plate 918 positioned below the lifting top plate 917, wherein the bottom end of the lifting bottom plate 918 is fixedly connected with the top end of the moving base 1, a scissor folding frame 919 is connected between the lifting top plate 917 and the lifting bottom plate 918, one side of the lifting bottom plate 918 is provided with an eighth motor 923 for driving the scissor folding frame 919 to lift, and specifically: a first fixing rod 920 is fixedly installed at one side of the top end of the lifting bottom plate 918, a first sliding rod 921 parallel to the first fixing rod 920 is slidably installed at the other side of the top end of the lifting bottom plate 918, one side of the bottom end of the scissor type folding frame 919 is hinged to the first fixing rod 920, the other side of the bottom end of the scissor type folding frame 919 is hinged to the first sliding rod 921, and the connection mode of the scissor type folding frame 919 and the lifting top plate 917 is the same as that of the scissor type folding frame 919 and the lifting bottom plate 918. The top end of the lifting bottom plate 918 is rotationally connected with a sliding screw 922, a fixed block 924 matched with the sliding screw 922 is fixed on the first sliding rod 921, the sliding screw 922 penetrates through the fixed block 924 and is matched and connected with the fixed block 924, one side of the top end of the lifting bottom plate 918 is fixedly provided with an eighth motor 923 for driving the sliding screw 922 to rotate, an output shaft of the eighth motor 923 is fixedly connected with the sixth sliding screw 922 through a coupler, and the eighth motor 923 drives the sliding screw 922 to rotate during operation, so that the fixed block 924 moves along the axial direction of the sliding screw 922, and the scissor type folding frame 919 is opened and closed. Realize that atomizer 901 moves along Z axial, accomplish triaxial accurate positioning crops root so far, carry out accurate application and irrigate.

The water and fertilizer accurate irrigation method comprises the following specific steps: when the equipment receives a user instruction, the equipment starts to move, after the cloud end is matched with current vegetation state data, the system respectively pours three different kinds of fertilizers into the blanking hoppers above the first blanking mechanism 4, the second blanking mechanism 5 and the third blanking mechanism 6, and the weighing sensors corresponding to the first blanking mechanism 4, the second blanking mechanism 5 and the third blanking mechanism 6 are matched with the required quantity according to the control system and simultaneously blanked to the mixing conveying device 7; the mixing and conveying device 7 conveys three fertilizers into the stirring box 8011 to be stirred and crushed, meanwhile, water is conveyed and stirred uniformly, after uniform mixing and stirring, the uniformly stirred liquid fertilizer is pumped to the liquid fertilizer storage box 802 to be stored by the second water pump 805, after single preparation is finished, the stirring box 8011 is cleaned by the equipment, the first water pump 804 is started again to convey water into the stirring box 8011, the crushing teeth 8014 are driven by the fifth motor 8013 to rotate so as to clean the stirring box 8011, after cleaning is finished, residual wastewater is pumped into the wastewater box 803 by the third water pump 806, the liquid fertilizer applying and irrigating device 9 moves to the root position of crops through the cooperative motion of the X axial moving mechanism, the Y axial moving mechanism and the two Z axial lifting mechanisms in a three-axis position adjusting manner, the atomizing nozzle 901 is moved to the root position of the crops, after the accurate application and irrigation of the crops are accurately detected by the camera 901, the atomizing nozzle 901 above the camera 911 is used for applying and irrigating the crops, and the next target is searched by the irrigation equipment system; the control system controls the movable base 1 to drive the whole equipment to move along the operation area so as to realize the water and fertilizer applying and irrigating work of all crops in the operation area, and in order to realize the cooperative work of all mechanisms in the equipment, a controller is arranged in the equipment, a weighing sensor feeds back signals to the control, motors, air cylinders and vibrators in all mechanisms are controlled by the controller, an connotation data transmission module is controlled, and a computer monitors data.

