Ploughing and fertilizing integrated agricultural robot

Abstract

The invention relates to the technical field of agricultural robots, in particular to a ploughing and fertilizing integrated agricultural robot which comprises a machine shell, wheels, a ploughing roller and a ploughing blade. The device further comprises a material storing and discharging assembly, a material mixing assembly, a water tank, a spraying and cleaning assembly, a lifting control assembly and a transverse line reciprocating movement assembly. Wheels symmetrically distributed front and back are mounted on the left and right sides of the lower end of the shell; cylinders symmetrically distributed front and back are mounted at the upper end of the left connecting frame; the telescopic end of the lower side of the air cylinder penetrates through the left connecting frame to be fixedly connected with a damping shock absorber. The lower ends of the two damping shock absorbers are fixedly connected with a ploughing frame; a ploughing roller is rotationally connected into the ploughing frame; ploughing blades which are annularly distributed at equal intervals are mounted on the outer side of the ploughing roller; the plowing and fertilizing device has the functions of plowing and fertilizing, so that the agricultural production efficiency is effectively improved, the plowing assembly and the fertilizing assembly do not need to be disassembled and assembled repeatedly, abrasion of parts is reduced, the cleaning mechanism is further arranged, after the plowing and fertilizing device is used, the blades can be cleaned, and the cleaning mode is simpler and more convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural robots, and in particular to a tillage and fertilization integrated agricultural robot. Background Art

[0002] The development of agricultural robots can be traced back to the mid-20th century, when agricultural mechanization began to be widely used around the world. With the introduction of electronic computers and automatic control technology, agricultural mechanization gradually evolved into automation. At the beginning of the 21st century, with the rapid development of information technology and artificial intelligence, agricultural robots have become intelligent. As an important tool to promote agricultural modernization, the development of agricultural robots is of great significance for improving agricultural production efficiency, promoting new agricultural technologies, protecting farmland environment, and reducing dependence on human resources. Agricultural robots will be able to realize agricultural automation, informatization and intelligence, and change the operating mode of traditional agriculture.

[0003] Agricultural robots can already complete some heavy and trivial agricultural tasks, such as sowing, spraying, fertilizing, harvesting, weeding, etc., thereby reducing farmers' labor intensity and reducing dependence on human resources. Existing tillage and fertilization agricultural robots generally include a frame and replaceable tillage components and fertilization components. When working, it is necessary to install the tillage component or the fertilization component according to the needs of use. Tillage and fertilization operations cannot be performed simultaneously, which prolongs the working time and reduces work efficiency. Repeated disassembly and assembly cause greater wear on parts, and the connecting parts of the agricultural robot are easily damaged, increasing maintenance costs.

[0004] Therefore, in order to address the above-mentioned problems of not being able to perform tillage and fertilizing operations simultaneously and the large wear of parts caused by repeated disassembly and assembly, an integrated tillage and fertilization agricultural robot can be designed. Summary of the invention

[0005] In order to overcome the problem that tilling and fertilizing operations cannot be carried out simultaneously, repeated disassembly and assembly causes great wear on parts.

