CN119256737A - A smart agricultural field water and fertilizer integrated irrigation robot - Google Patents
A smart agricultural field water and fertilizer integrated irrigation robot Download PDFInfo
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- CN119256737A CN119256737A CN202411384694.3A CN202411384694A CN119256737A CN 119256737 A CN119256737 A CN 119256737A CN 202411384694 A CN202411384694 A CN 202411384694A CN 119256737 A CN119256737 A CN 119256737A
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- water
- fertilizer
- irrigation
- plate
- cleaning
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/04—Distributing under pressure; Distributing mud; Adaptation of watering systems for fertilising-liquids
- A01C23/047—Spraying of liquid fertilisers
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/008—Tanks, chassis or related parts
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/04—Distributing under pressure; Distributing mud; Adaptation of watering systems for fertilising-liquids
- A01C23/042—Adding fertiliser to watering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/20—Arrangements for agitating the material to be sprayed, e.g. for stirring, mixing or homogenising
- B05B15/25—Arrangements for agitating the material to be sprayed, e.g. for stirring, mixing or homogenising using moving elements, e.g. rotating blades
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/40—Filters located upstream of the spraying outlets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/50—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter
- B05B15/52—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter for removal of clogging particles
- B05B15/522—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter for removal of clogging particles using cleaning elements penetrating the discharge openings
- B05B15/5223—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter for removal of clogging particles using cleaning elements penetrating the discharge openings the cleaning element, e.g. a needle, and the discharge opening being movable relative to each other in a direction substantially parallel to the flow of liquid or other fluent material through said opening
- B05B15/5225—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter for removal of clogging particles using cleaning elements penetrating the discharge openings the cleaning element, e.g. a needle, and the discharge opening being movable relative to each other in a direction substantially parallel to the flow of liquid or other fluent material through said opening the cleaning element being located upstream of the discharge opening or being actuated upstream therefrom
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/22—Improving land use; Improving water use or availability; Controlling erosion
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Water Supply & Treatment (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Fertilizing (AREA)
Abstract
本申请涉及灌溉技术领域，且公开了一种智慧农业田间水肥一体化灌溉机器人，主要由转动机构和灌溉机构构成，所述转动机构包括转动电机、第一转动轴和滤网，所述第一转动轴上固定套接有滤网，且滤网的底端与供水箱的内部底端活动卡接，所述灌溉机构包括输送管，且输送管的进水端与滤网的壁面接触。本发明通过使输送管的进水端被滤网遮盖，当输送管受增压泵作用而汲取水肥物料时，水肥物料会被滤网过滤后再进入输送管内，有效降低颗粒杂质进入输送管内的可能性，防止灌溉机构受颗粒杂质影响而堵塞，不仅减缓灌溉机器人的损耗速率，还增强灌溉机构灌溉的均匀度，避免因灌溉机构堵塞而灌溉时断时续，有效提高灌溉效果。
The present application relates to the field of irrigation technology, and discloses a smart agricultural field water-fertilizer integrated irrigation robot, which is mainly composed of a rotating mechanism and an irrigation mechanism, wherein the rotating mechanism includes a rotating motor, a first rotating shaft and a filter screen, wherein the filter screen is fixedly sleeved on the first rotating shaft, and the bottom end of the filter screen is movably connected to the inner bottom end of the water supply box, and the irrigation mechanism includes a delivery pipe, and the water inlet end of the delivery pipe is in contact with the wall surface of the filter screen. The present invention covers the water inlet end of the delivery pipe with the filter screen, and when the delivery pipe is acted upon by a booster pump to draw water and fertilizer materials, the water and fertilizer materials will be filtered by the filter screen before entering the delivery pipe, effectively reducing the possibility of particulate impurities entering the delivery pipe, preventing the irrigation mechanism from being blocked by particulate impurities, not only slowing down the loss rate of the irrigation robot, but also enhancing the uniformity of irrigation by the irrigation mechanism, avoiding intermittent irrigation due to blockage of the irrigation mechanism, and effectively improving the irrigation effect.
Description
Technical Field
The application relates to the technical field of irrigation, in particular to an intelligent agricultural field water and fertilizer integrated irrigation robot.
Background
Intelligent agriculture refers to the realization of intelligent and digital management of agricultural production processes by utilizing advanced technological means, such as technologies of Internet of things, big data analysis, artificial intelligence and the like. At present, the intelligent agriculture can adopt a water and fertilizer integrated irrigation system in the use process so as to accurately allocate fertilizer, save resources and reduce environmental pollution. The water and fertilizer integrated technology is a novel agricultural technology integrating irrigation and fertilization, which is applied with a water and fertilizer integrated irrigation robot and mainly comprises a water supply device, a fertilizer supply device, a water delivery device, a spraying device and the like, wherein the water delivery device is used for delivering an irrigation water source in a pipeline system into the water supply device, then the fertilizer stored in the fertilizer supply device is dissolved in water of the water supply device, and finally, the spraying device is utilized for irrigation and fertilization, so that the requirements of crops on moisture and fertilizer can be properly met in time, and synchronous management and efficient utilization of water and fertilizer are realized.
However, the existing water-fertilizer integrated irrigation robot has the defect that an irrigation water source in a pipeline system is mainly ground water, namely, river runoff, lakes and ground runoffs which are blocked in the converging process, the ground water generally contains granular impurities, and after the irrigation robot uses the irrigation water source containing the granular impurities for a long time, a spraying device is easily blocked, so that not only is the irrigation uniformity reduced, but also the irrigation effect is influenced, and the loss rate of the irrigation robot is accelerated.
Disclosure of Invention
The application provides an intelligent agricultural field water and fertilizer integrated irrigation robot which has the advantages of effectively filtering particle impurities, slowing down the loss rate of the irrigation robot and improving the irrigation effect, and is used for solving the problem that the particle impurities are easy to block a spraying device.
