Air-blast targeted fertilization robot

Abstract

The application discloses a kind of air blowing type targeted 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, driving motor is installed on power chassis, and driving motor is used to drive front wheel rotation;The bottom of power chassis is installed with furrow opener and coverter, and coverter is located in the rear of furrow opener;Above all, the application provides a kind of air blowing type targeted fertilization robot, which can be autonomously walked in field to complete targeted fertilization operation, and through the cooperation of baffle and swing plate, the purpose of forced fertilizer discharge is realized, combined with the effect of air blower, so that the discharged fertilizer is placed in heap, and the fertilizer falling speed is fast, the targeted fertilization effect 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 working efficiency and saving labor etc.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of agricultural machinery, and particularly relates to a pneumatic target fertilizing robot. BACKGROUND

[0002] Vegetables need to be fertilized during planting, in order to achieve precise application and reduce fertilizer waste, root fertilization is often used. At present, there are few tools for root fertilization of vegetables, and such tools have poor autonomy and poor fertilizer dropping effect, which leads to that crops cannot completely absorb fertilizers and causes waste of fertilizers. SUMMARY

[0003] The present application aims to provide a pneumatic target fertilizing robot, which solves the technical problems of poor autonomy and poor fertilizer dropping effect of the existing tools for fertilizing vegetables.

[0004] To solve the above technical problems, the present application adopts the following technical scheme:

[0005] A pneumatic target fertilizing robot comprises a power chassis, two front wheels are installed on the front part of the power chassis, a roller is installed on the rear part of the power chassis, a driving motor is installed on the power chassis, and the driving motor is used to drive the front wheels to rotate; a furrow opener and a soil cover are installed on the bottom of the power chassis, and the soil cover is located behind the furrow opener;

[0006] A control module, a fertilizer box, an automatic variable fertilizer discharge system, an air blower and a target fertilizing system are arranged on the power chassis;

[0007] The fertilizer box is installed above the power chassis, a fertilizer stirring wheel is installed in the fertilizer box, and the power is driven by the front wheels of the power chassis through a conveying belt, so as to prevent the fertilizer in the fertilizer box from being blocked and ensure smooth fertilizer discharge;

[0008] The automatic variable fertilizer discharging system comprises a photoelectric sensor, a soil conductivity detector, a variable fertilizer discharging mechanism and a hydraulic cylinder; the variable fertilizer discharging mechanism comprises a shell, the top of the shell is a fertilizer receiving port, the bottom of the shell is connected with a fertilizer receiving joint, a fertilizer discharging port is arranged at the bottom of the fertilizer box, the shell is fixed at the bottom of the fertilizer box, and the fertilizer receiving port at the top of the shell is connected with the fertilizer discharging port of the fertilizer box; a motor mounting piece is fixed on the shell, the motor mounting piece is used for mounting a stepping motor, opposite two side walls of the shell are provided with circular holes, the center line of the shell is a line connecting the centers of the two circular holes, a grooved wheel body is rotatably arranged in the shell along the center line of the shell, the grooved wheel body is provided with a plurality of fertilizer storage grooves, the stepping motor is used for driving the grooved wheel body to rotate, an obstruction wheel cover plate is arranged at the end of the grooved wheel body, the obstruction wheel cover plate is provided with a special-shaped hole, the special-shaped hole is the same as the vertical section of the grooved wheel body, the vertical section is perpendicular to the axis of the grooved wheel body, the obstruction wheel cover plate is sleeved on the end of the grooved wheel body through the special-shaped hole, and the obstruction wheel cover plate can move along the grooved wheel body, an obstruction wheel is arranged in the circular hole of the shell, the obstruction wheel and the stepping motor are respectively arranged on opposite two sides of the shell, the obstruction wheel has an open cavity, the open cavity of the obstruction wheel faces the obstruction wheel cover plate, and the obstruction wheel cover plate is rotatably arranged at one end of the obstruction wheel; the push rod of the hydraulic cylinder is connected with the other end of the obstruction wheel.

[0009] The photoelectric sensor, the soil conductivity detector, the stepping motor and the hydraulic cylinder are respectively connected with the control module in signal.

[0010] The air blower is arranged at the rear of the power chassis, is connected with the two fertilizer conveying pipes through the separation pipe, and makes the discharged fertilizer quickly form a pile and fall.