[0006] The technical scheme of the present invention is: a tillage and fertilization integrated agricultural robot, comprising a housing, wheels, tillage rollers and tillage blades; also comprising a material storage and unloading assembly, a material mixing assembly, a water tank, a spray cleaning assembly, a lifting control assembly and a horizontal reciprocating assembly; wheels symmetrically distributed front and back are installed on both the left and right sides of the lower end of the housing; a left connecting frame is fixedly connected to the left end of the housing; cylinders symmetrically distributed front and back are installed on the upper end of the left connecting frame; the retractable end on the lower side of the cylinder passes through the left connecting frame and is fixedly connected to a damping shock absorber; two damping The lower end of the shock absorber is fixedly connected to a tilling frame; a tilling roller is rotatably connected inside the tilling frame; a circular tilling blade with equal spacing is installed on the outside of the tilling roller; a water tank is fixedly connected to the upper end of the casing; the inner sides of both front and rear ends of the left connecting frame are fixedly connected to the inner connecting frames; the upper ends of the two inner connecting frames are fixedly connected to the spray cleaning components; the front and rear ends of the tilling frame are installed with lifting control components; the left ends of the two lifting control components are installed with baffles that move vertically; the right end of the casing is fixedly connected to the material storage and unloading component; the front and rear ends of the right side of the casing are fixed A right connecting frame is connected; a mixing assembly is installed between the two right connecting frames; a horizontal reciprocating moving assembly is installed on the upper end of the material storage and unloading assembly; a feeding pump is installed on the left end of the mixing assembly; a first material pipe connected to the mixing assembly is installed on the inlet end of the feeding pump; a second material pipe connected to the horizontal reciprocating moving assembly is installed on the outlet end of the feeding pump; a water pump is fixedly connected to the left end of the water tank; a first water pipe connected to the water tank is installed on the inlet end of the water pump; a second water pipe connected to the spray cleaning assembly is installed on the outlet end of the water pump; a water tank cover is installed on the upper end of the water tank ; A fourth motor is fixedly connected to the rear side of the upper end of the tilling frame; a belt transmission device is installed between the fourth motor and the tilling roller; the mixing assembly includes a mixing cylinder; a mixing cover is installed on the upper end of the mixing cylinder; a stirring shaft is rotatably connected inside the mixing cover; stirring rods equidistantly distributed along the vertical direction are installed on the outer side of the stirring shaft; a first motor for driving the stirring shaft is installed on the upper end of the mixing cover; the spray cleaning assembly includes a fixed seat; a cleaning pipe is fixedly connected to the inner side of the fixed seat through a pipe clamp; high-pressure nozzles equidistantly distributed along the longitudinal direction are installed on the left end of the cleaning pipe.

[0007] Preferably, the forward, backward and turning movements of the wheels below the casing are controlled by an external control device, the mixing cover is opened, fertilizer is added into the mixing cylinder, the first motor is turned on, the stirring rod outside the stirring shaft mixes the fertilizer fully and evenly, the feed pump is started, and under the action of the first material pipe and the second material pipe, the mixed fertilizer is evenly fed into the storage and unloading assembly. According to the needs of use, the cylinder at the upper end of the left connecting frame controls the tilling frame to descend to a suitable height, the lifting control assembly controls the baffle to rise to expose the tilling blade, the fourth motor is started, and under the action of the belt transmission device, the tilling roller is driven to rotate, and the tilling blade realizes the tilling operation. Through the design of the damping shock absorber, when encountering stones, the position of the tilling blade is adjusted to avoid damaging the tilling blade. After stopping work, the water tank cover is opened, and an appropriate amount of clean water is added into the water tank. The water pump is started to pump out the clean water in the water tank, and the clean water is supplied to the cleaning pipe through the first water pipe and the second water pipe, and then the tilling blade is cleaned through the high-pressure nozzle.

[0008] Preferably, the material storage and unloading assembly comprises a material storage box; a unloading box is fixedly connected to the lower end of the material storage box; a seed meter is rotatably connected inside the unloading box; and annular equidistantly distributed unloading blades are fixedly connected to the outer side of the seed meter.

[0009] Preferably, the spray cleaning assembly further comprises a rotating sleeve; the rotating sleeve is rotatably connected to the outer side of the fixed seat; an inner clamping block is fixedly connected to the upper end of the fixed seat; and outer clamping blocks are fixedly connected to the inner sides of both upper and lower ends of the rotating sleeve.

[0010] Preferably, the first material pipe is fixedly connected to the mixing cylinder; and the cleaning pipe is fixedly connected to the second water pipe.

[0011] Preferably, the lifting control assembly includes a fixed plate; a first ball screw is rotatably connected between the two fixed plates; a first screw pair is installed on the outer side of the first ball screw; and the first screw pair is fixedly connected to the baffle.

[0012] Preferably, a second motor is fixedly connected to the upper end of the fixed plate; a first driving gear is installed on the outer side of the output shaft of the second motor; a first driven gear meshing with the first driving gear is installed on the outer side of the second motor; and the fixed plate is fixedly connected to the tilling frame.

[0013] Preferably, the horizontal reciprocating moving assembly includes a fixed block; a second ball screw is rotatably connected inside the fixed block; a second screw pair is installed outside the second ball screw; and a second material pipe is fixedly connected to the upper end of the second screw pair.

[0014] Preferably, a third motor is installed on the inner rear side of the fixed block; a second driving gear is installed on the outer side of the output shaft of the third motor; and a second driven gear meshing with the second driving gear is installed on the outer side of the second ball screw.