The method realizes the mixing and weighing of single or multiple fertilizers, accurately weights and blends the multiple fertilizers, and sprays the fertilizers after dissolving the fertilizers by water, which is different from the traditional method of firstly fertilizing and then flood-irrigating the dissolved fertilizers, simplifies the fertilizing step and is beneficial to faster absorption of crops.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (10)

1. The movable water and fertilizer accurate irrigation method is characterized by comprising a movable base, wherein a rotary spraying device, a multi-thread cooperative proportioning device, a mixing and conveying device, a stirring and proportioning device and a water and fertilizer irrigation device are fixedly arranged at the top end of the movable base, the rotary spraying device and the multi-thread cooperative proportioning device are arranged side by side, and the mixing and conveying device is fixedly arranged below the multi-thread cooperative proportioning device;

The multi-thread cooperative batching device comprises a second supporting frame, a first blanking mechanism, a second blanking mechanism and a third blanking mechanism for quantitatively dropping different fertilizers are sequentially arranged on the second supporting frame, weighing sensors are arranged in the first blanking mechanism, the second blanking mechanism and the third blanking mechanism, a plurality of receiving hoppers which are in one-to-one correspondence with the first blanking mechanism, the second blanking mechanism and the third blanking mechanism are arranged at the top end of the mixing conveying device, the conveying tail ends of the mixing conveying device are communicated with the stirring and batching device, water and fertilizer applying and irrigating devices are symmetrically arranged on two sides of the multi-thread cooperative batching device, and the water and fertilizer applying and irrigating devices are communicated with the stirring and batching device;

the second blanking mechanism comprises a digging top plate fixedly arranged on the second supporting frame, a second blanking hopper is fixedly arranged at the top end of the digging top plate, a distributing disc is hung at the bottom end of the digging top plate, a distributing bin is rotatably arranged on the distributing disc, a plurality of first distributing openings are uniformly arranged in the distributing bin, two second distributing openings corresponding to the first distributing openings are symmetrically arranged on the distributing disc along the radial direction, a middle plate is arranged below the distributing disc on the second supporting frame, a distributing box is symmetrically arranged at the bottom end of each digging disc along the radial direction, two blanking pipes and two second weighing sensors are symmetrically and fixedly arranged at the bottom end of the middle plate, the top ends of the blanking pipes and the top ends of the second weighing sensors penetrate through the top surface of the middle plate, a motor is symmetrically arranged below the middle plate on the second supporting frame, and the motor is fixedly arranged at the bottom of the middle plate, and the motor is fixedly arranged on the bottom plate for driving the bottom plate;

The water and fertilizer applying and irrigating device comprises an atomizing spray head, an X axial moving mechanism, a Y axial moving mechanism and two Z axial lifting mechanisms, wherein the X axial moving mechanism, the Y axial moving mechanism and the two Z axial lifting mechanisms are used for driving the atomizing spray head to move, the two Z axial lifting mechanisms are symmetrically and fixedly arranged on two sides of the bottom end of the X axial moving mechanism, and the bottom end of the Z axial lifting mechanism is fixedly connected with the top end of the moving base;

the precise water and fertilizer applying and irrigating method specifically comprises the following steps:

s1: respectively pouring three different kinds of fertilizers into the blanking hoppers above the first blanking mechanism, the second blanking mechanism and the third blanking mechanism, wherein weighing sensors corresponding to the first blanking mechanism, the second blanking mechanism and the third blanking mechanism respectively match the required quantity according to a control system, and blanking the mixed conveying device at the same time;

s2: the three different fertilizers respectively fall into a receiving hopper of the mixing and conveying device after being weighed by the first blanking mechanism, the second blanking mechanism and the third blanking mechanism, are split and taken, are conveyed to the stirring and blending device through the mixing and conveying device, and are stirred and blended with water by the stirring and blending device;

s3: pumping the prepared water and fertilizer to a water and fertilizer applying and irrigating device, and moving the atomizing nozzle to the root position of crops through the cooperative movement of an X axial moving mechanism, a Y axial moving mechanism and two Z axial lifting mechanisms so as to realize accurate applying and irrigating;

S4: the control system controls the movable base to drive the whole equipment to move along the operation area, so that the water and fertilizer applying and irrigating work of all crops in the operation area is realized.

