CN115474464A - Mobile water-fertilizer accurate irrigation method - Google Patents

Abstract

The invention provides a mobile precise water and fertilizer application and irrigation method which comprises a mobile base, wherein a rotary spraying device, a multi-thread cooperative batching device, a mixing and conveying device, a stirring and blending device and a water and fertilizer application and irrigation device are fixedly arranged at the top end of the mobile base, the multi-thread cooperative batching 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 blending device, and the water and fertilizer application and irrigation device is communicated with the stirring and blending device. The method adopts a multi-thread cooperative batching mode to quantitatively weigh and discharge different fertilizers to be mixed, improves the precision of taking the various fertilizers, mixes and conveys the various fertilizers to a mixing and blending device through a mixing and conveying device to be mixed and mixed with water, and finally adjusts the positions of three axial directions of an atomizing spray head through a water and fertilizer applying and filling device, thereby realizing precise fertilization. The precision of the accurate allotment of fertilizer concentration and fertilization has effectively been improved.

Description

Mobile water-fertilizer accurate irrigation method

Technical Field

The invention relates to the technical field of crop water and fertilizer application, in particular to a mobile water and fertilizer precise application method.

Background

At present, in modern agricultural planting, a greenhouse planting mode occupies an important development position. The agricultural planting mostly adopts the modes of flood irrigation and pipeline irrigation, the fertilization adopts the mode of spraying or throwing, a large amount of manual operation is needed, and the water consumption is high; 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 the irrigation, causes easily that pesticide fertilizer concentration fluctuates greatly, burns the seedling when concentration is too big easily appears, and the concentration is low when the drug effect (fertilizer efficiency) can not reach the effect, and the precision is low, and equipment title material process is comparatively extensive, and the precision is lower, makes the utilization efficiency of chemical fertilizer lower.

Disclosure of Invention

The invention aims to provide a mobile water-fertilizer precise irrigation method, which realizes precise water-fertilizer irrigation on crops after multi-thread synergistic material taking, grinding and blending to form water-fertilizer.

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

the multithread cooperative batching device comprises a second support frame, wherein a first blanking mechanism, a second blanking mechanism and a third blanking mechanism for quantitatively dropping different fertilizers are sequentially arranged on the second support frame, weighing sensors are respectively arranged in the first blanking mechanism, the second blanking mechanism and the third blanking mechanism, a plurality of material receiving hoppers in one-to-one correspondence to the first blanking mechanism, the second blanking mechanism and the third blanking mechanism are arranged at the top end of the mixing and conveying device, the conveying tail end of the mixing and conveying device is communicated with the stirring and blending device, the water and fertilizer application and filling devices are symmetrically arranged on two sides of the multithread cooperative batching device, and the water and fertilizer application and filling devices are communicated with the stirring and blending device;

the water and fertilizer application and irrigation device comprises an atomizing nozzle, an X-axis moving mechanism, a Y-axis moving mechanism and two Z-axis lifting mechanisms, wherein the X-axis moving mechanism, the Y-axis moving mechanism and the two Z-axis lifting mechanisms are used for driving the atomizing nozzle to move;

the method for accurately applying the water fertilizer comprises the following steps:

s1: three different types of fertilizers are respectively poured into blanking hoppers above the first blanking mechanism, the second blanking mechanism and the third blanking mechanism, and weighing sensors corresponding to the first blanking mechanism, the second blanking mechanism and the third blanking mechanism are matched with the required quantity according to a control system and simultaneously used for blanking to the mixing and conveying device;

s2: three different fertilizers are weighed by the first blanking mechanism, the second blanking mechanism and the third blanking mechanism respectively and then fall into a receiving hopper of a mixing and conveying device for shunting and taking materials, the materials are conveyed to a stirring and blending device by the mixing and conveying device, and the fertilizers and water are stirred and blended by the stirring and blending device;

s3: pumping the prepared water fertilizer to a water fertilizer application and irrigation device, and moving the atomizing nozzle to the root position of the crop through the cooperative motion of the X axial moving mechanism, the Y axial moving mechanism and the two Z axial lifting mechanisms to realize accurate application and irrigation;

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 application and irrigation work of all crops in the operation area is realized.

Further, rotatory atomizer includes first water tank, the drum support is installed to the bilateral symmetry of first water tank, the bottom of drum support with the top fixed connection who removes the base, the top fixed mounting of drum support has the steering wheel, fixed mounting has the carousel on the output shaft of steering wheel, the top fixed mounting of carousel has first support frame, rotate on the first support frame and install fog gun, fog gun with first water tank intercommunication, one side fixed mounting of drum support has the block terminal, fog gun with the block terminal electricity is connected, and when thing growing environment temperature was too high, start rotatory atomizer, the steering wheel can be controlled fog gun yaw and enlarge cooling range.

Further, the first blanking mechanism is located on one side, away from the rotary spraying device, of the multithread cooperative batching 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 is communicated 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 slide rail is fixedly installed on one side, away from the push box, of the first side plate, a first slide block matched with the first slide rail is fixedly installed on the push box, a first rack is fixedly installed on one side, away from the first slide block, of the push box, the first rack is connected with the second side plate in a sliding mode, a first motor is fixedly installed on one side, away from the push box, of the second side plate, and a first gear matched with the first rack is fixedly installed on an output shaft of the first motor; the bottom fixed mounting between first curb plate with the second curb plate has a mounting plate, fixed mounting has a first weighing sensor on the mounting plate, weighing plate is installed on first weighing sensor's top, vertical direction slidable mounting is followed respectively in weighing plate's both ends in first curb plate with on the second curb plate, weighing plate with leave the clearance between the box bottom of pushing away, first weighing sensor responds to required fertilizer weight back up to standard, a motor drive push away the box and carry out the unloading to unilateral movement.

