A strong discharge point fertilization robot

Abstract

A kind of strong discharge point fertilization robot, including power chassis, two front wheels are installed in the front of power chassis, and the rear of power chassis is installed with compacting wheel, drive motor is installed on power chassis, and drive motor is used to drive front wheel rotation;The bottom of power chassis is installed with furrow opener and coverter, and coverter is located at the rear of furrow opener;Above all, the present application provides a kind of strong discharge point fertilization robot, which can be autonomously walked in field to complete point fertilization operation, and by the cooperation of stop lever and swing board, the purpose of forced fertilizer discharge is realized, the falling speed of discharged fertilizer is fast, the effect of point fertilization is good, and soil conductivity information can be detected in real time, the fertilization amount of each vegetable is adjusted in real time, with the advantages of simple structure, high work efficiency and saving labor etc.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, specifically relating to a high-efficiency fixed-point fertilization robot. Background Technology

[0002] Vegetables require fertilization during cultivation, and root fertilization is often used to achieve precise application and reduce fertilizer waste. Currently, there are few machines available for root fertilization of vegetables, and these machines lack autonomy and have poor fertilizer application efficiency, resulting in crops not fully absorbing the fertilizer and causing waste. Summary of the Invention

[0003] The present invention aims to provide a high-efficiency fixed-point fertilization robot to solve the technical problems of existing vegetable fertilization equipment having weak autonomy and poor fertilization effect.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] A high-efficiency fixed-point fertilization robot includes a power chassis, two front wheels mounted on the front of the power chassis, a press wheel mounted on the rear of the power chassis, and a drive motor mounted on the power chassis to drive the front wheels to rotate; a trench opener and a soil coverer are mounted on the bottom of the power chassis, with the soil coverer located behind the trench opener.

[0006] The power chassis is equipped with a control module, fertilizer tank, automatic variable fertilizer discharge system and fixed-point fertilizer application system;

[0007] The automatic variable-rate fertilizer discharge system includes a photoelectric sensor, a soil conductivity meter, a variable-rate fertilizer discharge mechanism, and a hydraulic cylinder. The variable-rate fertilizer discharge mechanism includes a housing with a fertilizer inlet at the top and a fertilizer discharge connector at the bottom. A fertilizer discharge outlet is located at the bottom of the fertilizer tank. The housing is fixed to the bottom of the fertilizer tank, and the fertilizer inlet at the top of the housing aligns with the fertilizer discharge outlet of the fertilizer tank. A motor mounting component is fixed to the housing for mounting a stepper motor. Circular holes are correspondingly formed on opposite side walls of the housing, with the center line connecting the centers of two of these holes forming the centerline of the housing. A grooved wheel is rotatably mounted inside the housing, positioned along the centerline of the housing, and has several fertilizer storage compartments. A grooved wheel is provided, and a stepper motor is used to drive the grooved wheel body to rotate. A blocking wheel cover plate is provided at the end of the grooved wheel body. The blocking wheel cover plate has an irregular hole with the same vertical cross section as the grooved wheel body. The vertical cross section is perpendicular to the axis of the grooved wheel body. The blocking wheel cover plate is fitted onto the end of the grooved wheel body through the irregular hole, and the blocking wheel cover plate can move along the grooved wheel body. A blocking wheel is provided in the circular hole of the outer shell. The blocking wheel and the stepper motor are located on opposite sides of the outer shell. The blocking wheel has an open cavity, and the opening of the cavity of the blocking wheel faces the blocking wheel cover plate. The blocking wheel cover plate is rotatably installed at one end of the blocking wheel. The push rod end of the hydraulic cylinder is connected to the other end of the blocking wheel.

[0008] The photoelectric sensor, soil conductivity meter, stepper motor, and hydraulic cylinder are respectively connected to the control module for signal transmission.

[0009] The fixed-point fertilization system includes a rectangular fertilizer pipe and an intermittent drive component. The rectangular fertilizer pipe is fixed to the bottom of the power chassis and is located between the soil cover and the furrow opener. The upper end of the rectangular fertilizer pipe is connected to the fertilizer drop connector of the outer shell through a fertilizer delivery pipe. Two fertilizer drop blocks are provided inside the rectangular fertilizer pipe. The two fertilizer drop blocks are symmetrically arranged, and the upper ends of the two fertilizer drop blocks are respectively hinged to the inner wall of the rectangular fertilizer pipe by pins. A V-shaped fertilizer storage cavity is formed between the upper parts of the two fertilizer drop blocks, and the lower parts of the two fertilizer drop blocks are close to each other. The intermittent drive component is used to drive the two fertilizer drop blocks to rotate around the pins, and the two fertilizer drop blocks rotate around the pins in opposite directions.