[0011] The target fertilizer application system comprises a rectangular fertilizer pipe and an intermittent driving member, the rectangular fertilizer pipe is fixed at the bottom of the power chassis and is located between a soil covering device and a furrow opener, the upper end of the rectangular fertilizer pipe is connected with the fertilizer receiving joint of the shell through a fertilizer conveying pipe, two fertilizer falling blocks are arranged in the rectangular fertilizer pipe, the two fertilizer falling blocks are symmetrically arranged, the upper ends of the two fertilizer falling blocks are hingedly connected to the inner wall of the rectangular fertilizer pipe through pins, a V-shaped fertilizer temporary storage cavity is formed between the upper parts of the two fertilizer falling blocks, and the lower parts of the two fertilizer falling blocks are close to each other.

[0012] Further, a spline shaft is also arranged on the motor mounting piece, the main shaft of the stepping motor is connected with the spline shaft through a coupling, the grooved wheel body has a spline hole body, and the spline shaft extends into the spline hole body.

[0013] Further, the grooved wheel body has a center hole, the center hole of the grooved wheel body is a stepped hole, the stepped hole is 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;

[0014] One end of the groove wheel body is provided with an annular end cover, and a blocking wheel cover plate is arranged at the other end of the groove wheel body; an installation gap is arranged on each fertilizer storage groove of the groove wheel body and is arranged along the axial direction of the groove wheel body; a forced fertilizer discharge plate is arranged in the installation gap; the forced fertilizer discharge plate comprises a swing plate and an adjusting plate; the adjusting plate is provided with a slot; the swing plate is inserted into the slot of the adjusting plate; the end of the swing plate is installed on the annular end cover through a spring plunger, and the swing plate can rotate around the spring plunger; the end of the adjusting plate is installed on the blocking wheel cover plate through a half tooth bolt, and the adjusting plate can rotate around the half tooth bolt; and the axes of the spring plunger and the half tooth bolt coincide;

[0015] The swing plate is an L-shaped plate, one half of the swing plate extends into the through-hole body of the groove wheel body, the motor mounting member is fixed with a blocking rod, the blocking rod extends into the through-hole body of the groove wheel body after penetrating through the circular hole on the shell, and the blocking rod collides with the one half of the swing plate when the groove wheel body rotates; a return spring is connected between the one half of the swing plate and the inner wall of the through-hole body of the groove wheel body.

[0016] Further, 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 fixedly provided with a mounting plate at the bottom, a rotating shaft is rotatably installed on the mounting plate, 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.

[0017] Two long notches are formed in the pipe wall of the rectangular fertilizer pipe and are arranged along the vertical direction, the side walls of the two fertilizer falling blocks are each provided with an inclined notch, 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 penetrating 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 along the horizontal direction, and the eccentric part of the eccentric wheel is fixedly provided with an eccentric cylinder, the eccentric cylinder is located in the long circular limiting hole.

[0018] Further, a navigation camera is further installed at the front part of the power chassis, and the navigation camera and the driving motor are respectively in signal connection with the control module.

[0019] Compared with the prior art, the beneficial effects of the present application are that the air blowing type targeted fertilization robot can autonomously walk in the field to complete targeted fertilization work, and through the cooperation of the blocking rod and the swing plate, the purpose of forced fertilizer discharge is achieved, combined with the action of the air blower, the discharged fertilizer is placed in piles, the fertilizer falling speed is fast, the targeted fertilization effect is good, the soil conductivity information can be detected in real time, the fertilizer amount of each vegetable can be adjusted in real time, and the present application has the advantages of simple structure, high working efficiency, labor saving and the like. Attached Figure Description

[0020] 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:

[0021] Figure 1 An isometric view of a humanoid air-blowing targeted fertilization robot;

[0022] Figure 2 A side view of an air-blowing targeted fertilization robot;

[0023] Figure 3 Another perspective isometric view of a pneumatic targeted fertilization robot;

[0024] Figure 4 This is a rear view of an air-blowing targeted fertilization robot.

[0025] Figure 5 An exploded view of an automatic variable fertilizer discharge system;

[0026] Figure 6 This is a schematic diagram of the Geneva body.