Furthermore, the second blanking mechanism is located at the middle position of the multithread collaborative material taking device, the second blanking mechanism comprises a hole digging top plate fixedly mounted on the second support frame, a second blanking hopper is fixedly mounted at the top end of the hole digging top plate, a material dividing plate is hoisted at the bottom end of the hole digging top plate, a material dividing bin is rotatably mounted on the material dividing plate, a plurality of first material dividing ports are uniformly formed in the material dividing bin, two second material dividing ports corresponding to the first material dividing ports are formed in the material dividing plate along the radial symmetry of the material dividing plate, an intermediate plate is arranged below the material dividing plate on the second support frame, a hole digging disc is rotatably connected with the intermediate plate in a symmetrical mode, each hole digging disc is fixedly mounted at the bottom end of the material dividing disc along the radial symmetry of the material dividing plate, two blanking pipes and two second weighing sensors corresponding to the material dividing boxes are symmetrically mounted at the bottom end of the intermediate plate, the tops of the blanking pipes and the tops of the second weighing sensors are all penetrated through to be parallel and level with the top surface of the intermediate plate, a fixed base plate is fixedly mounted below the intermediate plate on the second support frame, and a fixed base plate is used for fixedly mounting a rotating driving motor and a rotating driving motor for driving a third material dividing motor.

Further, third blanking mechanism is located be close to on the second support frame rotatory atomizer's one side, third blanking mechanism includes the third blanking fill, the bottom fixed mounting of third blanking fill has the vibration dish that is a plurality of and is the echelonment and arranges, and is adjacent from top to bottom through spliced pole fixed connection between the vibration dish, be located the bottommost the below of vibration dish be equipped with second support frame fixed connection's vibrator, the output of vibrator and bottommost vibration dish butt, be in the bottommost on the second support frame the vibration placement below fixed mounting of vibration dish has oblique storage storehouse, the both sides of the opening part in oblique storage storehouse are equipped with the second slide rail, slidable mounting has the door on the second slide rail, the bottom fixed mounting of door has the third weighing sensor, door middle part fixed mounting has the push pedal, fixed mounting on the second support frame have with the cylinder that the door is parallel to each other, the output of cylinder with push pedal fixed connection.

Further, mix conveyor including fixed mounting be in pipeline on the second support frame, three feed inlet has been seted up on the pipeline top, connect the hopper welding to be in pipeline's feed inlet department, pipeline is inside to rotate along its axis direction and to install the hob, pipeline's tip fixed mounting is used for the drive the rotatory fourth motor of hob, fourth motor drive the hob is rotatory, the rotary motion of hob turns into the 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, the three fertilizers are mixed and conveyed into the stirring box, and water is pumped into the stirring box through the first water pump to be mixed and stirred with the water to form liquid manure;

a first water pumping pipe and a second water pumping pipe are arranged at the bottom end inside the stirring box, 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 used for pumping the stirred and mixed water and fertilizer to the water and fertilizer storage box; the outlet end of the second water pumping pipe is communicated with the waste water tank through a third water pump, after the 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 to clean the inside of the stirring tank, and the cleaning waste water is pumped to the waste water tank through the third water pump.

Furthermore, the X-axis moving mechanism comprises two first supporting plates, a third sliding rail is fixedly mounted between the two first supporting plates, a sliding seat is slidably mounted on the third sliding rail, a first screw rod penetrating through the sliding seat is rotatably mounted on the third sliding rail, the first screw rod is connected with the sliding seat in a matching manner, and a sixth motor for driving the first screw rod to rotate is fixedly mounted at the end part of the third sliding rail;

the Y-axis moving mechanism comprises a second supporting plate fixedly mounted at the top end of the sliding seat, a fourth sliding rail is fixedly mounted at the top end of the second supporting plate and is perpendicular to the third sliding rail along the horizontal direction, a second sliding block is slidably mounted on the fourth sliding rail, an extending plate is fixedly mounted at the top end of the second sliding block, the atomizing nozzle is fixedly mounted at the front end of the extending plate, a camera is fixed at the front end of the extending plate, a second rack is fixedly mounted at the top end of the extending plate, a supporting column is fixedly mounted at the top end of the sliding seat, a second gear is rotatably mounted on the supporting column, a seventh motor is fixedly mounted 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 located 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 used for driving the scissor-type folding frame to lift is arranged on one side of the lifting bottom plate;

the atomizer pass through the fourth water pump with the liquid manure bin intercommunication.

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

Furthermore, the movable base comprises a base body, universal wheels are symmetrically installed on one side of the bottom end of the base body, which is far away from the rotary spraying device, wheels are symmetrically installed on the middle portion of the bottom end of the base body and one side of the bottom end of the base body, which is far away from the universal wheels, a ninth motor for driving the wheels at the middle position to rotate is fixedly installed 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 wheels and is characterized in that wheel shafts on two sides of each wheel are provided with first bearing seats, a base body is fixedly provided with second bearing seats corresponding to the first bearing seats, supporting rods are connected between the first bearing seats and the second bearing seats, one ends of the supporting rods are fixedly connected with the first bearing seats, the other ends of the supporting rods are hinged to the second bearing seats, one sides of the supporting rods corresponding to the first bearing seats are hinged to shock absorbers, and the other ends of the shock absorbers are hinged to the base body.