[0015] The beneficial effects of the present invention are as follows: it has both tillage and fertilization functions, and the tillage components and the fertilization components are all integrated on the agricultural robot. Various agricultural production operations can be completed on the same agricultural robot, thereby effectively improving agricultural production efficiency, reducing the cost of the agricultural robot, and reducing the footprint of the equipment, making it more convenient to use. At the same time, the tillage components and the fertilization components do not need to be repeatedly disassembled and assembled, reducing the wear of parts, and a cleaning mechanism is also provided. After use, the blade can be cleaned, and the cleaning method is simpler. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Shown is a first three-dimensional structural schematic diagram of the agricultural robot integrated with tillage and fertilization of the present invention;

[0017] Figure 2 Shown is a second three-dimensional structural schematic diagram of the agricultural robot integrated with tillage and fertilization of the present invention;

[0018] Figure 3 Shown is a third stereoscopic structural schematic diagram of the agricultural robot integrated with tillage and fertilization of the present invention;

[0019] Figure 4 Shown is a schematic diagram of the three-dimensional structure of the spray cleaning component in the agricultural robot integrated with tillage and fertilization of the present invention;

[0020] Figure 5 Shown is a schematic diagram of the three-dimensional structure of the lifting control component and the baffle in the agricultural robot integrated with tillage and fertilization of the present invention;

[0021] Figure 6 Shown is a schematic diagram of the three-dimensional structure of the mixing component in the agricultural robot integrated with tillage and fertilization of the present invention;

[0022] Figure 7 Shown is a schematic diagram of the cross-sectional three-dimensional structure of the material storage and unloading components and the horizontal reciprocating moving components in the integrated tillage and fertilization agricultural robot of the present invention.

[0023] Description of reference numerals: 1, housing; 2, wheel; 3, tilling roller; 4, tilling blade; 7, water tank; 9, left connecting frame; 10, cylinder; 11, damping shock absorber; 12, tilling frame; 14, baffle; 15, right connecting frame; 16, inner connecting frame; 18, feed pump; 19, first feed pipe; 20, second feed pipe; 21, water pump; 22, first water pipe; 23, second water pipe; 24, water tank cover; 25, fourth motor; 26, belt transmission device;

[0024] Material storage and unloading components: 51, material storage box; 52, unloading box; 53, seeding device; 54, unloading blade;

[0025] Mixing assembly: 61, mixing cylinder; 62, mixing cover; 63, stirring shaft; 64, stirring rod; 65, first motor;

[0026] Spray cleaning components: 81, fixed seat; 82, pipe clamp; 83, cleaning pipe; 84, high-pressure nozzle; 85, rotating sleeve; 86, inner clamp block; 87, outer clamp block;

[0027] Lifting control assembly: 131, fixed plate; 132, first ball screw; 133, second motor; 134, first driving gear; 135, first driven gear; 136, first screw pair;

[0028] Horizontal reciprocating moving assembly: 171, fixed block; 172, second ball screw; 173, second screw pair; 174, third motor; 175, second driving gear; 176, second driven gear. DETAILED DESCRIPTION