In order to achieve the purpose, the intelligent agricultural field water and fertilizer integrated irrigation robot adopts the following technical scheme that the intelligent agricultural field water and fertilizer integrated irrigation robot comprises:
the water supply mechanism is used for storing water and comprises a water supply tank;
The rotary mechanism comprises a rotary motor, a first rotary shaft and a filter screen, one end of the rotary motor is movably connected with one end of the first rotary shaft, the other end of the first rotary shaft penetrates through one side wall surface of the water supply tank and is movably clamped with the other side wall surface of the water supply tank, the filter screen is fixedly sleeved on the first rotary shaft, and the bottom end of the filter screen is movably clamped with the inner bottom end of the water supply tank;
irrigation mechanism, the both sides of supply tank all are provided with one irrigation mechanism, and two irrigation mechanisms are central symmetry for carry and spray the liquid manure material, irrigation mechanism includes the conveyer pipe, the water inlet end of conveyer pipe is fixed cup jointing with one side of supply tank, and the water inlet end of conveyer pipe and the wall contact of filter screen, utilize the filter screen to filter the liquid manure material that will get into in the conveyer pipe.
Further, the water supply mechanism further includes:
the fixing frame is arranged at the top end of the vehicle body, and the water supply tank is sleeved in the fixing frame;
The water delivery assembly, the one end of water delivery assembly and the one end fixed intercommunication of supply tank, and the other end of water delivery assembly can communicate pipeline system.
Further, the shape of conveyer pipe is L type, and the water inlet end of conveyer pipe is the horizontality, and the water outlet end of conveyer pipe is vertical state, rotating motor is located the conveyer pipe and advances the oblique upper position of water inlet end, and the distance of conveyer pipe to the filter screen centre of a circle is little compared with the radius of filter screen.
Further, the rotating mechanism further comprises:
the wall surface of the first rotating shaft is fixedly connected with a plurality of stirring plates;
the other end of the rotating motor is movably connected with one end of the second rotating shaft;
the worm is fixedly connected with the other end of the second rotating shaft.
Further, the irrigation mechanism further comprises:
The outer wall of the fixed frame is fixedly connected with a fixed frame, and the fixed frame is fixedly sleeved with the conveying pipe;
The spraying assembly is movably arranged on the conveying pipe and is positioned above the fixing frame and used for rotating to improve irrigation uniformity;
The auxiliary assembly, the water outlet end of conveyer pipe is connected with auxiliary assembly, and auxiliary assembly and spray subassembly activity joint for cooperation spray the subassembly and realize irrigating, and in time clear up and spray the subassembly.
Further, the spray assembly includes:
the outside of the vertical section of the conveying pipe is movably sleeved with a movable pipe;
the bottom end of the movable tube is movably clamped with movable balls, the number of the movable balls is several, and the bottom end of the movable balls is contacted with the top end of the fixing frame;
The lower half part of the movable tube is fixedly sleeved with a worm wheel, the worm wheel is meshed with a worm, the space between the worm wheel and the worm is staggered, and the staggered angle of the axes of the worm wheel and the worm is 90 degrees;
The top end of the movable pipe is fixedly connected with the bottom end of the movable piece, the water outlet end of the conveying pipe is positioned in the movable piece, a plurality of water outlets are formed in the water outlet end of the conveying pipe, and a sealing ring is arranged on the wall surface of the conveying pipe which is movably sleeved with the movable piece;
the spraying piece, the fixed cover of lateral wall of moving part has sprayed the piece, and sprays the shape of piece and comprise cylinder and round platform, the quantity of spraying the piece is a plurality of, and encircles the even setting of moving part.
Further, the auxiliary assembly includes:
The middle part of the fixed plate is fixedly sleeved with the water outlet end of the conveying pipe, the bottom end of the fixed plate is provided with a sealing ring, and the fixed plate is attached to the movable piece through the sealing ring;
The bottom end of the fixed plate is fixedly connected with a partition plate, the partition plate is positioned on one side of the fixed plate close to the water supply tank, a sealing film is arranged outside the partition plate, the partition plate is movably clamped with a movable piece through the sealing film, the inside of the movable piece is divided into a slag collecting cavity and a spraying cavity by the partition plate, the partition plate is an electrified magnet, the partition plate is electrically connected with a control system, and the partition plate is electrified and has magnetism;
The auxiliary plate is fixedly connected with the bottom end of the fixed plate, the auxiliary plate is positioned outside the movable piece, a space gap exists between the auxiliary plate and the movable piece, and the auxiliary plate is close to the slag collecting cavity of the movable piece;
The cleaning assembly, the clearance groove has been seted up to the inner wall of accessory plate, and the accessory plate passes through clearance groove and cleaning assembly swing joint, utilizes cleaning assembly round trip movement to realize the clearance to spraying the piece.
Further, the cleaning assembly includes:
The cleaning plate is movably sleeved with the cleaning groove of the auxiliary plate, the cleaning plate has magnetism opposite to that of the separation plate, and one side wall surface of the cleaning plate is connected with the wall surface of the cleaning groove of the auxiliary plate through a tension spring;
the cleaning rod is fixedly connected with the cleaning plate at one end;
the cleaning piece, the other end and the cleaning piece fixed connection of cleaning rod, the shape of cleaning piece is hemisphere casing, and the outer wall radius of cleaning piece is little in the minimum radius that sprays the piece.
Further, the method further comprises the following steps:
The water supply mechanism is arranged at the top end of the vehicle body;
The fertilizer supplying mechanism is arranged at the top end of the water supplying mechanism and used for storing fertilizer.