Compared with the prior art, the technical scheme of the invention has the beneficial effects that: this method of irrigating accurately adopts multithread mode of batching in coordination, carries out the unloading of quantitative weighing to the different fertilizers that need mix, improves the precision that multiple chemical fertilizer got the material to mix through mixing conveyor and carry multiple fertilizer to stirring blending device and water stirring and mix, carry out three axial position adjustment through liquid manure irrigation device to atomizer at last, and then realize accurate fertilization. Meanwhile, the rotary spraying device is arranged to spray the crops and cool the environment, the method realizes the integration of spraying and fertilizing, and the precision of fertilizer concentration and fertilizer application 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 used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic view of the overall structure of the precision irrigation apparatus of the present invention;

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

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

FIG. 4 is another schematic overall structure diagram 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 view of the overall structure of the second blanking mechanism of the present invention

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

FIG. 9 is an exploded view of the dispensing disc and the dispensing bin portion of the present invention;

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

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

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

FIG. 13 is a schematic view of the overall structure of the angled storage bin portion of the present invention;

FIG. 14 is a schematic view of the mixing and conveying apparatus of the present invention;

FIG. 15 is a schematic diagram of the position structure of the multi-thread cooperative batching device and the mixing and conveying device in the present invention;

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

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

FIG. 18 is a schematic view showing the overall structure of a liquid manure fertilization irrigation apparatus according to the present invention;

FIG. 19 is a schematic partial structural view of an X-axis moving mechanism and a Y-axis moving mechanism in the liquid manure applying and filling apparatus of the present invention;

FIG. 20 is a schematic view of the overall structure of a Z-axis lifting mechanism in the liquid manure applying and filling apparatus of the present invention;

FIG. 21 is a schematic view showing the structure and mounting structure of a wheel part in the liquid manure applying and filling apparatus of the present invention;

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

description of reference numerals: 1-a movable base, 101-a universal wheel, 102-a wheel, 103-a ninth motor, 104-a first bearing seat, 105-a second bearing seat, 106-a support rod, 107-a shock absorber, 2-a rotary spraying device, 201-a first water tank, 202-a cylinder support, 203-a distribution box, 204-a fog gun, 205-a first support frame, 206-a turntable, 207-a steering engine, 3-a second support frame, 4-a first blanking mechanism, 401-a second side plate, 402-a first side plate, 403-a first blanking hopper, 404-a pushing box, 405-a first rack, 406-a first motor, 407-a first gear, 408-a first sliding rail, 409-a first sliding block, 410-a blanking hopper, 411-a weighing plate, 412-a first weighing sensor 413-mounting bottom plate, 414-backing plate, 5-second blanking mechanism, 501-second blanking hopper, 502-hole digging top plate, 503-material distributing plate, 5031-second material distributing opening, 504-material distributing box, 5041-first material distributing opening, 5042-conical material distributing hopper, 505-middle plate, 506-hole digging disc, 507-material distributing box, 508-material distributing pipe, 509-second weighing sensor, 510-fixed bottom plate, 511-second motor, 512-third motor, 513-rotary bearing, 6-third blanking mechanism, 601-third blanking hopper, 602-vibrating disk, 603-connecting column, 604-vibrator, 605-inclined storage bin, 606-second sliding rail, 607-bin door, 608-third weighing sensor, 609-push plate, 610-air cylinder, 611-A-shaped support, 7-mixing conveying device, 701-conveying pipeline, 702-receiving hopper, 703-spiral rod, 704-fourth motor, 8-stirring blending device, 801-crushing stirring mechanism, 8011-stirring box, 8012-partition plate, 8013-fifth motor, 8014-crushing tooth, 8015-first water pumping pipe, 8016-second water pumping pipe, 802-water fertilizer storage tank, 803-waste water tank, 804-first water pump, 805-second water pump, 806-third water pump, 9-water fertilizer application filling 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 head, 912-extension plate, support column-second rack-second slide block, 914-second gear, 915-seventh gear, 915-top plate, 919-seventh lifting motor, 919-second support plate, 909-fourth slide block, 910-second slide block, 911-second slide block, 920-second slide rod, 920-second slide block, and eighth slide rod, 150-second screw rod, 920-second slide block, 150-fourth screw rod, and fourth screw rod.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

In the description of the present invention, it is to 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", and the like, indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplification of the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. Furthermore, the terms "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.

Example 1

As shown in fig. 1-22, a mobile precise water and fertilizer application method is implemented based on a precise water and fertilizer application device during movement, and the device includes a mobile base 1, a rotary spraying device 2, a multi-thread cooperative blending device, a mixing and conveying device 7, a stirring and blending device 8 and a water and fertilizer application and irrigation device 9 are fixedly installed at the top end of the mobile base 1, the rotary spraying device 2 and the multi-thread cooperative blending device are arranged side by side, and the mixing and conveying device 7 is fixedly installed below the multi-thread cooperative blending device;

the movable base 1 comprises a car body frame formed by welding aluminum profiles, universal wheels 101 are installed at the front end of the bottom of the car body frame, wheels 102 are installed at the middle part and the rear end of the bottom end of the car body frame, a ninth motor 103 used for driving the middle wheel 102 to rotate is fixedly installed at the position of the middle wheel 102 on the car 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 wheel 102, and the whole device is moved. The wheel shafts on two sides of the wheel 102 are provided with first bearing seats 104, the base body is fixedly provided with second bearing seats 105 corresponding to the first bearing seats 104, a supporting rod 106 is connected between the first bearing seats 104 and the second bearing seats 105, one end of the supporting rod 106 is fixedly connected with the first bearing seats 104, the other end of the supporting rod 106 is hinged to the second bearing seats 105, one sides of the supporting rod 106 corresponding to the first bearing seats 104 are hinged to shock absorbers 107, the other ends of the shock absorbers 107 are hinged to the base body, and by designing a shock absorption structure on the wheel 102, the phenomenon that the whole equipment shakes greatly when moving can be avoided, and the accuracy of water and fertilizer application is further influenced.

The rotary spraying device 2 comprises a first water tank 201, cylinder supports 202 are symmetrically installed on two sides of the first water tank 201, the bottom end of each cylinder support 202 is fixedly connected with the top end of a movable base 1, a steering engine 207 is fixedly installed on the top end of each cylinder support 202, a rotary disc 206 is fixedly installed on an output shaft of each steering engine 207, a first support frame 205 formed by welding aluminum profiles is fixedly installed on the top end of each rotary disc 206, a fog gun 204 is rotatably installed on each first support frame 205, the rotary discs 206 and the first support frames 205 are driven to rotate through the steering engines 207, the fog guns 204 are further rotated, the fog guns 204 are communicated with the first water tank 201, a water pump can be used for supplying water to the fog guns 204 from the first water tank 201, a distribution box 203 is fixedly installed on one side of each cylinder support 202, the fog guns 204 are electrically connected with the distribution box 203 and supply power to the fog guns 204, the distribution box 203 supplies power to the fog guns 204 in high-temperature weather, water in the first water tank 201 is pumped by the water pump to perform atomization, spraying and cooling, and the fog guns 204 can be controlled by the steering engines 207 to expand the cooling range.