[0010] Furthermore, a splined shaft is also installed on the motor mounting component. The main shaft of the stepper motor is connected to the splined shaft through a coupling. The grooved wheel body has a splined hole body, and the splined shaft extends into the splined hole body.

[0011] Furthermore, the grooved wheel body has a central hole, which is a stepped hole. The stepped hole is composed of a through hole body and a spline hole body. The spline shaft passes through the through hole body and extends into the spline hole body.

[0012] One end of the grooved wheel body has an annular end cap, and the blocking wheel cover plate is located at the other end of the grooved wheel body. Each fertilizer storage groove of the grooved wheel body has an installation notch. The installation notch is set along the axial direction of the grooved wheel body. A forced fertilizer discharge plate is set in the installation notch. The forced fertilizer discharge plate includes a swing plate and an adjusting plate. The adjusting plate has a slot. The swing plate is inserted into the slot of the adjusting plate. The end of the swing plate is mounted on the annular end cap by a spring plunger, and the swing plate can rotate around the spring plunger. The end of the adjusting plate is mounted on the blocking wheel cover plate by a half-tooth bolt, and the adjusting plate can rotate around the half-tooth bolt. The axes of the spring plunger and the half-tooth bolt coincide.

[0013] The swing plate is an L-shaped plate, with one half of the swing plate extending into the through hole of the grooved wheel body. A stop bar is fixed on the motor mounting component. The stop bar passes through the round hole on the outer shell and extends into the through hole of the grooved wheel body. When the grooved wheel body rotates, the stop bar collides with the half of the swing plate. A return spring is connected between the half of the swing plate and the inner wall of the through hole of the grooved wheel body.

[0014] Furthermore, the intermittent drive component includes a drive shaft and a drive component. The drive shaft is rotatably mounted on the bottom of the power chassis. The front wheel is connected to the drive shaft through a sprocket and chain drive pair. The drive shaft has a worm section. A mounting plate is fixed to the bottom of the power chassis. A rotating shaft is rotatably mounted on the mounting plate. A worm wheel is provided at one end of the rotating shaft. The worm wheel meshes with the worm section on the drive shaft for transmission. An eccentric wheel is provided at the other end of the rotating shaft.

[0015] Two long slots are opened on the wall of the rectangular fertilizer pipe, and the long slots are set in the vertical direction. The side walls of the two fertilizer drop blocks are each opened with a slanted slot. The two slanted slots form a figure-eight structure. The two slanted slots correspond to the two long slots. The lower part of the drive component is provided with two sliding pillars. The two sliding pillars pass through the two long slots and extend into the two slanted slots. The upper part of the drive component is provided with an elongated oval limiting hole, which is set in the horizontal direction. An eccentric cylinder is fixed at the eccentric part of the eccentric wheel, and the eccentric cylinder is located in the elongated oval limiting hole.

[0016] Furthermore, a navigation camera is installed at the front of the power chassis, and the navigation camera and drive motor are respectively connected to the control module signal.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention provides a forced-discharge fixed-point fertilization robot, which can autonomously walk in the field to complete the fixed-point fertilization operation. Through the cooperation of the baffle and the swing plate, the purpose of forced fertilization is achieved. The discharged fertilizer falls quickly, the fixed-point fertilization effect is good, and it can detect the soil conductivity information in real time and adjust the amount of fertilizer for each vegetable in real time. It has the advantages of simple structure, high work efficiency and labor saving. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0019] Figure 1 An isometric drawing of a high-efficiency, fixed-point fertilization robot;

[0020] Figure 2 A side view of a high-efficiency, fixed-point fertilization robot;

[0021] Figure 3 Another perspective isometric view of a high-efficiency, fixed-point fertilization robot;

[0022] Figure 4 This is a rear view of a high-efficiency, fixed-point fertilization robot.

[0023] Figure 5 An exploded view of an automatic variable fertilizer discharge system;

[0024] Figure 6 This is a schematic diagram of the Geneva body.

[0025] Figure 7 This is a schematic diagram showing the fit between the motor mounting components and the grooved wheel body;

[0026] Figure 8 A schematic diagram showing the connection between the adjusting plate, the swing plate, the blocking wheel, and the grooved wheel body;

[0027] Figure 9 This is a schematic diagram showing the connection between the blocking wheel cover and the blocking wheel;

[0028] Figure 10 This is a schematic diagram of the fixed-point fertilization system;

[0029] Figure 11 This is a schematic diagram of a rectangular fertilizer pipe.