[0027] Figure 7 This is a schematic diagram showing the fit between the motor mounting components and the grooved wheel body;

[0028] Figure 8 A schematic diagram showing the connection between the adjusting plate, the swing plate, the blocking wheel, and the grooved wheel body;

[0029] Figure 9 This is a schematic diagram showing the connection between the blocking wheel cover and the blocking wheel;

[0030] Figure 10 This is a schematic diagram of the targeted fertilization system.

[0031] Figure 11 This is a schematic diagram of a rectangular fertilizer pipe.

[0032] Figure 12 This is a schematic diagram of the structure of two sets of fertilizer-falling blocks;

[0033] Figure 13 This is a schematic diagram of the drive component.

[0034] Figure 14 This is a schematic diagram of the eccentric wheel.

[0035] Figure 15 A schematic diagram of the fertilizer agitator. Detailed Implementation

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the scope of the present application.

[0037] The present application will be further described in detail below with reference to the embodiments.

[0038] As shown in the figure, a specific embodiment of the air-blowing type targeted fertilization robot provided by the present application comprises: Figures 1-15

[0039] An air-blowing type targeted fertilization robot comprises a power chassis 1, two front wheels 2 are mounted on the front part of the power chassis 1, a roller 3 is mounted on the rear part of the power chassis 1, a driving motor 4 is mounted on the power chassis 1, and the driving motor 4 is used to drive the front wheels 2 to rotate; an opener 5 and a coverer 6 are mounted on the bottom of the power chassis 1, and the coverer 6 is located behind the opener 5;

[0040] The power chassis 1 is provided with a control module, a fertilizer tank 7, two automatic variable fertilizer discharge systems 8 and two targeted fertilization systems 9, and the two automatic variable fertilizer discharge systems 8 are correspondingly arranged with the two targeted fertilization systems 9;

[0041] The automatic variable fertilizer discharge system 8 comprises a photoelectric sensor 44, a soil conductivity detector 10, a variable fertilizer discharge mechanism and a hydraulic cylinder 11; the variable fertilizer discharge mechanism comprises a shell 12, the top of the shell 12 is a fertilizer inlet 13, the bottom of the shell 12 is connected with a fertilizer outlet joint 14, a fertilizer discharge port is arranged at the bottom of the fertilizer tank 7, the shell 12 is fixed at the bottom of the fertilizer tank 7, and the fertilizer inlet 13 at the top of the shell 12 is connected with the fertilizer discharge port of the fertilizer tank 7; a motor mounting piece 15 is fixed on the shell 12, the motor mounting piece 15 is used to mount a stepping motor 16, and circular holes 17 are correspondingly arranged on the opposite side walls of the shell 12, the center line of the two circular holes 17 is a center line of the shell 12, a grooved wheel body 18 is rotatably mounted in the shell 12, the grooved wheel body 18 is arranged along the center line of the shell 12, the grooved wheel body 18 has a plurality of fertilizer storage grooves 19, and the stepping motor 16 is used to drive the grooved wheel body 18 to rotate; the specific transmission structure is as follows: a spline shaft 20 is rotatably mounted on the motor mounting piece 15, the main shaft of the stepping motor 16 is connected with the spline shaft 20 through a shaft coupling 21, the grooved wheel body 18 has a spline hole body 22, the spline shaft 20 extends into the spline hole body 22, and the stepping motor 16 can drive the grooved wheel body 18 to rotate through the spline shaft 20;

[0042] ​A blocking wheel cover plate 23 is arranged at the end of the groove wheel body 18, and a special-shaped hole 24 is formed in the blocking wheel cover plate 23, the special-shaped hole 24 is the same as the vertical section of the groove wheel body 18 which is perpendicular to the axis of the groove wheel body 18, the blocking wheel cover plate 23 is sleeved on the end of the groove wheel body 18 through the special-shaped hole 24, and the blocking wheel cover plate 23 is movable along the groove wheel body 18, a blocking wheel 25 is arranged in the circular hole 17 of the housing 12, the blocking wheel 25 and the stepping motor 16 are located on opposite sides of the housing 12 respectively, the blocking wheel 25 has an open cavity 26, the open cavity 26 of the blocking wheel 25 is open towards the blocking wheel cover plate 23, and the blocking wheel cover plate 23 is rotatably arranged at one end of the blocking wheel 25, and the push rod end of the hydraulic cylinder 11 is connected to the other end of the blocking wheel 25;