The multithread 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 three different fertilizers A, B and C 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 cooperatively discharge materials and fall into the receiving hoppers 702 of the mixing and conveying device 7.

Wherein: the first blanking mechanism 4 is located on one side, away from the rotary spraying device 2, of the multithread collaborative batching device, the first blanking mechanism 4 comprises a first side plate 402 and a second side plate 401 which are symmetrically and fixedly installed on the second support frame 3, a push box 404 which is through up and down is installed between the first side plate 402 and the second side plate 401 in a sliding mode along the horizontal direction, a first blanking hopper 403 is fixedly installed at the top end of the push box 404 for automatic blanking, a first sliding rail 408 is fixedly installed on one side, away from the push box 404, of the first side plate 402, a strip hole is formed in the first side plate 402, a first sliding block 409 which is matched with the first sliding rail 408 is fixedly installed on the push box 404, the first sliding block 409 penetrates through the strip hole and is connected with the first sliding rail 408 in a matching mode, and the first sliding block 409 moves along the length direction of the strip hole and the first sliding rail 408. Push away one side fixed mounting that box 404 kept away from first slider 409 have two first racks 405, set up two rectangular holes that correspond with first rack 405 on the second curb plate 401, make first rack 405 and second curb plate 401 sliding connection, one side fixed mounting that box 404 was kept away from to second curb plate 401 has first motor 406, fixed mounting has two first gears 407 with two first rack 405 complex on the output shaft of first motor 406, two first gears 407 are fixed in same pivot, first motor 406 drives first gear 407 and rotates, and then drive first rack 405 through first gear 407 and slide along the rectangular hole on the second curb plate 401, realize pushing away the horizontal migration of box 404.

A mounting bottom plate 413 is fixedly mounted at the bottom end between the first side plate 402 and the second side plate 401, a first weighing sensor 412 is fixedly mounted on the mounting bottom plate 413, a weighing plate 411 is mounted at the top end of the first weighing sensor 412, 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 for fixing, the two ends of the weighing plate 411 are respectively mounted on the first side plate 402 and the second side plate 401 in a sliding manner along the vertical direction, when the weighing plate 411 is stressed, weight information is transmitted to the first weighing sensor 412, when a required value of water and fertilizer is reached, the first blanking hopper 403 stops discharging, at the moment, the first motor 406 is started to drive the pushing box 404 to move towards the direction of required water and fertilizer blending, sufficient fertilizer particles are pushed into the corresponding blanking hopper 410 through the pushing box 404, and then fall into the blanking hopper 702 of the mixing and conveying device 7, so as to complete blanking; wherein: a gap is reserved between the weighing plate 411 and the bottom end of the push box 404, and according to the size of fertilizer particles, if the size of the fertilizer particle is 2-4.8mm, namely larger than 2mm, the distance between the push box 404 and the weighing plate 411 is set to be 1-1.6mm; if the fertilizer grain size is 0.8-2mm, namely more than 0.8mm, the distance between the push box 404 and the weighing plate 411 can be set to be 0.2-0.4mm, so that a certain gap is left between the push box 404 and the weighing plate 411, and the abrasion between the push box 404 and the weighing plate 411 is avoided on the premise of ensuring the pushing and conveying of fertilizer grains.

The second blanking mechanism 5 is located in the middle of the multi-thread collaborative material taking device, the second blanking mechanism 5 comprises a hole digging top plate 502 fixedly installed on the second support frame 3, a second blanking hopper 501 is fixedly installed at the top end of the hole digging top plate 502, a material distribution plate 503 is hung at the bottom end of the hole digging top plate 502, a material distribution bin 504 is rotatably installed on the material distribution plate 503 through a rotating bearing 513, and eight first material distribution ports 5041 are uniformly arranged inside the material distribution bin 504; the distribution plate 503 is symmetrically provided with two second distribution ports 5031 corresponding to the first distribution ports 5041 along the radial direction. An intermediate plate 505 is arranged below the distributing disc 503 on the second support frame 3, hole-digging discs 506 rotatably connected with the intermediate plate 505 are symmetrically arranged below the distributing disc 503, distributing boxes 507 are symmetrically and fixedly arranged at the bottom end of each hole-digging disc 506 along the radial direction of the hole-digging disc, two blanking pipes 508 corresponding to the hole-digging discs 507 and two second weighing sensors 509 are symmetrically and fixedly arranged at the bottom end of the intermediate plate 505, the top ends of the blanking pipes 508 and the second weighing sensors 509 penetrate through to be flush with the top surface of the intermediate plate 505, a fixed bottom plate 510 is fixedly arranged below the intermediate plate 505 on the second support frame 3, and a second motor 511 for driving the distributing boxes 504 to rotate and a third motor 512 for driving the hole-digging discs 506 to rotate are fixedly arranged on the fixed bottom plate 510.