[0030] Figure 12 This is a schematic diagram of the structure of two sets of fertilizer-falling blocks;

[0031] Figure 13 This is a schematic diagram of the drive component.

[0032] Figure 14 This is a schematic diagram of the eccentric wheel. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] The present invention will be further described in detail below with reference to the embodiments.

[0035] like Figure 1-14 As shown, a specific embodiment of the forced-discharge fixed-point fertilization robot provided by the present invention is as follows:

[0036] A high-efficiency fixed-point fertilization robot includes a power chassis 1, two front wheels 2 are installed at the front of the power chassis 1, a press wheel 3 is installed at the rear of the power chassis 1, a drive motor 4 is installed on the power chassis 1, and the drive motor 4 is used to drive the front wheels 2 to rotate; a trench opener 5 and a soil coverer 6 are installed at the bottom of the power chassis 1, and the soil coverer 6 is located behind the trench opener 5.

[0037] The power chassis 1 is equipped with a control module, a fertilizer tank 7, two automatic variable fertilizer discharge systems 8 and two fixed-point fertilizer application systems 9, with the two automatic variable fertilizer discharge systems 8 and the two fixed-point fertilizer application systems 9 being set up one-to-one;

[0038] The automatic variable discharge fertilizer system 8 includes a photoelectric sensor 44, a soil conductivity meter 10, a variable discharge fertilizer mechanism, and a hydraulic cylinder 11. The variable discharge fertilizer mechanism includes a housing 12, with a fertilizer inlet 13 at the top and a fertilizer discharge connector 14 connected to the bottom. A fertilizer discharge port is provided at the bottom of the fertilizer tank 7. The housing 12 is fixed to the bottom of the fertilizer tank 7, and the fertilizer inlet 13 at the top of the housing 12 is aligned with the fertilizer discharge port of the fertilizer tank 7. A motor mounting component 15 is fixed on the housing 12 for mounting a stepper motor 16. Two circular holes 17 are correspondingly opened on opposite side walls of the housing 12. The center line of the circular hole 17 is the center line of the outer shell 12. A grooved wheel body 18 is rotatably installed inside the outer shell 12. The grooved wheel body 18 is arranged along the center line of the outer shell 12. The grooved wheel body 18 has a number of fertilizer storage grooves 19. The stepper motor 16 is used to drive the grooved wheel body 18 to rotate. The specific transmission structure is as follows: a splined shaft 20 is rotatably installed on the motor mounting part 15. The main shaft of the stepper motor 16 is connected to the splined shaft 20 through a coupling 21. The grooved wheel body 18 has a splined hole body 22. The splined shaft 20 extends into the splined hole body 22. The stepper motor 16 can drive the grooved wheel body 18 to rotate through the splined shaft 20.

[0039] A blocking wheel cover plate 23 is provided at the end of the grooved wheel body 18. The blocking wheel cover plate 23 has an irregular hole 24. The irregular hole 24 is the same as the vertical section of the grooved wheel body 18. The vertical section is perpendicular to the axis of the grooved wheel body 18. The blocking wheel cover plate 23 is fitted onto the end of the grooved wheel body 18 through the irregular hole 24. The blocking wheel cover plate 23 can move along the grooved wheel body 18. A blocking wheel 25 is provided in the circular hole 17 of the outer shell 12. The blocking wheel 25 and the stepper motor 16 are located on opposite sides of the outer shell 12. The blocking wheel 25 has an open cavity 26. The cavity 26 of the blocking wheel 25 faces the blocking wheel cover plate 23. The blocking wheel cover plate 23 is rotatably mounted on one end of the blocking wheel 25. The push rod end of the hydraulic cylinder 11 is connected to the other end of the blocking wheel 25.

[0040] The photoelectric sensor 44, soil conductivity detector 10, stepper motor 16 and hydraulic cylinder 11 are respectively connected to the control module. The soil conductivity detector 10 is used to detect soil conductivity information in real time. The control module processes this information into the amount of fertilizer required by the soil, and then controls the hydraulic cylinder 11. The hydraulic cylinder 11 pushes the blocking wheel 25 to change the amount of fertilizer stored in each fertilizer storage wheel groove 19, and finally realizes the adjustment of the amount of fertilizer applied to each plant.