[0029] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0030] See also Figure 1-Figure 7The present invention provides an embodiment: a tillage and fertilization integrated agricultural robot, comprising a housing 1, wheels 2, tillage rollers 3 and tillage blades 4; further comprising a material storage and unloading assembly, a material mixing assembly, a water tank 7, a spray cleaning assembly, a lifting control assembly and a horizontal reciprocating assembly; wheels 2 symmetrically distributed front and back are installed on both sides of the lower end of the housing 1; a left connecting frame 9 is fixedly connected to the left end of the housing 1; cylinders 10 symmetrically distributed front and back are installed on the upper end of the left connecting frame 9; the retractable end on the lower side of the cylinder 10 passes through the left connecting frame 9 and is fixedly connected to a damping shock absorber 11; the lower ends of the two damping shock absorbers 11 are fixed A tilling frame 12 is connected; a tilling roller 3 is rotatably connected inside the tilling frame 12; a circular tilling blade 4 with equidistant distribution is installed on the outside of the tilling roller 3; a water tank 7 is fixedly connected to the upper end of the casing 1; the inner sides of the front and rear ends of the left connecting frame 9 are fixedly connected to the inner connecting frames 16; the upper ends of the two inner connecting frames 16 are fixedly connected to the spray cleaning components; the front and rear ends of the tilling frame 12 are installed with lifting control components; the left ends of the two lifting control components are installed with baffles 14 that move vertically; the right end of the casing 1 is fixedly connected to the material storage and unloading component; the front and rear ends of the right side of the casing 1 are fixedly connected to the right connecting frame 15; the two right connecting A mixing assembly is installed between the racks 15; a horizontal reciprocating assembly is installed on the upper end of the material storage and unloading assembly; a feed pump 18 is installed on the left end of the mixing assembly; a first material pipe 19 connected to the mixing assembly is installed at the inlet end of the feed pump 18; a second material pipe 20 connected to the horizontal reciprocating assembly is installed at the outlet end of the feed pump 18; a water pump 21 is fixedly connected to the left end of the water tank 7; a first water pipe 22 connected to the water tank 7 is installed at the inlet end of the water pump 21; a second water pipe 23 connected to the spray cleaning assembly is installed at the outlet end of the water pump 21; a water tank cover 24 is installed on the upper end of the water tank 7; the rear side of the upper end of the tilling rack 12 is fixedly connected There is a fourth motor 25; a belt transmission device 26 is installed between the fourth motor 25 and the tilling roller 3; the mixing component includes a mixing cylinder 61; a mixing cover 62 is installed on the upper end of the mixing cylinder 61; a stirring shaft 63 is rotatably connected inside the mixing cover 62; stirring rods 64 equidistantly distributed along the vertical direction are installed on the outer side of the stirring shaft 63; a first motor 65 for driving the stirring shaft 63 is installed on the upper end of the mixing cover 62; the spray cleaning component includes a fixed seat 81; a cleaning pipe 83 is fixedly connected to the inner side of the fixed seat 81 through a pipe clamp 82; high-pressure nozzles 84 equidistantly distributed along the longitudinal direction are installed on the left end of the cleaning pipe 83.

[0031] See also Figure 3-Figure 4 and Figure 7In this embodiment, the material storage and unloading assembly includes a storage box 51; a unloading box 52 is fixedly connected to the lower end of the storage box 51; a seed meter 53 is rotatably connected inside the unloading box 52; an annular equidistantly distributed unloading blades 54 are fixedly connected to the outer side of the seed meter 53; the spray cleaning assembly also includes a rotating sleeve 85; the rotating sleeve 85 is rotatably connected to the outer side of the fixed seat 81; an inner clamping block 86 is fixedly connected to the upper end of the fixed seat 81; the inner sides of the upper and lower ends of the rotating sleeve 85 are fixedly connected to the outer blocks 87; the first material pipe 19 is fixedly connected to the mixing cylinder 61; the cleaning pipe 83 is fixedly connected to the second water pipe 23. As the seed meter 53 rotates, the fertilizer falling between the unloading blades 54 falls, thereby realizing the fertilization operation. The opening of the fixed seat 81 is blocked by the rotating sleeve 85, so as to prevent the soil from falling into the fixed seat 81 during plowing, and effectively ensure the cleanliness of the inside of the fixed seat 81.

[0032] See also Figure 5 and Figure 7 In this embodiment, the lifting control assembly includes a fixed plate 131; a first ball screw 132 is rotatably connected between the two fixed plates 131; a first screw pair 136 is installed on the outside of the first ball screw 132; the first screw pair 136 is fixedly connected to the baffle 14; a second motor 133 is fixedly connected to the upper end of the fixed plate 131; a first driving gear 134 is installed on the outside of the output shaft of the second motor 133; a first driven gear 135 meshing with the first driving gear 134 is installed on the outside of the second motor 133; the fixed plate 131 is fixedly connected to the tilling frame 12; the horizontal reciprocating moving assembly includes a fixed block 171; a second ball screw 172 is rotatably connected in the fixed block 171; the second ball screw A second screw pair 173 is installed on the outside of the rod 172; the second material pipe 20 is fixedly connected to the upper end of the second screw pair 173; a third motor 174 is installed on the inner rear side of the fixed block 171; a second driving gear 175 is installed on the outside of the output shaft of the third motor 174; a second driven gear 176 meshing with the second driving gear 175 is installed on the outside of the second ball screw 172. The height adjustment of the baffle 14 is achieved by the first screw pair 136. Therefore, when not working, the tilling blade 4 is shielded to avoid accidental injury to workers when passing by the robot. The second screw pair 173 drives the second material pipe 20 to move back and forth, thereby ensuring that the mixed fertilizer can be evenly discharged to avoid fertilizer accumulation in one place.