When in work: the second blanking hopper 501 discharges materials once and falls into the distributing bin 504, the distributing bin 504 is provided with a conical distributing hopper 5042, and under the action of the conical distributing hopper 5042, the fertilizer uniformly falls into eight first distributing ports 5041 of the distributing bin 504; therefore, the fertilizer in the two first material distribution ports 5041 in the material distribution bin 504 falls into the material distribution tray 503, then falls into the material distribution bin 507 from the material distribution tray 503, the top and the bottom of the material distribution bin 507 are hollowed, the weighing sensor at the bottom of the material distribution bin 507 performs weighing, when the weight is not up to the standard, the second motor 511 in the middle drives the material distribution bin 504 to rotate again, the material distribution tray 503 rotates 1/8 of the angle each time, then discharges the material into the material distribution tray 503 again, then falls into the material distribution bin 507, the second weighing sensor 509 performs weighing, if the second motor 511 drives the material distribution bin 504 to rotate for a circle, the fertilizer in the material distribution bin 504 is completely discharged, but the weight is still not up to the standard, the second material distribution bin 501 at the top discharges the material again, and the process is repeated until the weighing is up to the standard; after the weight reaches the standard, the third motors 512 on two sides drive the corresponding hole digging discs 506 to rotate respectively, and rotate for half a circle, namely 180 degrees, each time, the material distributing boxes 507 are driven to rotate for 180 degrees and the positions of the two material distributing boxes 507 are exchanged, the material distributing boxes 507 with the fertilizer scrape the fertilizer to send the fertilizer into the corresponding blanking pipes 508, so that the blanking is completed, the material distributing boxes 507 without the fertilizer rotate to the upper side of the second weighing sensor 509, and the next time of fertilizer discharging and weighing is carried out.

The third blanking mechanism 6 is located on one side of the second support frame 3 close to the rotary spraying device 2, the third blanking mechanism 6 comprises a third blanking hopper 601, a plurality of vibration discs 602 arranged in a step shape are fixedly mounted at the bottom end of the third blanking hopper 601, and the vibration discs 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 the 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 used for driving the vibration disc 602 to vibrate and discharge, the output end of the vibrator 604 is abutted to the bottommost vibration disc 602, an inclined storage bin 605 is fixedly mounted below the vibration drop point of the bottommost vibration disc 602 on the second support frame 3, second slide 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 mounted on the second slide rails 606, a third weighing sensor 608 is fixedly mounted at the bottom end of the bin door 607, a push plate 609 is fixedly mounted in the middle of the bin door 607, a cylinder 610 parallel to the bin door 607 is fixedly mounted on the second support frame 3, the output end of the cylinder 610 is fixedly connected with the push plate 609, and the cylinder 610 is fixedly mounted on the second support frame 3 through an a-shaped bracket 611, so that the movement stroke of the cylinder 610 is parallel to the movement stroke of the bin door 607.

When in work: the third blanking hopper 601 discharges intermittently within the set time, fertilizer enters the vibration disk 602, and a baffle is arranged on the second support frame 3 behind the vibration disk 602 to prevent leakage during fertilizer discharging. The vibration areas are arranged in a ladder shape from top to bottom in sequence. The vibrator 604 drives the vibrating disc 602 to vibrate at high frequency, so that the fertilizer uniformly falls down from the vibrating disc 602 in a step-shaped arrangement under the action of vibration, the distribution range of the fertilizer is expanded and finally falls into the inclined storage bin 605, the third weighing sensor 608 is fixed at the lowest part of the bin gate 607, a weighing plate is arranged in a certain range on the bin gate 607 in a hollowed mode and used for sensing the weight of the fertilizer by the third weighing sensor 608, and after the third weighing sensor 608 detects that the weight reaches the standard, the cylinder 610 drives the push plate 609 to enable the bin gate 607 to slide upwards along the second slide rail 606, so that the bin gate 607 is driven to be opened and closed by the long-stroke cylinder 610, and the blanking is completed.

The conveying end of the mixing and conveying device 7 is communicated with the stirring and blending device 8, and specifically comprises the following steps: mix conveyor 7 and include pipeline 701 of fixed mounting on second support frame 3, three feed inlet has been seted up on pipeline 701 top, connect hopper 702 to weld in pipeline 701's feed inlet department, pipeline 701 is inside to rotate along its axis direction and to install hob 703, pipeline 701's tip fixed mounting has a fourth motor 704 that is used for driving hob 703 rotatory, fourth motor 704 drives hob 703 and rotates, thereby carry three kinds of fertilizers through hob 703 to end discharge gate department, make it fall into agitator tank 8011.

The stirring and blending device 8 comprises a crushing and stirring mechanism 801, a water and fertilizer storage tank 802 and a wastewater tank 803; the smashing and stirring mechanism 801 comprises a stirring box 8011, a partition plate 8012 is arranged inside the stirring box 8011, smashing teeth 8014 are installed at the top end of the partition plate 8012 in a rotating mode, a fifth motor 8013 is fixedly installed at the bottom end of the partition plate 8012, an output shaft of the fifth motor 8013 penetrates through the top end of the partition plate 8012, the smashing teeth 8014 are fixedly installed on an output shaft of the fifth motor 8013, after all fertilizers fall into the stirring box 8011, the fifth motor 8013 is started to drive the smashing teeth 8014 to conduct high-speed rotation to smash fertilizer particles so as to enable the fertilizer particles to melt into water more quickly, a second water tank 10 is fixedly installed at the bottom end of a second supporting frame 3, a water outlet of the second water tank 10 is communicated with a water inlet of the stirring box 8011 through a first water pump 804, the smashing teeth 8011 agitate the fertilizers and meanwhile pump water in the second water tank 10 into the stirring box 8011, and during smashing, water delivery and uniform mixing are achieved, and efficient dissolution of the fertilizers is promoted.

A first pumping pipe 8015 and a second pumping pipe 8016 are arranged at the bottom end inside the stirring box 8011, the outlet end of the first pumping pipe 8015 is communicated with the inlet end of the water and fertilizer storage tank 802 through a second water pump 805, and the outlet end of the second pumping pipe 8016 is communicated with the waste water tank 803 through a third water pump 806.