[0041] like Figure 10As shown, the fixed-point fertilization system 9 includes a rectangular fertilizer pipe 27 and an intermittent drive component. The rectangular fertilizer pipe 27 is fixed to the bottom of the power chassis 1 and is located between the soil cover 6 and the furrow opener 5. The upper end of the rectangular fertilizer pipe 27 is connected to the fertilizer drop connector 14 of the outer shell 12 through the fertilizer delivery pipe 28. Two fertilizer drop blocks 29 are provided inside the rectangular fertilizer pipe 27. The two fertilizer drop blocks 29 are symmetrically arranged. The upper ends of the two fertilizer drop blocks 29 are respectively hinged to the inner wall of the rectangular fertilizer pipe 27 through pins 30. A V-shaped fertilizer storage cavity 31 is formed between the upper parts of the two fertilizer drop blocks 29. The lower parts of the two fertilizer drop blocks 29 are close to each other. The intermittent drive component is used to drive the two fertilizer drop blocks 29 to rotate around the pins 30, and the two fertilizer drop blocks 29 rotate in opposite directions around the pins 30.

[0042] The intermittent drive unit includes a drive shaft 32 and a drive unit 33. The drive shaft 32 is rotatably mounted on the bottom of the power chassis 1. The front wheel 2 is connected to the drive shaft 32 through a sprocket and chain drive pair 34. The drive shaft 32 has a worm section 35. The bottom of the power chassis 1 is fixed with a mounting plate. A rotating shaft 36 is rotatably mounted on the mounting plate. One end of the rotating shaft 36 is provided with a worm wheel 37. The worm wheel 37 meshes with the worm section 35 on the drive shaft 32 for transmission. The other end of the rotating shaft 36 is provided with an eccentric wheel 38.

[0043] Two long slots 39 are opened on the wall of the rectangular fertilizer pipe 27. The long slots 39 are set in the vertical direction. The side walls of the two fertilizer drop blocks 29 are each opened with a slanted slot 40. The two slanted slots 40 form a figure-eight structure. The two slanted slots 40 correspond to the two long slots 39. The lower part of the driving component 33 is provided with two sliding pillars 41. The two sliding pillars 41 pass through the two long slots 39 and extend into the two slanted slots 40 respectively. The upper part of the driving component 33 is provided with an elongated oval limiting hole 42. The elongated oval limiting hole 42 is set in the horizontal direction. An eccentric cylinder 43 is fixed at the eccentric part of the eccentric wheel 38. The eccentric cylinder 43 is located in the elongated oval limiting hole 42.

[0044] In addition, the automatic variable fertilizer discharge system 8 can be upgraded to have a forced fertilizer discharge function, which can fully discharge the fertilizer on the groove wheel body 18. The specific settings are as follows: the groove wheel body 18 has a central hole, the central hole of the groove wheel body 18 is a stepped hole, the stepped hole is composed of a through hole body 45 and a spline hole body 22, and the spline shaft 20 extends into the spline hole body 22 after passing through the through hole body 45.

[0045] One end of the grooved wheel body 18 has an annular end cap 46, and the blocking wheel cover plate 23 is located at the other end of the grooved wheel body 18. Each fertilizer storage groove 19 of the grooved wheel body 18 has an installation notch 47. The installation notch 47 is arranged along the axial direction of the grooved wheel body 18. A forced fertilizer discharge plate is arranged in the installation notch 47. The forced fertilizer discharge plate includes a swing plate 48 and an adjusting plate 49. The adjusting plate 49 has a slot 55. The swing plate 48 is inserted into the slot 55 of the adjusting plate 49. The end of the swing plate 48 is mounted on the annular end cap 46 by a spring plunger 50, and the swing plate 48 can rotate around the spring plunger 50. The end of the adjusting plate 49 is mounted on the blocking wheel cover plate 23 by a half-tooth bolt 51, and the adjusting plate 49 can rotate around the half-tooth bolt 51. The axes of the spring plunger 50 and the half-tooth bolt 51 coincide.

[0046] The swing plate 48 is an L-shaped plate, with half of the swing plate 48 extending into the through hole 45 of the groove wheel body 18. A stop rod 52 is fixed on the motor mounting part 15. The stop rod 52 passes through the round hole 17 on the outer shell 12 and extends into the through hole 45 of the groove wheel body 18. When the groove wheel body 18 rotates, the stop rod 52 collides with half of the swing plate 48. Due to the movement of the stop rod 52, the swing plate 48, together with the adjusting plate 49, swings around the spring plunger 50 and the half-threaded bolt 51. During the swing, the fertilizer in the fertilizer storage wheel groove 19 is forcibly discharged. In addition, a return spring 53 is connected between half of the swing plate 48 and the inner wall of the through hole 45 of the groove wheel body 18. When the swing plate 48 swings, the return spring 53 is compressed. After the swing, the swing plate 48 and the adjusting plate 49 return to their original positions under the elastic force of the return spring 53.