[0043] The photoelectric sensor 44, the soil conductivity detector 10, the stepping motor 16 and the hydraulic cylinder 11 are respectively connected with the control module, the soil conductivity detector 10 is used for detecting the soil conductivity information in real time, the information is processed into the required fertilizer amount of the soil by the control module, and then the hydraulic cylinder 11 is controlled, the hydraulic cylinder 11 drives the blocking wheel 25 to change the fertilizer storage amount of each fertilizer storage groove 19, and finally the fertilizer amount of each plant is adjusted;

[0044] As shown in the figure, Figure 10 The target fertilization system 9 comprises a rectangular fertilizer pipe 27 and an intermittent driving member, the rectangular fertilizer pipe 27 is fixed at the bottom of the power chassis 1, and the rectangular fertilizer pipe 27 is located between the soil cover 6 and the furrow opener 5, the upper end of the rectangular fertilizer pipe 27 is connected with the fertilizer dropping joint 14 of the housing 12 through the fertilizer conveying pipe 28, two fertilizer dropping blocks 29 are arranged in the rectangular fertilizer pipe 27, the two fertilizer dropping blocks 29 are symmetrically arranged, the upper ends of the two fertilizer dropping blocks 29 are respectively hinged to the inner wall of the rectangular fertilizer pipe 27 through the pin shaft 30, a V-shaped fertilizer temporary storage cavity 31 is formed between the upper parts of the two fertilizer dropping blocks 29, and the lower parts of the two fertilizer dropping blocks 29 are close to each other, the intermittent driving member is used for driving the two fertilizer dropping blocks 29 to rotate around the pin shaft 30, and the rotating directions of the two fertilizer dropping blocks 29 around the pin shaft 30 are opposite.

[0045] The intermittent driving member comprises a transmission shaft 32 and a driving member 33, the transmission shaft 32 is rotatably arranged at the bottom of the power chassis 1, the front wheel 2 is connected with the transmission shaft 32 through a chain wheel and chain transmission pair 34, the transmission shaft 32 has a worm segment 35, an installation plate is fixed at the bottom of the power chassis 1, a rotating shaft 36 is rotatably arranged on the installation plate, an eccentric wheel 38 is arranged at one end of the rotating shaft 36, and a worm wheel 37 is arranged at the other end of the rotating shaft 36 and is in meshing transmission with the worm segment 35 of the transmission shaft 32.

[0046] Two long notches 39 are formed on the wall of the rectangular fat pipe 27, and the long notches 39 are arranged in the vertical direction. The side walls of the two fertilizer blocking blocks 29 are each provided with an inclined notch 40, and the two inclined notches 40 form an eight-shaped structure. The two inclined notches 40 correspond to the two long notches 39. The lower part of the driving member 33 is provided with two slide columns 41, and the two slide columns 41 respectively pass through the two long notches 39 and then extend into the two inclined notches 40. The upper part of the driving member 33 is provided with a long circular limiting hole 42, and the long circular limiting hole 42 is arranged in the horizontal direction. The eccentric part of the eccentric wheel 38 is fixed with an eccentric cylinder 43, and the eccentric cylinder 43 is located in the long circular limiting hole 42.

[0047] In addition, the automatic variable fertilizer discharging system 8 can also be upgraded to have a forced fertilizer discharging function, which can fully discharge the fertilizer on the groove wheel body 18. The specific setting is as follows: the groove wheel body 18 has a center hole, and the center hole of the groove wheel body 18 is a stepped hole composed of a through hole body 45 and a spline hole body 22. The spline shaft 20 passes through the through hole body 45 and then extends into the spline hole body 22.

[0048] One end of the groove wheel body 18 is provided with an annular end cover 46, and the blocking wheel cover plate 23 is located at the other end of the groove wheel body 18. An installation notch 47 is formed on each fertilizer storage wheel groove 19 of the groove wheel body 18, and the installation notch 47 is arranged in the axial direction of the groove wheel body 18. A forced fertilizer discharging plate is arranged in the installation notch 47. The forced fertilizer discharging plate includes a swing plate 48 and an adjusting plate 49. The adjusting plate 49 is provided with a slot 55, and the swing plate 48 is inserted into the slot 55 of the adjusting plate 49. The end of the swing plate 48 is installed on the annular end cover 46 through a spring plunger 50, and the swing plate 48 can rotate around the spring plunger 50. The end of the adjusting plate 49 is installed on the blocking wheel cover plate 23 through a half-dental bolt 51, and the adjusting plate 49 can rotate around the half-dental bolt 51. The axes of the spring plunger 50 and the half-dental bolt 51 coincide.