After the stirring box 8011 is crushed and mixed uniformly, the second water pump 805 is started to pump the water and fertilizer in the stirring box 8011 into the water and fertilizer storage box 802, and the water and fertilizer is used after being applied; after the single blending operation is completed, the first water pump 804 is started to input clean water in the second water tank 10 into the stirring tank 8011, the fifth motor 8013 drives the crushing teeth 8014 to operate to drive the clean water to flow and clean the stirring tank 8011, and finally, the third water pump 806 is used to pump the wastewater out of the stirring tank 8011 through the second water pumping pipe 8016 and send the wastewater into the wastewater tank 803, so as to clean the fertilizer residues.

And the two sides of the multi-thread cooperative batching device are symmetrically provided with a water and fertilizer application and irrigation device 9, and the water and fertilizer application and irrigation device 9 is communicated with the stirring and blending device 8. Specifically, the method comprises the following steps: liquid manure is executed and is irrigated device 9 including this fixed atomizer 901 of downward sloping and the X axial displacement mechanism that is used for driving atomizer 901 to remove, Y axial displacement mechanism and Z axial elevating system, Z axle displacement mechanism fixed mounting is in the both sides of X axle displacement mechanism bottom, Z axle displacement mechanism'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 it irrigates to detect to carry out the liquid manure to carry out, fourth water pump 902 starts the liquid manure that extracts liquid manure bin 802, send into atomizer 901, irrigate to carry out the liquid manure.

Specifically, the method comprises the following steps: the X-axis moving mechanism comprises two first supporting plates 903, a third sliding rail 904 is fixedly installed between the two first supporting plates 903, a sliding seat 905 is installed on the third sliding rail 904 in a sliding mode, a first screw rod 906 penetrating through the sliding seat 905 is installed on the third sliding rail 904 in a rotating mode, the first screw rod 906 is connected with the sliding seat 905 in a matching mode, a sixth motor 907 used for driving the first screw rod 906 to rotate is fixedly installed at the end portion of the third sliding rail 904, and the rotation of the first screw rod 906 is converted into the movement of the sliding seat 905 to enable the sliding seat 905 to move along the X-axis direction;

the Y-axis moving mechanism comprises a second supporting plate 908 fixedly mounted at the top end of a sliding seat 905, a fourth sliding rail 909 is fixedly mounted at the top end of the second supporting plate 908, the fourth sliding rail 909 is perpendicular to the third sliding rail 904 along the horizontal direction, a second sliding block 910 is slidably mounted on the fourth sliding rail 909, an extending plate 912 is fixedly mounted at the top end of the second sliding block 910, an atomizing nozzle 901 is fixedly mounted at the front end of the extending plate 912, a camera 911 inclined downwards is fixed at the front end of the extending plate 912, the position of the root of a crop is determined through the camera 911, then the atomizing nozzle 901 is controlled to be aligned with the water and fertilizer for spraying the root of the crop, a second rack 913 is fixedly mounted at the top end of the extending plate 912, a supporting column 914 is fixedly mounted at the top end of the sliding seat 905, a second gear 915 is rotatably mounted on the supporting column 914, a seventh motor 916 is fixedly mounted at the bottom end of the second supporting plate 908, the second gear 915 and the seventh motor 916 are connected through belt transmission or chain transmission, and during work: the seventh motor 916 drives the second gear 915 to rotate, so as to drive the second rack 913, the extension plate 912 and the second slider 910 below the second rack to move towards the front end, and further the atomizer 901 moves along the Y axis direction, and the atomizer 901 performs repositioning on crops through the camera 911 when spraying water and fertilizer, so that the atomizer 901 moves to a more accurate position.

Z-axis elevating system is including fixing the lift roof 917 in first backup pad 903 bottom and the lift floor 918 that is located lift roof 917 below, the bottom of lift floor 918 and the top fixed connection who removes base 1, be connected with between lift roof 917 and the lift floor 918 and cut fork folding leg 919, one side of lift floor 918 is equipped with the eighth motor 923 that is used for driving to cut fork folding leg 919 and goes up and down, and is concrete: a first fixing rod 920 is fixedly installed on 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 installed on the other side of the top end of the lifting bottom plate 918 in a sliding mode, one side of the bottom end of the scissor-fork type folding frame 919 is hinged to the first fixing rod 920, the other side of the bottom end of the scissor-fork type folding frame 919 is hinged to the first sliding rod 921, and the connection mode of the scissor-fork type folding frame 919 and the lifting top plate 917 is the same as the connection mode of the scissor-fork type folding frame 919 and the lifting bottom plate 918. Lifting floor 918 top end is rotated and is connected with the lead screw 922 that slides, be fixed with on the first slide bar 921 with the lead screw 922 complex fixed block 924 that slides, the lead screw 922 that slides runs through fixed block 924 and is connected rather than the cooperation, one side fixed mounting on lifting floor 918 top has and is used for driving the eighth motor 923 of lead screw 922 pivoted that slides, the output shaft of eighth motor 923 passes through shaft coupling fixed connection with the sixth lead screw 922 that slides, the eighth motor 923 drive of during operation slides the lead screw 922 and rotates, make the axial displacement of fixed block 924 along the lead screw 922 that slides, realize opening and shutting of scissor folding rack 919. The movement of the atomizing nozzle 901 along the Z-axis is realized, so that the three-axis accurate positioning of the crop root is completed, and the precise irrigation is carried out.