Further, the fertilizer supply mechanism includes:
The fertilizer supply box is fixedly arranged at the top end of the water supply box, and a plurality of storage cavities are formed in the top end of the fertilizer supply box;
The top end of the fertilizer supply box is movably clamped with a fertilizer supply cover;
The driving motor is fixedly arranged at the top end of the water supply tank and is positioned at one side of the fertilizer supply tank;
the drive plate, the unloading hole has been seted up at the bottom middle part of the fertile case of confession, and the unloading hole passes all storage chambers, the one end and the unloading Kong Huodong joint of the fertile case of confession of drive plate, and the other end and the driving motor swing joint of drive plate are located the fertile case wall of confession of unloading hole both sides sets up for the inclined plane, is located the water supply tank top of unloading hole below has been seted up and has been gathered materials the hole.
The application has the following beneficial effects:
according to the intelligent agricultural field water and fertilizer integrated irrigation robot provided by the application, the rotating mechanism and the irrigation mechanism are arranged on the water supply mechanism, the irrigation mechanism comprises the conveying pipe, the rotating mechanism comprises the rotating motor, the first rotating shaft, the filter screen and the stirring plate, so that the water inlet end of the conveying pipe is covered by the filter screen, when the conveying pipe is subjected to the action of the booster pump to draw water and fertilizer materials, the water and fertilizer materials can be filtered by the filter screen and then enter the conveying pipe, the possibility that the particle impurities enter the conveying pipe is effectively reduced, the irrigation mechanism is prevented from being blocked due to the influence of the particle impurities, the loss rate of the irrigation robot is slowed down, the uniformity of irrigation by the irrigation mechanism is improved, the time of irrigation due to the blocking of the irrigation mechanism is avoided, the irrigation time is prolonged, the irrigation effect is effectively improved, when the particle impurities are mixed with the filter screen contacted with the conveying pipe, the rotating motor is started to drive the first rotating shaft to rotate, the position of the filter screen contacted with the conveying pipe is changed, the uniformity of water inlet of the conveying pipe can be ensured, the particle impurities adhered to the filter screen can be further be impacted by the filter screen, the persistence of the filter screen is enhanced, and in addition, when the first rotating plate can be driven to rotate, the stirring box can be driven to rotate, and the water and the fertilizer can be fully mixed with the fertilizer can be fully stirred.
Through setting up slewing mechanism and irrigation mechanism, and slewing mechanism still includes second axis of rotation and worm, and irrigation mechanism still includes spraying subassembly and auxiliary assembly, makes worm wheel and worm meshing, when the rotation motor drives the worm rotation, can drive the worm wheel and rotate, realizes spraying the rotation of subassembly, not only can make the liquid manure material that sprays out by spraying the piece have certain rotational force to the reinforcing sprays the degree of consistency, can also change the position of spraying the piece, in time clear up the condition for follow-up spraying the piece.
Through setting up the clearance subassembly on auxiliary assembly, when spraying the piece and need the clearance, electrify the accessory plate and attract the clearance subassembly to remove, make the clearance subassembly insert spray the piece, realize spraying the interior granule impurity of jam of piece and being promoted to collect the collection sediment intracavity of moving part, then to the accessory plate outage and promote the clearance subassembly and reverse remove, make the clearance subassembly withdraw from and spray the piece, realize the further clearance of granule impurity, and prepare for the next piece of spraying of clearance, realize spraying the timely clearance of piece from this, improve the life of spraying the subassembly, further strengthen the degree of consistency of irrigating, effectively improve the irrigation effect.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.
The application may be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a perspective view of the whole structure of the present invention;
FIG. 2 is a perspective view of the whole front section of the present invention;
FIG. 3 is a perspective view of the overall side cross-section of the present invention;
FIG. 4 is a perspective view of the fertilizer feed mechanism of the present invention;
FIG. 5 is a perspective view of the disassembled fertilizer feed box and cover, drive motor, and drive plate of the present invention;
FIG. 6 is a perspective view of the water supply mechanism and the rotating mechanism and irrigation mechanism of the present invention;
FIG. 7 is a cross-sectional perspective view of a water supply mechanism positioned at an irrigation mechanism in accordance with the present invention;
FIG. 8 is a cross-sectional perspective view of the water supply mechanism at the rotary mechanism of the present invention;
FIG. 9 is a perspective view of two sets of rotating and irrigation mechanisms according to the present invention;
FIG. 10 is a perspective view showing a cross section of an irrigation mechanism according to the present invention;
FIG. 11 is an enlarged view of the structure of FIG. 10A according to the present invention;
FIG. 12 is an enlarged block diagram of the portion B of FIG. 10 in accordance with the present invention;
FIG. 13 is an enlarged view of the structure of FIG. 12 at C in accordance with the present invention;
FIG. 14 is a perspective view of the spray assembly of the present invention;
FIG. 15 is a perspective view of an auxiliary assembly of the present invention;
fig. 16 is a perspective view of a transfer pipe according to the present invention.
In the figure, 1, a vehicle body; 2, a water supply mechanism, 21, a fixed frame, 22, a water supply tank, 23, a water delivery assembly, 3, a fertilizer supply mechanism, 31, a fertilizer supply tank, 32, a fertilizer supply cover, 33, a driving motor, 34, a driving plate, 4, a rotating mechanism, 41, a rotating motor, 42, a first rotating shaft, 43, a filter screen, 44, a stirring plate, 45, a second rotating shaft, 46, a worm, 5, an irrigation mechanism, 51, a conveying pipe, 52, a fixed frame, 6, a spraying assembly, 61, a movable pipe, 62, a movable ball, 63, a worm wheel, 64, a movable piece, 65, a spraying piece, 7, an auxiliary assembly, 71, a fixed plate, 72, a partition plate, 73, an auxiliary plate, 8, a cleaning assembly, 81, a cleaning plate, 82, a cleaning rod, 83 and a cleaning piece.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Example 1
An intelligent agricultural field liquid manure integration irrigation robot, includes:
referring to fig. 1-3, a vehicle body 1 is provided for walking in the field.