[0033] When working, the wheel 2 below the casing 1 is controlled to move forward, backward and turn through an external control device, the mixing cover 62 is opened, fertilizer is added into the mixing cylinder 61, the first motor 65 is turned on, and the stirring rod 64 outside the stirring shaft 63 fully mixes the fertilizer, the feeding pump 18 is started, and under the action of the first material pipe 19 and the second material pipe 20, the mixed fertilizer is evenly fed into the storage box 51, the third motor 174 in the fixed block 171 is started, and under the action of the second driving gear 175 and the second driven gear 176, the second ball screw 172 is driven to rotate, and the second screw pair 173 converts the rotary motion into a linear motion, driving the second material pipe 20 to move back and forth, so that the fertilizer falls evenly into the storage box 51, and according to the needs of use, the cylinder 10 at the upper end of the left connecting frame 9 controls the tilling frame 12 to descend to a suitable height, and the second motor 133 at the upper end of the fixed plate 131 is started. Under the action of the first driven gear 135, power is transmitted to the first ball screw 132, and the first screw pair 136 converts the rotary motion into linear motion, controls the baffle 14 to rise, exposes the tilling blade 4, starts the fourth motor 25, and drives the tilling roller 3 to rotate under the action of the belt transmission device 26, so that the tilling blade 4 realizes the tilling operation. Through the design of the damping shock absorber 11, when encountering stones, the position of the tilling blade 4 is adjusted to avoid damaging the tilling blade 4. The seed discharger 53 in the discharge box 52 rotates, and the fertilizer falls between the discharge blades 54, and then the fertilizer is discharged to fertilize the ground. After stopping work, the rotating sleeve 85 is rotated to expose the high-pressure nozzle 84, the water tank cover 24 is opened, and an appropriate amount of clean water is added to the water tank 7. The water pump 21 is started to pump out the clean water in the water tank 7, and the clean water is supplied to the cleaning pipe 83 through the first water pipe 22 and the second water pipe 23, and then the tilling blade 4 is cleaned through the high-pressure nozzle 84.

[0034] Through the above steps, the tillage and fertilization functions are combined, and the tillage components and the fertilization components are all integrated on the agricultural robot, thereby effectively improving agricultural production efficiency, reducing the cost of the agricultural robot, and reducing the footprint of the equipment. There is no need for repeated disassembly and assembly, which reduces the wear of parts. A cleaning mechanism is also provided, and the blade can be cleaned after use. The cleaning method is simpler to solve the problem that tillage and fertilization operations cannot be performed simultaneously, and repeated disassembly and assembly cause large wear on parts.

[0035] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of those skilled in the art without departing from the spirit of the present invention.