The method for accurately applying the water fertilizer comprises the following specific steps: when the equipment receives a user instruction, the equipment starts to move, after the system matches current vegetation state data at the cloud end, three different types of fertilizers are respectively poured into blanking hoppers above the first blanking mechanism 4, the second blanking mechanism 5 and the third blanking mechanism 6, and weighing sensors corresponding to the first blanking mechanism 4, the second blanking mechanism 5 and the third blanking mechanism 6 respectively match the required quantity according to a control system and simultaneously blank the fertilizers to the mixing and conveying device 7; the mixing and conveying device 7 conveys the three fertilizers into the stirring box 8011, stirring and crushing are carried out, water is conveyed, stirring and mixing are carried out simultaneously, after the three fertilizers are mixed and stirred uniformly, the uniformly stirred water and fertilizer are pumped to the water and fertilizer storage box 802 by the second water pump 805 to be stored, after single blending is finished, the stirring box 8011 is cleaned by the device, the first water pump 804 is started again to supply water into the stirring box 8011, the fifth motor 8013 drives the crushing teeth 8014 to rotate to clean the stirring box 8011, after cleaning is finished, residual wastewater is pumped to the wastewater box 803 by the third water pump 806, after the water and fertilizer application device 9 carries out three-axial position adjustment through the cooperative motion of the X-axial moving mechanism, the Y-axial moving mechanism and the two Z-axial lifting mechanisms, the atomizing nozzle 901 is moved to the root position of the crop to realize accurate application, in the process, after the root of the crop is accurately detected by the camera 911, the atomizing nozzle 901 above the camera 911 finds the crop, the next target is found after the application is finished, and the device system is applied; the control system controls the mobile base 1 to drive the whole equipment to move along the operation area, so that water and fertilizer application and irrigation of all crops in the operation area are realized, in order to realize cooperative work of all mechanisms in the equipment, a controller is arranged in the equipment, a weighing sensor feeds back signals to the controller, a motor, an air cylinder and a vibrator in each mechanism are controlled by the controller, a content data transmission module is controlled, and data monitoring is carried out by a computer.

The method realizes the mixing, weighing and blending of single or multiple fertilizers, accurately weighs and mixes multiple fertilizers, dissolves the fertilizers through water and then sprays the dissolved fertilizers, is different from the traditional mode of firstly fertilizing and then flooding and dissolving the fertilizers, simplifies the fertilizing steps, and is beneficial to the faster absorption of crops.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. A mobile precise water and fertilizer application and irrigation method is characterized by comprising a mobile base, wherein a rotary spraying device, a multi-thread cooperative batching device, a mixing and conveying device, a stirring and blending device and a water and fertilizer application and irrigation device are fixedly mounted at the top end of the mobile base, the rotary spraying device and the multi-thread cooperative batching device are arranged side by side, and the mixing and conveying device is fixedly mounted below the multi-thread cooperative batching device;

the multithread cooperative batching device comprises a second support frame, wherein a first blanking mechanism, a second blanking mechanism and a third blanking mechanism for quantitatively dropping different fertilizers are sequentially arranged on the second support frame, weighing sensors are respectively arranged in the first blanking mechanism, the second blanking mechanism and the third blanking mechanism, a plurality of material receiving hoppers 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 and conveying device, the conveying tail end of the mixing and conveying device is communicated with the stirring and blending device, the water and fertilizer application and filling devices are symmetrically arranged on two sides of the multithread cooperative batching device, and the water and fertilizer application and filling devices are communicated with the stirring and blending device;

the water and fertilizer application and irrigation device comprises an atomizing nozzle, an X-axis moving mechanism, a Y-axis moving mechanism and two Z-axis lifting mechanisms, wherein the X-axis moving mechanism, the Y-axis moving mechanism and the two Z-axis lifting mechanisms are used for driving the atomizing nozzle to move;

the method for accurately applying the water fertilizer comprises the following steps:

s1: three different types of fertilizers are respectively poured into blanking hoppers above the first blanking mechanism, the second blanking mechanism and the third blanking mechanism, and weighing sensors corresponding to the first blanking mechanism, the second blanking mechanism and the third blanking mechanism are matched with the required quantity according to a control system and simultaneously used for blanking to the mixing and conveying device;

s2: three different fertilizers are weighed by the first blanking mechanism, the second blanking mechanism and the third blanking mechanism respectively and then fall into a receiving hopper of a mixing and conveying device for shunting and taking materials, the materials are conveyed into a stirring and blending device through the mixing and conveying device, and the stirring and blending device is used for stirring and blending the fertilizers and water;

s3: pumping the prepared liquid manure to a liquid manure fertilizing and irrigating device, and moving the atomizing spray head to the root position of the crop through the cooperative motion of the X axial moving mechanism, the Y axial moving mechanism and the two Z axial lifting mechanisms to realize accurate fertilizing 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 application and irrigation work of all crops in the operation area is realized.

2. The method for accurately fertilizing mobile liquid manure as claimed in claim 1, wherein the rotary spraying device comprises a first water tank, cylindrical supports are symmetrically installed on two sides of the first water tank, the bottom end of each cylindrical support is fixedly connected with the top end of the movable base, a steering engine is fixedly installed at the top end of each cylindrical support, a rotary table is fixedly installed on an output shaft of the steering engine, a first support frame is fixedly installed at the top end of the rotary table, a fog gun is rotatably installed on the first support frame, the fog gun is communicated with the first water tank, a distribution box is fixedly installed on one side of each cylindrical support, the fog gun is electrically connected with the distribution box, when the temperature of an environment where the manure grows is too high, the rotary spraying device is started, and the fog gun can be controlled by the steering engine to swing to expand the cooling range.

3. The method for accurately fertilizing mobile water and fertilizer according to claim 1, wherein the first blanking mechanism is located on one side of the multithread cooperative batching device, which is 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 supporting frame, a push box which is through 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 on 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 on one side of the push box, which is far away from the first sliding block, the first rack is connected with the second side plate in a sliding manner, a first motor is fixedly installed on one side of the second side plate, 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 bottom fixed mounting between first curb plate with the second curb plate has a mounting plate, fixed mounting has a first weighing sensor on the mounting plate, weighing plate is installed on first weighing sensor's top, vertical direction slidable mounting is followed respectively in weighing plate's both ends in first curb plate with on the second curb plate, weighing plate with leave the clearance between the box bottom of pushing away, first weighing sensor responds to required fertilizer weight back up to standard, a motor drive push away the box and carry out the unloading to unilateral movement.