Referring to fig. 1-3 and 6-8, the water supply mechanism 2 is arranged at the top end of the vehicle body 1 and is used for storing water, the water supply mechanism 2 comprises a fixed frame 21, a water supply tank 22 and a water delivery component 23, referring to fig. 6-8, the fixed frame 21 is arranged at the top end of the vehicle body 1, the water supply tank 22 is sleeved in the fixed frame 21, the water supply tank 22 is fixed by the fixed frame 21, the stability of the arrangement of the water supply tank 22 is enhanced, one end of the water delivery component 23 is fixedly communicated with one end of the water supply tank 22, the other end of the water delivery component 23 can be communicated with a pipeline system, when the control system detects that water in the water supply tank 22 is lack of water, the water delivery component 23 can be started to enable the water delivery component 23 to be connected with the pipeline system, and then water in the pipeline system is pumped into the water supply tank 22 through the water delivery component 23, so that the water quantity in the water supply tank 22 is supplemented.
Referring to fig. 1-5, please refer to fig. 1-5, the fertilizer feeding mechanism 3, the top of water feeding mechanism 2 is provided with fertilizer feeding mechanism 3, be used for storing fertilizer, fertilizer feeding mechanism 3 includes fertilizer supply case 31, fertilizer supply lid 32, driving motor 33 and drive plate 34, please refer to fig. 4-5, fertilizer supply case 31 is fixed to be set up on the top of water supply case 22, and a plurality of storage chamber has been seted up to the top of fertilizer supply case 31 inside, can separate into a plurality of equal parts with fertilizer, a fertilizer in the storage chamber can be used in one time irrigation, improve the precision of water-fertilizer proportion, the top activity joint of fertilizer supply case 31 has fertilizer supply lid 32, the fertilizer amount can be filled to fertilizer supply case 31 to the tear-down lid 32, install fertilizer supply lid 32 and can prevent the spill of during operation fertilizer, driving motor 33 is fixed to be set up on the top of water supply case 22, and driving motor 33 is located one side of fertilizer supply case 31, the bottom middle part of fertilizer supply case 31 has seted up the unloading hole, and the unloading hole passes through all storage chamber, can separate into a plurality of storage chamber with fertilizer, one end of feed plate 34 and fertilizer supply case Kong Huodong can use the fertilizer in the storage chamber, fertilizer can be realized, the top end of water supply case 33 is cut down, the top end of water supply case 33 can be located in the water supply case 31, the top end of water supply case 33 is cut down, the hole is realized, the top end piece is cut down, and the top end of fertilizer can be located down and the top of the fertilizer can be cut down to the top down, and the top of the material can be realized, the top piece by the material can be cut down to the material 22.
Referring to fig. 1-3 and 6-9, the rotating mechanism 4 is provided with one rotating mechanism 4 on both sides of the water supply tank 22, and the two rotating mechanisms 4 are centrosymmetric and are used for filtering particle impurities in water, the rotating mechanism 4 comprises a rotating motor 41, a first rotating shaft 42, a filter screen 43 and a stirring plate 44, referring to fig. 9, one end of the rotating motor 41 is movably connected with one end of the first rotating shaft 42, the other end of the first rotating shaft 42 passes through one side wall surface of the water supply tank 22 and is movably clamped with the other side wall surface of the water supply tank 22, the filter screen 43 is fixedly sleeved on the first rotating shaft 42, the bottom end of the filter screen 43 is movably clamped with the inner bottom end of the water supply tank 22, the stability of the filter screen 43 is effectively enhanced, the wall surface of the first rotating shaft 42 is fixedly connected with a plurality of stirring plates 44, and when the stirring plates 44 are driven to rotate by the first rotating shaft 42, the stirring plates 44 sufficiently stir the water and the fertilizer, so that the fertilizer is sufficiently dissolved in the water, and the uniformity of fertilizer dispersion in the water is improved.
Referring to fig. 1-3, 6-7 and 9-11, the irrigation mechanism 5 and the water supply tank 22 are provided with one irrigation mechanism 5 on both sides, and the two irrigation mechanisms 5 are in central symmetry for delivering and spraying water and fertilizer materials, the irrigation mechanism 5 comprises a delivery pipe 51 and a fixing frame 52, referring to fig. 16, the delivery pipe 51 is L-shaped, the water inlet end of the delivery pipe 51 is in a horizontal state, the water outlet end of the delivery pipe 51 is in a vertical state, so that the water and fertilizer materials in the water supply tank 22 are guided by the delivery pipe 51 and transferred to a high position, thereby preparing for subsequent uniform spraying, the water inlet end of the delivery pipe 51 is fixedly sleeved with one side of the water supply tank 22, the water inlet end of the delivery pipe 51 contacts with the wall surface of the filter screen 43, the water and fertilizer materials entering the delivery pipe 51 are filtered by the filter screen 43, and particle impurities are prevented from entering and staying in the irrigation mechanism 5 to accelerate the loss of the irrigation mechanism 5, meanwhile, the impact of particle impurities on the irrigation mechanism 5 is prevented, the uniformity of irrigation is influenced, when the rotary motor 41 is started, the rotary motor 41 can drive the first rotary shaft 42 and the filter screen 43 to rotate, so that the position of the filter screen 43 contacted with the conveying pipe 51 is changed, the filter screen 43 contacted with the conveying pipe 51 is always kept in a clean state, timely water delivery irrigation of the conveying pipe 51 is ensured, the filter screen 43 separated from the conveying pipe 51 is impacted by water flow, the particle impurities attached to the filter screen 43 are impacted and fall off under the influence of the water flow moving track, the cleaning of the filter screen 43 is realized, the work continuity of the filter screen 43 is enhanced, the rotary motor 41 is positioned obliquely above the water inlet end of the conveying pipe 51, the distance from the conveying pipe 51 to the center of the filter screen 43 is smaller than the radius of the filter screen 43, the filter screen 43 can be ensured to completely cover the conveying pipe 51, the realization is fully filtered the water that will get into conveyer pipe 51, reduce the possibility that granule impurity got into conveyer pipe 51 in, please refer to fig. 11, the outer wall fixedly connected with mount 52 of fixed frame 21, and mount 52 and conveyer pipe 51 are fixed cup joint, can strengthen the stability that conveyer pipe 51 set up, be provided with booster pump and solenoid valve on being located the inside conveyer pipe 51 of mount 52, when conveyer pipe 51 needs suction liquid manure material, start the booster pump and open the solenoid valve, just can outwards shift the liquid manure material in the supply tank 22.