[0049] The swing plate 48 is an L-shaped plate, and half of the swing plate 48 extends into the through hole body 45 of the groove wheel body 18. A blocking rod 52 is fixed on the motor mounting member 15, and the blocking rod 52 passes through the circular hole 17 on the shell 12 and then extends into the through hole body 45 of the groove wheel body 18. When the groove wheel body 18 rotates, the blocking rod 52 collides with half of the swing plate 48. Due to the pushing of the blocking rod 52, the swing plate 48 swings together with the adjusting plate 49 around the spring plunger 50 and the half-dental bolt 51. In the process of swinging, the fertilizer in the fertilizer storage wheel groove 19 is forced to discharge. In addition, a return spring 53 is connected between half of the swing plate 48 and the inner wall of the through hole body 45 of the groove wheel body 18. When the swing plate 48 swings, the return spring 53 is compressed. After swinging, under the elastic force of the return spring 53, the swing plate 48 and the adjusting plate 49 are reset.

[0050] Further, a navigation camera 54 is also installed at the front of the power chassis 1, and the navigation camera 54 and the driving motor 4 are respectively connected with the control module.

[0051] Further, a fertilizer stirring wheel 57 is arranged in the fertilizer box 7, and the front wheel 2 drives the fertilizer stirring wheel 57 to rotate through the chain wheel and chain transmission pair 56, so that the fertilizer in the fertilizer box 7 is not blocked, and the fertilizer falls smoothly.

[0052] Further, a blower 59 is also installed at the rear of the power chassis 1, and is connected with the two fertilizer conveying pipes 28 through the separation pipe 58, so that the fertilizer falls in a heap after being discharged each time.

[0053] The air blowing type targeted fertilizer application robot drives the front wheel 2 to rotate through the driving motor 4, and the power chassis 1 moves forward, and the navigation camera 54 recognizes the path, and autonomously walks in the crop row in the field, and the front wheel 2 drives the fertilizer stirring wheel 57 to rotate through the chain wheel and chain transmission pair 56, so that the fertilizer in the fertilizer box 7 is not blocked, and the fertilizer falls smoothly, and the photoelectric sensor 44 recognizes the crops, and transmits the signal to the stepping motor 16, and the stepping motor 16 drives the groove wheel body 18 to rotate, so as to realize fertilizer discharge, and the soil conductivity detector 10 detects the soil conductivity in real time, converts the required fertilizer amount information in real time, and then the control module controls the hydraulic cylinder 11, the hydraulic cylinder 11 pushes and pulls the blocking wheel 25, so as to adjust the storage amount of the fertilizer on the groove wheel body 18 to the required fertilizer amount of each vegetable, and the swing plate 48 and the adjusting plate 49 on the groove wheel body 18 complete rapid swinging under the operation of the stop rod 52, so as to realize forced and rapid discharge of the fertilizer in the fertilizer wheel groove 19; the discharged fertilizer falls into the V-shaped fertilizer temporary storage cavity 31 in the rectangular fertilizer pipe 27 through the fertilizer conveying pipe 28 under the action of the blower 59;

[0054] At the same time, the front wheel 2 drives the transmission shaft 32 to rotate through the chain wheel and chain transmission pair 34, the transmission shaft 32 drives the worm gear segment 35 to rotate through the worm wheel 37, the rotating shaft 36 rotates with the worm wheel 37, so that the eccentric wheel 38 rotates, and then drives the driving part 33 to reciprocate up and down, the lower part of the driving part 33 is matched with the inclined slot 40 on the fertilizer falling block 29 through the two slide columns 41, so that the two fertilizer falling blocks 29 are opened, and the fertilizer in the fertilizer temporary storage cavity 31 falls into the ditch opened by the ditch opener 5, and then is covered by the soil covering device 6, and then is compacted by the compacting wheel 3; it should be noted that the transmission ratio of the chain wheel and chain transmission pair 34, and the worm wheel 37 and the worm gear segment 35 is calculated according to the plant spacing of the field vegetable, so that the fertilizer falling block 29 is opened for the targeted position of each vegetable each time, and the targeted fertilizer application operation is realized.