4. The method for accurately fertilizing mobile liquid manure according to claim 1, wherein the second blanking mechanism is located in the middle of the multithread collaborative material-taking device, the second blanking mechanism comprises a hole-digging top plate fixedly mounted on the second support frame, a second blanking hopper is fixedly mounted at the top end of the hole-digging top plate, a material-dividing tray is hoisted at the bottom end of the hole-digging top plate, a material-dividing bin is rotatably mounted on the material-dividing tray, a plurality of first material-dividing ports are uniformly arranged in the material-dividing bin, two second material-dividing ports corresponding to the first material-dividing ports are symmetrically arranged on the material-dividing tray along the radial direction of the material-dividing tray, an intermediate plate is arranged below the material-dividing tray on the second support frame, hole-digging discs rotatably connected with the intermediate plate are symmetrically arranged below the material-dividing tray, material-dividing boxes are fixedly mounted at the bottom ends of the hole-digging discs along the radial direction of the material-digging discs, two blanking pipes corresponding to the material-dividing boxes and two second weighing sensors are symmetrically mounted at the bottom end of the intermediate plate, the top ends of the blanking pipes and the second weighing sensors are all parallel to the top surfaces of the intermediate plate, a motor-fixing holes and a bottom plate for driving a motor for rotating the motor for driving the rotation of the material-dividing tray are mounted on the second support frame.

5. The accurate mobile water and fertilizer irrigation method according to claim 1, wherein the third blanking mechanism is located on one side of the second support frame close to the rotary spraying device, the third blanking mechanism comprises a third blanking hopper, a plurality of vibration discs arranged in a step shape are fixedly installed at the bottom end of the third blanking hopper, the vibration discs which are adjacent up and down are fixedly connected through a connecting column, a vibrator fixedly connected with the second support frame is located below the vibration disc at the bottommost end, the output end of the vibrator is abutted to the vibration disc at the bottommost end, an inclined storage bin is fixedly installed below the vibration falling point of the vibration disc at the bottommost end on the second support frame, second slide rails are arranged on two sides of an opening of the inclined storage bin, a bin gate is slidably installed on the second slide rails, a third weighing sensor is fixedly installed at the bottom end of the bin gate, a push plate is fixedly installed in the middle of the bin gate, an air cylinder parallel to the bin gate is fixedly installed on the second support frame, and the output end of the air cylinder is fixedly connected with the push plate.

6. The method for accurately fertilizing mobile water and fertilizer according to claim 1, wherein the mixing and conveying device comprises a conveying pipeline fixedly mounted on the second support frame, three feeding holes are formed in the top end of the conveying pipeline, the receiving hopper is welded at the feeding hole of the conveying pipeline, a screw rod is rotatably mounted inside the conveying pipeline along the axis direction of the conveying pipeline, a fourth motor for driving the screw rod to rotate is fixedly mounted at the end of the conveying pipeline, the fourth motor drives the screw rod to rotate, and the rotating motion of the screw rod is converted into the advancing motion of the fertilizer.

7. The mobile precise water and fertilizer application 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 waste water 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, the three fertilizers are mixed and conveyed into the stirring box, and water is pumped into the stirring box through the first water pump to be mixed and stirred with the water to form water and fertilizer;

a first water pumping pipe and a second water pumping pipe are arranged at the bottom end inside the stirring box, 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 used for pumping the stirred and mixed water and fertilizer to the water and fertilizer storage box; the outlet end of the second water pumping pipe is communicated with the waste water tank through a third water pump, after the 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 to clean the inside of the stirring tank, and the cleaning waste water is pumped to the waste water tank through the third water pump.

8. The method for accurately fertilizing and mobile water and fertilizer according to claim 7, wherein the X-axis moving mechanism comprises two first supporting plates, a third sliding rail is fixedly installed between the two first supporting plates, a sliding seat is slidably installed on the third sliding rail, a first screw rod penetrating through the sliding seat is rotatably installed on the third sliding rail, the first screw rod is connected with the sliding seat in a matching manner, and a sixth motor for driving the first screw rod to rotate is fixedly installed at the end of the third sliding rail;

the Y-axis moving mechanism comprises a second supporting plate fixedly mounted at the top end of the sliding seat, a fourth sliding rail is fixedly mounted at the top end of the second supporting plate and is perpendicular to the third sliding rail along the horizontal direction, a second sliding block is slidably mounted on the fourth sliding rail, an extending plate is fixedly mounted at the top end of the second sliding block, the atomizing nozzle is fixedly mounted at the front end of the extending plate, a camera is fixed at the front end of the extending plate, a second rack is fixedly mounted at the top end of the extending plate, a supporting column is fixedly mounted at the top end of the sliding seat, a second gear is rotatably mounted on the supporting column, a seventh motor is fixedly mounted 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 located 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 used for driving the scissor-type folding frame to lift is arranged on one side of the lifting bottom plate;

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

9. The method as claimed in claim 8, wherein the said atomizer and the said camera are tilted downward, the position of the crop root is determined by the camera, and then the atomizer is controlled to spray the water and fertilizer on the crop root.

10. The mobile precise water and fertilizer irrigation method according to claim 1, wherein the mobile base comprises a base body, universal wheels are symmetrically installed on one side of the bottom end of the base body, which is far away from the rotary spraying device, wheels are symmetrically installed in the middle of the bottom end of the base body and on one side of the bottom end of the base body, which is far away from the universal wheels, a ninth motor for driving the wheels to rotate at the middle position is fixedly installed 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 wheels and is characterized in that wheel shafts on two sides of each wheel are provided with first bearing seats, a base body is fixedly provided with second bearing seats corresponding to the first bearing seats, supporting rods are connected between the first bearing seats and the second bearing seats, one ends of the supporting rods are fixedly connected with the first bearing seats, the other ends of the supporting rods are hinged to the second bearing seats, one sides of the supporting rods corresponding to the first bearing seats are hinged to shock absorbers, and the other ends of the shock absorbers are hinged to the base body.

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