Example two
With reference to fig. 6 to 9, the rotation mechanism 4 further includes:
and the other end of the rotating motor 41 is movably connected with one end of the second rotating shaft 45.
The worm 46 is fixedly connected with the other end of the second rotating shaft 45, when the rotating motor 41 is started, the rotating motor 41 can drive the first rotating shaft 42 and the second rotating shaft 45 to synchronously rotate, and then the second rotating shaft 45 drives the worm 46 to rotate, so that power is provided for driving the spraying assembly 6 to rotate, and conditions are provided for further improving the service life of the irrigation mechanism 5.
The irrigation mechanism 5 further comprises:
Referring to fig. 6-7 and 9-14, the spraying component 6 is movably arranged on the conveying pipe 51, the spraying component 6 is positioned above the fixed frame 52 and used for rotating to improve irrigation uniformity, the spraying component 6 comprises a movable pipe 61, a movable ball 62, a worm wheel 63, a movable piece 64 and a spraying piece 65, referring to fig. 10-11, the movable pipe 61 is movably sleeved outside the vertical section of the conveying pipe 51, the bottom end of the movable pipe 61 is movably clamped with the movable ball 62, a plurality of movable balls 62 are arranged, the bottom end of the movable ball 62 is contacted with the top end of the fixed frame 52, when the movable pipe 61 rotates, the movable ball 62 can rotate on the fixed frame 52, thereby reducing friction resistance between the movable pipe 61 and the fixed frame 52, the lower half part of the movable pipe 61 is fixedly sleeved with the worm wheel 63, the worm wheel 63 is meshed with the worm 46, space between the worm wheel 63 and the worm 46 is staggered, and the stagger angle of the axes is 90 degrees, when the worm 46 rotates, the gear teeth of the worm wheel 63 slide and roll along the spiral surface of the worm 46, thereby realizing the motion and power transmission between the two shafts, so that the worm wheel 63 rotates, and further realizing the rotation of the movable pipe 61, referring to fig. 10 and 12-14, the top end of the movable pipe 61 is fixedly connected with the bottom end of the movable piece 64, the movable pipe 61 can drive the movable piece 64 to rotate when rotating, the water outlet end of the conveying pipe 51 is positioned in the movable piece 64, the water outlet end of the conveying pipe 51 is provided with a plurality of water outlets, the water and fertilizer materials in the conveying pipe 51 can be transferred into the movable piece 64, the wall surface of the conveying pipe 51 movably sleeved with the movable piece 64 is provided with a sealing ring, the gap between the movable piece 64 and the conveying pipe 51 can be reduced, thereby closing the bottom end of the movable piece 64 and preventing the water and fertilizer materials from leaking, the spraying piece 65 has been cup jointed to the fixed side wall of moving part 64, and spraying piece 65's shape comprises cylinder and round platform, and spraying piece 65's quantity is a plurality of, and encircle moving part 64 even setting, can spray out the liquid manure material in the moving part 64, realize the irrigation to crops, and in particular, moving part 64 can drive spraying piece 65 rotation when rotating for the liquid manure material that sprays has certain rotation force, thereby reinforcing irrigation uniformity.
Referring to fig. 6-7, fig. 9-10, fig. 12-13 and fig. 15, the auxiliary assembly 7, the water outlet end of the conveying pipe 51 is connected with the auxiliary assembly 7, and the auxiliary assembly 7 is movably clamped with the spraying assembly 6, so as to be used for realizing irrigation by matching with the spraying assembly 6, and timely cleaning the spraying assembly 6, preventing the spraying assembly 6 from being blocked to reduce the irrigation efficiency, prolonging the service life of the spraying assembly 6, the auxiliary assembly 7 comprises a fixed plate 71 and a partition plate 72, referring to fig. 15, the middle part of the fixed plate 71 is fixedly sleeved with the water outlet end of the conveying pipe 51, the stability of the auxiliary assembly 7 arranged on the conveying pipe 51 is ensured, the bottom end of the fixed plate 71 is provided with a sealing ring, the fixed plate 71 is fully attached with a movable piece 64 through the sealing ring, the gap between the movable piece 64 and the fixed plate 71 can be reduced, thereby the top end of the movable piece 64 is sealed, the water and fertilizer materials are prevented from leaking, the bottom end of the fixed plate 71 is fixedly connected with the partition plate 72, the partition plate 72 is positioned on one side of the fixed plate 71 close to the water supply box 22, the outside of the partition plate 72 is provided with a sealing film, and the partition plate 72 is movably clamped with the movable piece 64 through the sealing film, the sealing film and the sealing film is further blocked by the movable piece 64, the gap is prevented from leaking the water and slag particles from being sprayed to the inside the movable piece 64.
Example III
On the basis of the second embodiment, the auxiliary assembly 7 further includes:
Referring to fig. 12 and 15, the partition plate 72 is an electromagnet, and the partition plate 72 is electrically connected to the control system, and the partition plate 72 is magnetized to provide power for the cleaning assembly 8 to move the cleaning spray member 65.