2. The mobile water and fertilizer accurate irrigation method according to claim 1, wherein the rotary spraying device comprises a first water tank, cylindrical supports are symmetrically arranged on two sides of the first water tank, the bottom ends of the cylindrical supports are fixedly connected with the top ends of the movable bases, steering gears are fixedly arranged on the top ends of the cylindrical supports, rotating discs are fixedly arranged on output shafts of the steering gears, first supporting frames are fixedly arranged on the top ends of the rotating discs, fog cannons are rotatably arranged on the first supporting frames and are communicated with the first water tank, distribution boxes are fixedly arranged on one sides of the cylindrical supports, the fog cannons are electrically connected with the distribution boxes, when the temperature of an object growing environment is too high, the rotary spraying device is started, and the steering gears can control the swinging heads of the fog cannons to enlarge the cooling range.

3. The mobile precise water and fertilizer applying and filling method according to claim 1, wherein the first blanking mechanism is located at one side of the multithread cooperative proportioning device, which is far away from the rotary spraying device, and comprises a first side plate and a second side plate which are symmetrically and fixedly installed on the second support frame, a push box which penetrates up and down is installed between the first side plate and the second side plate in a sliding manner along the horizontal direction, a first blanking hopper is fixedly installed at the top end of the push box, a first sliding rail is fixedly installed at one side of the first side plate, which is far away from the push box, a first sliding block matched with the first sliding rail is fixedly installed on the push box, a first rack is fixedly installed at one side of the push box, which is far away from the first sliding block, and is in sliding connection with the second side plate, a first motor is fixedly installed at one side of the second side, which is far away from the push box, and a first gear matched with the first rack is fixedly installed on an output shaft of the first motor; the utility model discloses a fertilizer feeder, including first curb plate, second curb plate, mounting plate, fixed mounting has mounting plate between the first curb plate with the bottom fixed mounting between the second curb plate, fixed mounting has first weighing sensor on the mounting plate, weighing plate is installed on the top of first weighing sensor, the both ends of weighing plate along vertical direction slidable mounting respectively in first curb plate with on the second curb plate, weighing plate with leave the clearance between the box bottom pushes away, after the required fertilizer weight of first weighing sensor response reaches standard, first motor drive pushes away the box and removes to the unilateral and carry out the unloading.

4. The mobile water and fertilizer accurate irrigation method of claim 1 wherein the second blanking mechanism is located in a middle position of the multi-thread cooperative batching apparatus.

5. The movable water and fertilizer accurate irrigation method according to claim 1, wherein the third blanking mechanism is located on one side, close to the rotary spraying device, of the second support frame, the third blanking mechanism comprises a third blanking hopper, a plurality of vibrating discs which are arranged in a stepped mode are fixedly installed at the bottom end of the third blanking hopper, the vibrating discs which are vertically adjacent are fixedly connected through connecting columns, a vibrator which is fixedly connected with the second support frame is arranged below the vibrating discs which are located at the bottommost end, an inclined storage bin is fixedly installed below a vibration falling point of the vibrating discs which are located at the bottommost end on the second support frame, second sliding rails are arranged on two sides of an opening of the inclined storage bin, a bin gate is fixedly installed on the second sliding rails, a third weighing sensor is fixedly installed at the bottom end of the bin gate, a pushing plate is fixedly installed at the middle of the second support frame, an output end of the second support frame is in parallel with the bin gate, and the output end of the air cylinder is fixedly connected with the pushing plate.

6. The mobile water and fertilizer accurate irrigation method according to claim 1, wherein the mixing and conveying device comprises a conveying pipeline fixedly installed on the second supporting frame, three feeding holes are formed in the top end of the conveying pipeline, the receiving hopper is welded at the feeding holes of the conveying pipeline, a screw rod is rotatably installed in the conveying pipeline along the axis direction of the conveying pipeline, a fourth motor for driving the screw rod to rotate is fixedly installed at the end part of the conveying pipeline, the screw rod is driven to rotate by the fourth motor, and the rotating motion of the screw rod is converted into advancing motion of fertilizer.