[0047] Furthermore, a navigation camera 54 is installed at the front of the power chassis 1, and the navigation camera 54 and the drive motor 4 are respectively connected to the control module signal.

[0048] The forced-discharge fixed-point fertilization robot of the present invention drives the front wheel 2 to rotate via the drive motor 4, and the power chassis 1 moves forward. It identifies the path through the navigation camera 54 and autonomously walks between the rows of crops in the field. For open-field vegetables, the photoelectric sensor 44 identifies the crops and transmits the signal to the stepper motor 16. The stepper motor 16 drives the groove wheel body 18 to rotate to realize fertilizer discharge. In addition, the soil conductivity detector 10 detects the soil conductivity in real time and converts the required amount of fertilizer information in real time. Then, the control module controls the hydraulic cylinder 11, which pushes and pulls the blocking wheel 25 to adjust the amount of fertilizer stored on the groove wheel body 18 to the amount of fertilizer required for each vegetable. The swing plate 48 and the adjustment plate 49 on the groove wheel body 18 swing rapidly under the operation of the stop bar 52, thereby realizing the forced and rapid discharge of fertilizer in the fertilizer storage wheel groove 19. The discharged fertilizer falls into the V-shaped fertilizer temporary storage cavity 31 inside the rectangular fertilizer pipe 27 through the fertilizer delivery pipe 28.

[0049] Meanwhile, the front wheel 2 drives the drive shaft 32 to rotate through the sprocket and chain transmission pair 34. The drive shaft 32 drives the worm wheel 37 to rotate through the worm section 35. The rotating shaft 36 follows the rotation of the worm wheel 37, thereby rotating the eccentric wheel 38, which in turn drives the drive component 33 to move up and down reciprocally. The lower part of the drive component 33 cooperates with the inclined slot 40 on the fertilizer drop block 29 through two sliding pins 41, so that the two fertilizer drop blocks 29 open, and the fertilizer in the fertilizer storage chamber 31 can fall into the ditch opened by the ditch opener 5. Then, the soil is covered by the soil coverer 6, and then the compaction wheel 3 compacts it. It should be noted that the transmission ratio of the sprocket and chain transmission pair 34 and the worm wheel 37 and the worm section 35 is calculated and takes the plant spacing of open field vegetables as a reference to ensure that each time the fertilizer drop block 29 is opened, it is at a fixed point position for each vegetable, so as to realize the fixed point fertilization operation.

