A crawler-type multifunctional agricultural robot

Abstract

The invention discloses a crawler-type multifunctional agricultural robot, which relates to the technical field of agricultural machinery and comprises an agricultural robot body, wherein the agricultural robot body comprises a soil detection mechanism for detecting soil, a limiting frame connected to the soil detection mechanism, a stirring mechanism connected to the limiting frame, a spraying mechanism connected to the stirring mechanism, a moving mechanism connected to the limiting frame, a transmission mechanism connected to the moving mechanism and a crushing mechanism connected to the transmission mechanism. The invention has the advantages that part of the soil on the ground is collected by a U-shaped collecting plate, the soil is guided to the inner wall of a soil analysis box by a guide pipe and a vacuum cleaner, and then a stirring rod is driven to rotate by a first motor to stir the liquid inside the stirring box, and the liquid is sprayed by a spray head, so that the agricultural robot body is convenient for spraying pesticides and liquid fertilizers according to soil nutrients.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, in particular to a crawler-type multifunctional agricultural robot. Background Art

[0002] With the growth of population and the acceleration of urbanization, the challenges faced by agricultural production are becoming increasingly severe. Traditional agricultural production methods can no longer meet social needs. Therefore, the agricultural field urgently needs a new, efficient and intelligent agricultural robot to solve the problems in the production process. As a new generation of agricultural production tools, crawler multifunctional agricultural robots have multiple functional modules and can be flexibly configured according to specific needs to comprehensively improve agricultural production efficiency. First of all, the robot has autonomous navigation capabilities, can autonomously plan paths according to farmland terrain and crop growth conditions, and accurately perform tasks such as sowing, fertilizing, and weeding.

[0003] However, the existing crawler-type multifunctional agricultural robots are unable to accurately apply fertilizers according to soil nutrients, which may lead to excessive or insufficient fertilization, affecting the growth of crops to a certain extent. To this end, we propose a crawler-type multifunctional agricultural robot. Summary of the invention

[0004] The purpose of the present invention is to provide a crawler-type multifunctional agricultural robot.

[0005] In order to solve the problems raised in the above-mentioned background technology, the present invention provides the following technical solutions: a crawler-type multifunctional agricultural robot, including an agricultural robot body, the agricultural robot body including a soil detection mechanism for detecting soil, a limiting frame connected to the soil detection mechanism, a stirring mechanism connected to the limiting frame, a spraying mechanism connected to the stirring mechanism, a moving mechanism connected to the limiting frame, a transmission mechanism connected to the moving mechanism and a crushing mechanism connected to the transmission mechanism, the soil detection mechanism includes an L-shaped pallet, a U-shaped collecting plate, a first telescopic motor, a guide pipe and a soil analysis box, the bottom end of the L-shaped pallet is fixedly connected to the top front end of the limiting frame, the top of the L-shaped pallet is provided with a connection with the top of the first telescopic motor An adaptor slot, the bottom end of the first telescopic motor is fixedly connected to the center of the top surface of the U-shaped collecting plate, both sides of the top surface of the U-shaped collecting plate are fixedly connected to the bottom end of the guide tube, the other end of the guide tube extends to the inner wall of the soil analysis box, the inner wall of the soil analysis box is fixedly connected with a vacuum cleaner, the inner wall of the soil analysis box is provided with a processor, the stirring mechanism comprises a first motor, a stirring box, a flow meter and a stirring rod, the processor is electrically connected to the flow meter, the sides of the two flow meters close to each other are fixedly connected to the two sides of the stirring box, the top of the stirring box is fixedly connected with a limiting plate, the back of the limiting plate is fixedly connected to the front of the first motor, and the top of the stirring rod is fixedly connected to the output end of the first motor.

[0006] As a further solution of the present invention: the spraying mechanism includes an output pipe, a limiting rod and a spray head, the bottom of the limiting frame is provided with a liquid guide hole adapted to the output pipe, and the liquid guide hole extends to the inner wall of the mixing box, the top end of the output pipe extends to the inner wall of the liquid guide hole, the other end of the output pipe extends to the inner wall of the limiting rod, and the end of the spray head away from the spray head extends to the inner wall of the limiting rod.

[0007] As a further solution of the present invention: the moving mechanism includes a second motor, a positioning frame, a positioning rod, a roller and a crawler track. The bottom surfaces of the two second motors are fixedly installed on both sides of the top surface of the limiting frame, and the output ends of the two second motors are symmetrical with each other around the limiting frame. The sides of the four positioning rods close to each other are fixedly connected to both sides of the limiting frame. The sides of the two positioning frames are provided with positioning openings that are compatible with the positioning rods, and the positioning frames are L-shaped. The axles of the three rollers are rollingly connected to the corners of the positioning frames, and the inner walls of the crawlers are rollingly connected to the outer sides of the rollers.

[0008] As a further solution of the present invention: the transmission mechanism includes a clamping frame, a transmission wheel and a U-shaped collecting frame, both sides of the top surface of the U-shaped collecting frame are fixedly connected to the bottom surface of the limiting frame, both sides of the U-shaped collecting frame are fixedly connected with support rods, and the outer sides of the support rods are clamped to the inner wall of the clamping frame, the axis of the transmission wheel is rollingly connected to the inner wall of the clamping frame, the outer side of the transmission wheel is rollingly connected to the inner wall of the crawler track, and the axis of the transmission wheel away from the clamping frame is rotatably connected with a positioning plate.