7. The mobile water and fertilizer accurate irrigation method according to claim 6, wherein the stirring and blending device comprises a crushing and stirring mechanism, a water and fertilizer storage tank and a wastewater tank;

the crushing and stirring mechanism comprises a stirring box, a partition plate is arranged in the stirring box, crushing teeth are rotatably arranged at the top end of the partition plate, a fifth motor for driving the crushing teeth to rotate is fixedly arranged at the bottom end of the partition plate, a second water tank is fixedly arranged at the bottom end of the second support frame, a water outlet of the second water tank is communicated with a water inlet of the stirring box through a first water pump, three fertilizers are mixed and conveyed into the stirring box, and water is pumped into the stirring box through the first water pump, so that the fertilizers and the water are mixed and stirred, and a water fertilizer is formed;

The bottom end inside the stirring box is provided with a first water pumping pipe and a second water pumping pipe, and the outlet end of the first water pumping pipe is communicated with the inlet end of the water and fertilizer storage box through a second water pump and is used for pumping the stirred and mixed water and fertilizer to the water and fertilizer storage box; the outlet end of the second water suction pipe is communicated with the wastewater tank through a third water pump, after water and fertilizer in the stirring tank are pumped, the first water pump sends water into the stirring tank again, the fifth motor is started to drive the crushing teeth to rotate so as to clean the stirring tank, and cleaning wastewater is pumped to the wastewater tank by the third water pump.

8. The movable water and fertilizer accurate irrigation method according to claim 7, wherein the X-axis moving mechanism comprises two first support plates, a third sliding rail is fixedly arranged between the two first support plates, a sliding seat is slidably arranged on the third sliding rail, a first screw rod penetrating through the sliding seat is rotatably arranged on the third sliding rail, the first screw rod is in matched connection with the sliding seat, and a sixth motor for driving the first screw rod to rotate is fixedly arranged at the end part of the third sliding rail;

the Y-axis moving mechanism comprises a second supporting plate fixedly arranged at the top end of the sliding seat, a fourth sliding rail is fixedly arranged at the top end of the second supporting plate, the fourth sliding rail is perpendicular to the third sliding rail along the horizontal direction, a second sliding block is slidably arranged on the fourth sliding rail, an extension plate is fixedly arranged at the top end of the second sliding block, an atomizing nozzle is fixedly arranged at the front end of the extension plate, a camera is fixedly arranged at the front end of the extension plate, a second rack is fixedly arranged at the top end of the extension plate, a supporting column is fixedly arranged at the top end of the sliding seat, a second gear is rotatably arranged on the supporting column, a seventh motor is fixedly arranged at the bottom end of the second supporting plate, and the second gear is connected with the seventh motor through belt transmission or chain transmission;

The Z-axis lifting mechanism comprises a lifting top plate fixed at the bottom end of the first supporting plate and a lifting bottom plate positioned below the lifting top plate, the bottom end of the lifting bottom plate is fixedly connected with the top end of the movable base, a scissor type folding frame is connected between the lifting top plate and the lifting bottom plate, and an eighth motor for driving the scissor type folding frame to lift is arranged on one side of the lifting bottom plate;

the atomizing nozzle is communicated with the water and fertilizer storage box through a fourth water pump.

9. The mobile water and fertilizer accurate irrigation method according to claim 8, wherein the atomizing nozzle and the camera are arranged in a downward inclined mode, the root position of crops is determined through the camera, and then the atomizing nozzle is controlled to be aligned with the root of the crops for spraying water and fertilizer.

10. The mobile water and fertilizer accurate irrigation method according to claim 1, wherein the mobile base comprises a base body, universal wheels are symmetrically arranged on one side, far away from the rotary spraying device, of the bottom end of the base body, wheels are symmetrically arranged on the middle part of the bottom end of the base body and one side, far away from the universal wheels, of the base body, a ninth motor for driving the wheels in the middle position to rotate is fixedly arranged on the base body, and the wheels in the middle position are connected with the ninth motor through belt transmission and chain transmission;

The wheel comprises a base body, wherein a wheel axle is arranged on two sides of the wheel, a first bearing seat is arranged on the wheel axle on two sides of the wheel, a second bearing seat corresponding to the first bearing seat is fixedly arranged on the base body, a supporting rod is connected between the first bearing seat and the second bearing seat, one end of the supporting rod is fixedly connected with the first bearing seat, the other end of the supporting rod is hinged with the second bearing seat, a shock absorber is hinged to one side of the supporting rod corresponding to the first bearing seat, and the other end of the shock absorber is hinged with the base body.

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