[0055] It has to be noted that, as used herein, such terms as "including", "contains" or any other variations thereof are intended to cover a non-exclusive inclusion, such that processes, methods, articles, or apparatuses that comprise a list of elements are not required to comprise only those elements recited, but can also include other elements not expressly listed or inherent to such processes, methods, articles, or apparatuses.

[0056] While embodiments of the application have been shown and described, it is to be understood that the application is not limited to the details of the embodiments described, since numerous modifications and changes can be made to the embodiments without departing from the spirit and scope of the application as defined by the appended claims and their equivalents.

Claims

1. A pneumatic targeted fertilization robot, characterized in that: It includes a power chassis, with two front wheels mounted at the front and a press wheel mounted at the rear. A drive motor is mounted on the power chassis to drive the front wheels to rotate. A trencher and a soil coverer are mounted at the bottom of the power chassis, with the soil coverer located behind the trencher. The power chassis is equipped with a control module, fertilizer tank, automatic variable fertilizer discharge system, blower and targeted fertilizer application system; The fertilizer tank is installed on top of the power chassis. A fertilizer stirring wheel is installed inside the fertilizer tank. The power is driven by the front wheel of the power chassis via a conveyor belt, which can prevent fertilizer blockage in the fertilizer tank and ensure a smooth fertilizer discharge process. 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 holes forming the centerline of the housing. A grooved wheel is rotatably mounted inside the housing. Each storage groove of the grooved wheel has an installation notch along its axial direction. A forced-rate fertilizer discharge plate is installed within the installation notch. The forced-rate fertilizer discharge plate includes a swing plate and an adjusting plate. The adjusting plate has a slot, and the swing plate is inserted into the slot. The end of the swing plate is mounted on an annular end cap via a spring plunger. The plate can rotate around the spring plunger. The end of the adjusting plate is mounted on the blocking wheel cover plate by a half-threaded bolt, and the adjusting plate can rotate around the half-threaded bolt. The axes of the spring plunger and the half-threaded bolt are coincident. The grooved wheel body is set along the center line of the outer shell. The grooved wheel body has several fertilizer storage wheel grooves. The stepper motor is used to drive the grooved wheel body to rotate. A blocking wheel cover plate is set at the end of the grooved wheel body. The blocking wheel cover plate has an irregular hole. The irregular hole is the same as the vertical section of the grooved wheel body. The vertical 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 set 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 mounted on one end of the blocking wheel. The push rod end of the hydraulic cylinder is connected to the other end of the blocking wheel. The photoelectric sensor, soil conductivity meter, stepper motor, and hydraulic cylinder are respectively connected to the control module for signal transmission. The blower is installed at the rear of the power chassis and is connected to two fertilizer conveying pipes through a separation pipe, so that the fertilizer discharged each time falls into a pile quickly; The targeted fertilization system includes a rectangular fertilizer tube and an intermittent drive mechanism. The rectangular fertilizer tube 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 tube is connected to the fertilizer drop connector on the outer casing via a fertilizer delivery pipe. Two fertilizer drop blocks are symmetrically arranged inside the rectangular fertilizer tube. The upper ends of the two fertilizer drop blocks are respectively hinged to the inner wall of the rectangular fertilizer tube 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 in close contact with each other. The intermittent drive mechanism is used for... The two fertilizer-falling blocks are driven to rotate around the pin shaft, and the two fertilizer-falling blocks rotate in opposite directions around the pin shaft.

2. The air-blowing targeted fertilization robot according to claim 1, characterized in that: The motor mounting bracket also has a splined shaft installed. 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.

3. The air-blowing targeted fertilization robot according to claim 2, characterized in that: 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. 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.

4. The air-blowing targeted fertilization robot according to claim 3, characterized in that: The intermittent drive unit includes a drive shaft and a drive unit. 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. An eccentric wheel is provided at the other end of the rotating shaft. 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.

5. The air-blowing targeted fertilization robot according to claim 4, characterized in that: A navigation camera is also installed at the front of the power chassis. The navigation camera and the drive motor are respectively connected to the control module signal.

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