Referring to fig. 12-13 and 15, an auxiliary plate 73 is fixedly connected to the bottom end of the fixed plate 71, the auxiliary plate 73 is located outside the movable member 64, a space gap exists between the auxiliary plate 73 and the movable member 64, and the auxiliary plate 73 is close to the slag collecting cavity of the movable member 64, so that a space condition can be provided for the fixed cleaning assembly 8.
Referring to fig. 12-13 and 15, the cleaning assembly 8 is provided with a cleaning groove on the inner wall of the auxiliary plate 73, the auxiliary plate 73 is movably connected with the cleaning assembly 8 through the cleaning groove, the cleaning assembly 8 is utilized to move back and forth to clean the spraying piece 65, the spraying piece 65 is prevented from being blocked by particle impurities, the cleaning assembly 8 comprises a cleaning plate 81, a cleaning rod 82 and a cleaning piece 83, the cleaning plate 81 is movably sleeved with the cleaning groove of the auxiliary plate 73, the cleaning plate 81 is provided with magnetism opposite to that of the partition plate 72, one side wall surface of the cleaning plate 81 is connected with the cleaning groove wall surface of the auxiliary plate 73 through a tension spring, when the partition plate 72 is electrified, the cleaning plate 81 moves towards the direction of the movable piece 64 under the action of the magnetic attraction of the partition plate 72, when the partition plate 72 is powered off, one end of the cleaning rod 82 is fixedly connected with the cleaning plate 81, the other end of the cleaning rod 82 is fixedly connected with the cleaning piece 83, the cleaning piece 83 is in a hemispherical shell, the radius of the outer wall of the cleaning piece 83 is smaller than the minimum radius of the spraying piece 65, when the partition plate 72 is electrified, the cleaning piece 83 can be pushed by the particle impurities can further move to the movable piece 64 from the inner side of the cleaning piece 65 to the movable piece 64 under the action of the tension spring, and the particle can further move to the clearance piece 64 when the particle can be further pushed to the dust can be separated from the movable piece 65 to the movable piece 65.
The working principle of the using method of the invention is as follows:
When crops in the farmland need to be irrigated, the vehicle body 1 is started to enable the vehicle body 1to move to the joint of the pipeline system, then the water body in the pipeline system is conveyed into the water supply tank 22 by the water conveying component 23, then the fertilizer supply mechanism 3 is started, so that fertilizer in the fertilizer supply mechanism 3 falls into the water supply tank 22 to enable the fertilizer to be dissolved in water, then the booster pump on the irrigation mechanism 5 is started, so that the water and fertilizer materials in the water supply tank 22 are pumped into the spraying cavity of the movable piece 64 through the conveying pipe 51, and then the water and fertilizer materials are sprayed out by the spraying piece 65, so that the irrigation to the crops is realized.
In the spraying process, the water and fertilizer materials in the water supply tank 22 are continuously pumped by the conveying pipe 51, and the water inlet end of the conveying pipe 51 is provided with the filter screen 43, so that the water and fertilizer materials can be filtered by the filter screen 43 and then enter the conveying pipe 51, the possibility that particle impurities enter the conveying pipe 51 is effectively reduced, the irrigation mechanism 5 is prevented from being blocked by the influence of the particle impurities, the loss rate of the irrigation robot is slowed down, the uniformity of irrigation of the irrigation mechanism 5 is enhanced, the time-out of irrigation caused by the blocking of the irrigation mechanism 5 is avoided, the irrigation effect is effectively improved, meanwhile, the rotating motor 41 is started to synchronously rotate the first rotating shaft 42 and the second rotating shaft 45, when the first rotating shaft 42 rotates, the position of the filter screen 43 contacted with the conveying pipe 51 is effectively changed, the filter screen 43 contacted with the conveying pipe 51 is always kept in a clean state, the timely water delivery irrigation of the conveying pipe 51 is ensured, the filter screen 43 which is separated from the contact with the conveying pipe 51 is impacted by water flow, so that the particle impurities attached to the filter screen 43 are impacted and fall off under the influence of the water flow moving track, the filter screen 43 is cleaned, the work continuity of the filter screen 43 is enhanced, meanwhile, the first rotating shaft 42 effectively drives the stirring plate 44 to rotate during rotation, the water body and fertilizer in the water supply tank 22 are effectively stirred, the fertilizer and the water body are fully mixed, the worm 46 is effectively driven to rotate during rotation of the second rotating shaft 45, the worm wheel 63 slides and rolls along the spiral surface of the worm 46 due to the fact that the teeth of the worm wheel 63 slide and roll along the spiral surface of the worm 46, the movement and power transmission between the two shafts are realized, the worm wheel 63 rotates, the self rotation of the spraying assembly 6 is realized, the movable piece 64 continuously sprays the water and fertilizer materials through the spraying piece 65, the water and fertilizer materials sprayed by the spraying piece 65 have a certain rotating force, the spraying uniformity is effectively enhanced.
When the spraying pieces 65 are blocked, the control system drives the rotating motor 41 to intermittently rotate, when one spraying piece 65 rotates to correspond to the cleaning assembly 8, the rotating motor 41 stops rotating, at the moment, the control system controls the partition plate 72 to be electrified and magnetic, so that the cleaning assembly 8 is inserted into the spraying piece 65 under the action of magnetic attraction, the blocked particle impurities in the spraying piece 65 are pushed and collected into the slag collecting cavity of the movable piece 64, then the auxiliary plate 73 is powered off, the cleaning assembly 8 is pushed to reversely move, so that the cleaning assembly 8 is withdrawn from the spraying piece 65, thereby preparing for cleaning the next spraying piece 65, then the rotating motor 41 starts to rotate again, so that the cleaning of each spraying piece 65 is realized, the cleaning assembly 8 can timely clean the spraying piece 65, the service life of the spraying assembly 6 can be prolonged, the uniformity of irrigation is further enhanced, and the irrigation effect is effectively improved.