Claims

1. An agricultural robot for integrated tillage and fertilization, comprising a housing (1), wheels (2), a tillage roller (3) and a tillage blade (4); characterized in that: The machine also comprises a material storage and unloading assembly, a material mixing assembly, a water tank (7), a spray cleaning assembly, a lifting control assembly and a horizontal reciprocating assembly; wheels (2) symmetrically distributed front and back are installed on both left and right sides of the lower end of the casing (1); a left connecting frame (9) is fixedly connected to the left end of the casing (1); a cylinder (10) symmetrically distributed front and back is installed on the upper end of the left connecting frame (9); a damping shock absorber (11) is fixedly connected to the lower telescopic end of the cylinder (10) through the left connecting frame (9); a tilling frame (12) is fixedly connected to the lower ends of the two damping shock absorbers (11); a tilling roller (3) is rotatably connected inside the tilling frame (12); a ring-shaped etc. are installed on the outer side of the tilling roller (3). The machine housing (1) has a tilling blade (4) with a spacing of 1 / 40 mm; the upper end of the machine housing (1) is fixedly connected to a water tank (7); the inner sides of the front and rear ends of the left connecting frame (9) are fixedly connected to inner connecting frames (16); the upper ends of the two inner connecting frames (16) are fixedly connected to a spray cleaning assembly; the front and rear ends of the tilling frame (12) are both equipped with a lifting control assembly; the left ends of the two lifting control assemblies are equipped with a baffle (14) that moves vertically; the right end of the machine housing (1) is fixedly connected to a material storage and unloading assembly; the front and rear ends of the right side of the machine housing (1) are both fixedly connected to a right connecting frame (15); a material mixing assembly is installed between the two right connecting frames (15); the upper end of the material storage and unloading assembly is equipped with a horizontal reciprocating moving assembly ; A feed pump (18) is installed at the left end of the mixing component; a first material pipe (19) connected to the mixing component is installed at the inlet end of the feed pump (18); a second material pipe (20) connected to the horizontal reciprocating moving component is installed at the outlet end of the feed pump (18); a water pump (21) is fixedly connected to the left end of the water tank (7); a first water pipe (22) connected to the water tank (7) is installed at the inlet end of the water pump (21); a second water pipe (23) connected to the spray cleaning component is installed at the outlet end of the water pump (21); a water tank cover (24) is installed at the upper end of the water tank (7); a fourth motor (25) is fixedly connected to the rear side of the upper end of the tilling frame (12); the fourth motor (25) and the tilling frame (12) are connected to the water tank (7); A belt transmission device (26) is installed between the rollers (3); the mixing assembly comprises a mixing cylinder (61); a mixing cover (62) is installed on the upper end of the mixing cylinder (61); a stirring shaft (63) is rotatably connected inside the mixing cover (62); stirring rods (64) equidistantly distributed along the vertical direction are installed outside the stirring shaft (63); a first motor (65) for driving the stirring shaft (63) is installed on the upper end of the mixing cover (62); the spray cleaning assembly comprises a fixing seat (81); a cleaning pipe (83) is fixedly connected to the inner side of the fixing seat (81) through a pipe clamp (82); and high-pressure nozzles (84) equidistantly distributed along the longitudinal direction are installed at the left end of the cleaning pipe (83).

2. The agricultural robot for ploughing and fertilizing according to claim 1, characterized in that: The material storage and unloading assembly comprises a material storage box (51); a unloading box (52) is fixedly connected to the lower end of the material storage box (51); a seed discharger (53) is rotatably connected inside the unloading box (52); and annular unloading blades (54) equidistantly distributed are fixedly connected to the outer side of the seed discharger (53).

3. The agricultural robot for ploughing and fertilizing according to claim 1, characterized in that: The spray cleaning assembly also includes a rotating sleeve (85); the rotating sleeve (85) is rotatably connected to the outside of the fixed seat (81); the upper end of the fixed seat (81) is fixedly connected with an inner clamping block (86); and the inner sides of the upper and lower ends of the rotating sleeve (85) are both fixedly connected with outer clamping blocks (87).

4. The agricultural robot for ploughing and fertilizing according to claim 1, characterized in that: The first material pipe (19) is fixedly connected to the mixing barrel (61); and the cleaning pipe (83) is fixedly connected to the second water pipe (23).

5. The agricultural robot for ploughing and fertilizing according to claim 1, characterized in that: The lifting control assembly comprises a fixed plate (131); a first ball screw (132) is rotatably connected between the two fixed plates (131); a first screw pair (136) is installed outside the first ball screw (132); and the first screw pair (136) is fixedly connected to the baffle (14).

6. The agricultural robot for ploughing and fertilizing according to claim 5, characterized in that: The upper end of the fixing plate (131) is fixedly connected to a second motor (133); a first driving gear (134) is installed on the outer side of the output shaft of the second motor (133); a first driven gear (135) meshingly connected to the first driving gear (134) is installed on the outer side of the second motor (133); and the fixing plate (131) is fixedly connected to the tilling frame (12).

7. The agricultural robot for ploughing and fertilizing according to claim 1, characterized in that: The horizontal reciprocating assembly comprises a fixed block (171); a second ball screw (172) is rotatably connected inside the fixed block (171); a second screw pair (173) is installed outside the second ball screw (172); and a second material pipe (20) is fixedly connected to the upper end of the second screw pair (173).

8. The agricultural robot for ploughing and fertilizing according to claim 7, characterized in that: A third motor (174) is installed on the inner rear side of the fixed block (171); a second driving gear (175) is installed on the outer side of the output shaft of the third motor (174); and a second driven gear (176) meshingly connected with the second driving gear (175) is installed on the outer side of the second ball screw (172).

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