[0050] It should be noted that, in this document, terms such as “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0051] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A strong discharge point fertilization machine robot, characterized by: The utility model provides a kind of power chassis, the front of power chassis is equipped with two front wheels, the rear of power chassis is equipped with a roller, power chassis is equipped with driving motor, driving motor is used to drive front wheel rotation;The bottom of power chassis is equipped with furrow opener and coverter, coverter is located in the rear of furrow opener; Power chassis is equipped with control module, fertilizer tank, automatic variable fertilizer distribution system and fixed point fertilization system; Automatic variable fertilizer distribution system includes photoelectric sensor, soil conductivity detector, variable fertilizer distribution mechanism and hydraulic cylinder;Variable fertilizer distribution mechanism includes shell, the top of shell is fertilizer inlet, the bottom of shell is connected with fertilizer drop joint, the bottom of fertilizer tank is equipped with fertilizer outlet, shell is fixed at the bottom of fertilizer tank, and the top of shell is connected with the fertilizer outlet of fertilizer tank;Shell is fixed with motor mounting, motor mounting is used to install stepper motor, the opposite two side walls of shell are provided with circular hole, the center line of two circular holes is the center line of shell, the slot wheel body is rotatably installed in shell, slot wheel body is arranged along the center line of shell, slot wheel body has a plurality of fertilizer storage grooves, each fertilizer storage groove of slot wheel body is provided with installation gap, installation gap is arranged along the axial direction of slot wheel body, and forced fertilizer discharge plate is arranged in installation gap, forced fertilizer discharge plate includes swing plate and adjusting plate, adjusting plate is provided with slot, swing plate is inserted in the slot of adjusting plate, the end of swing plate is installed on annular end cover through spring plunger, and swing plate can rotate around spring plunger, the end of adjusting plate is installed on blocking wheel cover plate through half tooth bolt, and adjusting plate can rotate around half tooth bolt, the axis of spring plunger and half tooth bolt coincides, stepper motor is used to drive slot wheel body rotation, blocking wheel cover plate is arranged at the end of slot wheel body, blocking wheel cover plate is provided with special-shaped hole, the vertical section of special-shaped hole is same with slot wheel body, the vertical section is perpendicular to the axis of slot wheel body, blocking wheel cover plate is sleeved on the end of slot wheel body through special-shaped hole, and the blocking wheel cover plate can move along slot wheel body, blocking wheel is arranged in the circular hole of shell, blocking wheel and stepper motor are respectively located at the opposite two sides of shell, blocking wheel has open cavity, and the open cavity of blocking wheel faces blocking wheel cover plate, blocking wheel cover plate is rotatably installed at one end of blocking wheel, the push rod end of hydraulic cylinder is connected with the other end of blocking wheel; Photoelectric sensor, soil conductivity detector, stepper motor and hydraulic cylinder are respectively connected with control module signal; Fixed point fertilization system includes rectangular fertilizer pipe and intermittent driving part, rectangular fertilizer pipe is fixed at the bottom of power chassis, and rectangular fertilizer pipe is located between coverter and furrow opener, the upper end of rectangular fertilizer pipe is connected with the fertilizer drop joint of shell through fertilizer conveying pipe, rectangular fertilizer pipe is provided with two fertilizer drop blocks, two fertilizer drop blocks are symmetrically arranged, the upper end of two fertilizer drop blocks is respectively hinged in the inner wall of rectangular fertilizer pipe, V-shaped fertilizer temporary storage cavity is formed between the upper part of two fertilizer drop blocks, the lower part of two fertilizer drop blocks is close to each other, intermittent driving part is used to drive two fertilizer drop blocks to rotate around pin shaft, and the rotating direction of two fertilizer drop blocks around pin shaft is opposite.

2. The strong discharge point fertilization robot according to claim 1, characterized in that: The motor mounting piece is further provided with a spline shaft, the spindle of the stepping motor is connected with the spline shaft through a shaft coupling, the sprocket body is provided with a spline hole body, and the spline shaft extends into the spline hole body.

3. A strong discharge point fertilization robot according to claim 2, characterized in that: The sprocket body is provided with a central hole, the central hole of the sprocket body is a stepped hole composed of a through hole body and a spline hole body, and the spline shaft extends into the spline hole body after passing through the through hole body; The swing plate is an L-shaped plate, half of the swing plate extends into the through hole body of the sprocket body, the motor mounting piece is fixed with a stop rod, the stop rod extends into the through hole body of the sprocket body after passing through a circular hole on the shell, when the sprocket body rotates, the stop rod collides with the half of the swing plate, and a return spring is connected between the half of the swing plate and the inner wall of the through hole body of the sprocket body.

4. The strong discharge point fertilization robot according to claim 3, characterized in that: The intermittent driving member comprises a transmission shaft and a driving member, the transmission shaft is rotatably installed at the bottom of the power chassis, the front wheel is connected with the transmission shaft through a chain wheel and chain transmission pair, the transmission shaft is provided with a worm segment, the power chassis is fixed with a mounting plate at the bottom, the mounting plate is rotatably installed with a rotating shaft, one end of the rotating shaft is provided with a worm wheel, the worm wheel is in meshing transmission with the worm segment on the transmission shaft, and the other end of the rotating shaft is provided with an eccentric wheel. Two long notches are formed in the wall of the rectangular fertilizer pipe, the long notches are arranged in the vertical direction, the side walls of the two fertilizer blocks are respectively provided with inclined notches, the two inclined notches form an eight-shaped structure, the two inclined notches correspond to the two long notches, the lower part of the driving member is provided with two slide columns, the two slide columns extend into the two inclined notches after passing through the two long notches, the upper part of the driving member is provided with a long circular limiting hole, the long circular limiting hole is arranged in the horizontal direction, the eccentric cylinder is fixed at the eccentric position of the eccentric wheel and located in the long circular limiting hole.

5. A strong discharge point fertilization robot according to claim 4, characterized in that: A navigation camera is further installed at the front of the power chassis, and the navigation camera and the driving motor are respectively connected with the control module in signal.

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