Claims (10)
1. Wisdom agricultural field liquid manure integration irrigation robot, its characterized in that includes:
a water supply mechanism (2) for storing a body of water, the water supply mechanism (2) comprising a water supply tank (22);
The water supply tank comprises a rotating mechanism (4), wherein one rotating mechanism (4) is arranged on two sides of the water supply tank (22), the two rotating mechanisms (4) are in central symmetry and are used for filtering particle impurities in water, the rotating mechanism (4) comprises a rotating motor (41), a first rotating shaft (42) and a filter screen (43), one end of the rotating motor (41) is movably connected with one end of the first rotating shaft (42), the other end of the first rotating shaft (42) penetrates through one side wall surface of the water supply tank (22) and is movably clamped with the other side wall surface of the water supply tank (22), the filter screen (43) is fixedly sleeved on the first rotating shaft (42), and the bottom end of the filter screen (43) is movably clamped with the inner bottom end of the water supply tank (22);
Irrigation mechanism (5), the both sides of supply tank (22) all are provided with one irrigation mechanism (5), and two irrigation mechanism (5) are central symmetry for carry and spray liquid manure material, irrigation mechanism (5) are including conveyer pipe (51), the water inlet end of conveyer pipe (51) is fixed cup jointing with one side of supply tank (22), and the water inlet end of conveyer pipe (51) and the wall contact of filter screen (43), utilize filter screen (43) to filter the liquid manure material that will get into in conveyer pipe (51).
2. The intelligent agricultural field water and fertilizer integrated irrigation robot of claim 1, wherein the water supply mechanism (2) further comprises:
The fixing frame (21), the said fixing frame (21) is set up on the top of the car body (1), and the water supply tank (22) is cup jointed in the inside of the fixing frame (21);
the water delivery assembly (23), the one end of water delivery assembly (23) and the one end of water supply tank (22) are fixed to be linked together, and the other end of water delivery assembly (23) can communicate pipeline system.
3. The intelligent agricultural field water and fertilizer integrated irrigation robot according to claim 2, wherein the conveying pipe (51) is L-shaped, the water inlet end of the conveying pipe (51) is in a horizontal state, the water outlet end of the conveying pipe (51) is in a vertical state, the rotating motor (41) is located at an obliquely upper position of the water inlet end of the conveying pipe (51), and the distance from the conveying pipe (51) to the center of the filter screen (43) is smaller than the radius of the filter screen (43).
4. A smart agriculture field water and fertilizer integration irrigation robot as claimed in claim 3, wherein the rotating mechanism (4) further comprises:
the wall surface of the first rotating shaft (42) is fixedly connected with a plurality of stirring plates (44);
the other end of the rotating motor (41) is movably connected with one end of the second rotating shaft (45);
The worm (46), the other end of second axis of rotation (45) is fixedly connected with worm (46).
5. The intelligent agricultural field water and fertilizer integrated irrigation robot of claim 4, wherein the irrigation mechanism (5) further comprises:
The fixing frame (52) is fixedly connected with the outer wall of the fixing frame (21), and the fixing frame (52) is fixedly sleeved with the conveying pipe (51);
the spraying assembly (6) is movably arranged on the conveying pipe (51), and the spraying assembly (6) is positioned above the fixing frame (52) and used for rotating to improve irrigation uniformity;
The auxiliary assembly (7), the water outlet end of conveyer pipe (51) is connected with auxiliary assembly (7), and auxiliary assembly (7) and spray subassembly (6) activity joint for cooperation sprays subassembly (6) and realizes irrigating, and in time clear up and spray subassembly (6).
6. The intelligent agricultural field water and fertilizer integrated irrigation robot of claim 5, wherein the spraying assembly (6) comprises:
a movable pipe (61), wherein the movable pipe (61) is movably sleeved outside the vertical section of the conveying pipe (51);
The bottom end of the movable tube (61) is movably clamped with movable balls (62), the number of the movable balls (62) is a plurality of, and the bottom end of the movable balls (62) is in contact with the top end of the fixed frame (52);
The worm wheel (63) is fixedly sleeved at the lower half part of the movable pipe (61), the worm wheel (63) is meshed with the worm (46), the space between the worm wheel (63) and the worm (46) is staggered, and the staggered angle of the axes of the worm wheel (63) and the worm (46) is 90 degrees;
the movable piece (64), the top end of the movable pipe (61) is fixedly connected with the bottom end of the movable piece (64), the water outlet end of the conveying pipe (51) is positioned in the movable piece (64), a plurality of water outlets are formed in the water outlet end of the conveying pipe (51), and a sealing ring is arranged on the wall surface of the conveying pipe (51) movably sleeved with the movable piece (64);
the spraying piece (65), the lateral wall of moving part (64) is fixed to be cup jointed and is sprayed piece (65), and the shape of spraying piece (65) comprises cylinder and round platform, the quantity of spraying piece (65) is a plurality of, and encircles moving part (64) even setting.
7. The intelligent agricultural field water and fertilizer integrated irrigation robot of claim 6, wherein the auxiliary assembly (7) comprises:
The fixing plate (71), the middle part of the fixing plate (71) is fixedly sleeved with the water outlet end of the conveying pipe (51), the bottom end of the fixing plate (71) is provided with a sealing ring, and the fixing plate (71) is attached to the movable piece (64) through the sealing ring;
The bottom end of the fixed plate (71) is fixedly connected with a partition plate (72), the partition plate (72) is positioned on one side of the fixed plate (71) close to the water supply tank (22), a sealing film is arranged outside the partition plate (72), the partition plate (72) is movably clamped with a movable piece (64) through the sealing film, the inside of the movable piece (64) is divided into a slag collecting cavity and a spraying cavity by the partition plate (72), the partition plate (72) is an electrified magnet, the partition plate (72) is electrically connected with a control system, and the partition plate (72) is electrified with magnetism;
The auxiliary plate (73), the bottom end of the fixed plate (71) is fixedly connected with the auxiliary plate (73), the auxiliary plate (73) is positioned outside the movable piece (64), a space gap exists between the auxiliary plate (73) and the movable piece (64), and the auxiliary plate (73) is close to the slag collecting cavity of the movable piece (64);
cleaning component (8), the clearance groove has been seted up to the inner wall of accessory board (73), and accessory board (73) pass through clearance groove and cleaning component (8) swing joint, utilize cleaning component (8) round trip movement to realize the clearance to spraying piece (65).
8. The intelligent agricultural field water and fertilizer integrated irrigation robot of claim 7, wherein the cleaning assembly (8) comprises:
The cleaning plate (81), the cleaning plate (81) is movably sleeved with the cleaning groove of the auxiliary plate (73), the cleaning plate (81) has magnetism opposite to that of the separation plate (72), and one side wall surface of the cleaning plate (81) is connected with the cleaning groove wall surface of the auxiliary plate (73) through an extension spring;
a cleaning rod (82), wherein one end of the cleaning rod (82) is fixedly connected with the cleaning plate (81);
The cleaning piece (83), the other end and the cleaning piece (83) fixed connection of cleaning rod (82), the shape of cleaning piece (83) is hemisphere casing, and the outer wall radius of cleaning piece (83) is little compared with the minimum radius that sprays piece (65).
9. The intelligent agricultural field water and fertilizer integrated irrigation robot of claim 1, further comprising:
the vehicle body (1) is used for walking in the field, and the water supply mechanism (2) is arranged at the top end of the vehicle body (1);
the fertilizer supplying mechanism (3), the top of the water supplying mechanism (2) is provided with the fertilizer supplying mechanism (3) for storing fertilizer.
10. The intelligent agricultural field water and fertilizer integrated irrigation robot of claim 9, wherein the fertilizer supply mechanism (3) comprises:
The fertilizer supply box (31), the fertilizer supply box (31) is fixedly arranged at the top end of the water supply box (22), and a plurality of storage cavities are formed in the top end of the fertilizer supply box (31);
a fertilizer supply cover (32), wherein the top end of the fertilizer supply box (31) is movably clamped with the fertilizer supply cover (32);
the driving motor (33), the said driving motor (33) is fixed to the top of the water supply tank (22), and the driving motor (33) locates at one side of the fertilizer supply tank (31);
The device comprises a driving plate (34), wherein a blanking hole is formed in the middle of the bottom end of a fertilizer supply box (31), the blanking hole penetrates through all storage cavities, one end of the driving plate (34) is connected with a blanking Kong Huodong of the fertilizer supply box (31) in a clamping mode, the other end of the driving plate (34) is movably connected with a driving motor (33), the wall surfaces of the fertilizer supply boxes (31) on two sides of the blanking hole are inclined surfaces, and aggregate holes are formed in the top ends of water supply boxes (22) below the blanking hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202411384694.3A CN119256737B (en) | 2024-09-30 | 2024-09-30 | Intelligent agricultural field water and fertilizer integrated irrigation robot |
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| CN202411384694.3A CN119256737B (en) | 2024-09-30 | 2024-09-30 | Intelligent agricultural field water and fertilizer integrated irrigation robot |
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| CN119256737A true CN119256737A (en) | 2025-01-07 |
| CN119256737B CN119256737B (en) | 2025-08-01 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN217037964U (en) * | 2022-04-12 | 2022-07-26 | 广州大学 | Accurate irrigation robot of field liquid manure integration |
| CN217088649U (en) * | 2022-01-14 | 2022-08-02 | 黑龙江东部节水科技集团股份有限公司 | Water and fertilizer integrated sprinkler convenient for adjusting sprinkling irrigation angle |
| US20220394916A1 (en) * | 2021-06-15 | 2022-12-15 | Institute of Environment and Sustainable Development in Agriculture,. CAAS | Drip irrigation treatment device for recharging domestic sewage into farmland |
| CN219124786U (en) * | 2022-11-08 | 2023-06-06 | 潍坊潍一农业科技有限公司 | Intelligent water and fertilizer integrated irrigation robot |
| CN220044182U (en) * | 2023-05-18 | 2023-11-21 | 吾尔尼沙·麦合木提 | Water and fertilizer integrated agricultural machine capable of automatically irrigating and quantitatively fertilizing |
-
2024
- 2024-09-30 CN CN202411384694.3A patent/CN119256737B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220394916A1 (en) * | 2021-06-15 | 2022-12-15 | Institute of Environment and Sustainable Development in Agriculture,. CAAS | Drip irrigation treatment device for recharging domestic sewage into farmland |
| CN217088649U (en) * | 2022-01-14 | 2022-08-02 | 黑龙江东部节水科技集团股份有限公司 | Water and fertilizer integrated sprinkler convenient for adjusting sprinkling irrigation angle |
| CN217037964U (en) * | 2022-04-12 | 2022-07-26 | 广州大学 | Accurate irrigation robot of field liquid manure integration |
| CN219124786U (en) * | 2022-11-08 | 2023-06-06 | 潍坊潍一农业科技有限公司 | Intelligent water and fertilizer integrated irrigation robot |
| CN220044182U (en) * | 2023-05-18 | 2023-11-21 | 吾尔尼沙·麦合木提 | Water and fertilizer integrated agricultural machine capable of automatically irrigating and quantitatively fertilizing |
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