[0009] As a further solution of the present invention: the crushing mechanism includes a first gear, a toothed belt, a second gear, a crushing roller, a third gear and a conveying roller, the transmission wheel is fixedly connected to the axis of the first gear at one end close to the clamping frame, the outer side of the first gear is meshed with the inner wall of the toothed belt, the top of the inner wall of the toothed belt is respectively meshed with the outer sides of the second gear and the third gear, both ends of the crushing roller are fixedly connected to the axis of the second gear, and both ends of the conveying roller are fixedly connected to the axis of the third gear.

[0010] As a further solution of the present invention: the bottom of the limiting frame is fixedly connected to a second telescopic motor, the bottom end of the second telescopic motor is fixedly connected to an adjusting rod, the side of the adjusting rod is fixedly connected to a plurality of guide rods, the top of the guide rod is sleeved with a positioning cylinder, the top inner wall of the positioning cylinder is slidably connected to a straight rod, the top of the straight rod is rotatably connected to an axle rod, and both ends of the axle rod are rotatably connected to the inner wall of the U-shaped collecting frame.

[0011] As a further solution of the present invention: electric slide rails are fixedly connected to both sides of the inner wall of the U-shaped collection rack, and a U-shaped guide plate is slidably connected to the front inner wall of the U-shaped collection rack, and the sides of the two electric slide rails close to each other are fixedly connected to the tops of both sides of the U-shaped guide plate.

[0012] As a further solution of the present invention: the front end of the U-shaped collecting frame is fixedly connected to a bulldozer plate, and the front end of the U-shaped guide plate is matched with the inclined surface of the bulldozer plate.

[0013] As a further solution of the present invention: a rotating rod is fixedly connected to the back of the bottom surface of the limiting frame, and a pressing plate is rotatably connected to the outer sides of both ends of the rotating rod, and a counterweight plate is fixedly connected to the bottom end of the pressing plate.

[0014] As a further solution of the present invention: liquid boxes are fixedly connected to both sides of the top surface of the limiting frame, a liquid outlet pipe is fixedly connected to the top surface of the liquid box, and the other end of the liquid outlet pipe is fixedly connected to the inner wall of the flow meter.

[0015] By adopting the above technical solution, compared with the prior art, the beneficial effects of the present invention are:

[0016] 1. The present invention drives the U-shaped collecting plate to move by the first telescopic motor, and then drives the U-shaped collecting plate to move when the agricultural robot body moves, so that the U-shaped collecting plate collects part of the soil on the ground, guides the soil to the inner wall of the soil analysis box through the guide tube and the vacuum cleaner, collects nutrients in the soil by the soil analysis box, and transports the nutrient solution to the inner wall of the soil analysis box in proportion through the flow meter, and then drives the stirring rod to rotate by the first motor to stir the liquid inside the stirring box, and sprays the liquid through the spray head, so that the agricultural robot body can spray pesticides and liquid fertilizers according to the soil nutrients.

[0017] 2. The present invention drives the adjusting rod to move up and down mechanically through the second telescopic motor, and then the adjusting rod drives the guide rod and the positioning cylinder to move, so that the positioning cylinder slides on the straight rod and drives the straight rod to rotate around the shaft rod, so that the agricultural robot body guides the soil and stones in the land to the inner wall of the U-shaped collection frame, uses the conveying roller to provide power for the soil and stones, and then crushes the stones through the crushing roller, so that the agricultural robot can crush larger soil and stones during the movement, so as to facilitate better planting of crops.

[0018] 3. The present invention drives the U-shaped collecting frame to move through an electric slide rail, and then the U-shaped collecting frame connects the front end with the back of the bulldozer blade, so that the agricultural robot guides the soil from the bulldozer blade to the inner wall of the U-shaped collecting frame during the movement, and then guides the soil to the inner wall of the U-shaped collecting frame, which is convenient for the agricultural robot to spray the soil at different positions according to needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a first stereoscopic schematic diagram of the agricultural robot body in an embodiment of the present invention;

[0020] Figure 2 A second stereoscopic schematic diagram of the agricultural robot body in an embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of the explosion of the agricultural robot body in an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of the connection relationship of the U-shaped collection rack in an embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of a U-shaped collection rack in an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of a crushing mechanism in an embodiment of the present invention;

[0025] Figure 7 A schematic diagram of a stirring mechanism in an embodiment of the present invention;

[0026] Figure 8 This is a schematic diagram of a soil detection mechanism in an embodiment of the present invention;

[0027] Fig. 9 Schematic diagram of the moving mechanism in an embodiment of the present invention.

[0028] In the figure: 1. agricultural robot body; 2. soil detection mechanism; 21. L-shaped card plate; 22. U-shaped collecting plate; 23. first telescopic motor; 24. guide tube; 25. soil analysis box; 3. limiting frame; 31. second telescopic motor; 32. adjustment rod; 33. guide rod; 34. positioning cylinder; 35. straight rod; 36. shaft rod; 4. stirring mechanism; 41. first motor; 42. stirring box; 43. flow meter; 44. stirring rod; 45. limiting plate; 46. liquid box; 47. liquid outlet pipe; 5. spraying mechanism; 51. output pipe; 52. limiting rod; 53 , spray head; 6, moving mechanism; 601, second motor; 602, positioning frame; 603, positioning rod; 604, roller; 605, crawler; 7, transmission mechanism; 701, clamping frame; 702, transmission wheel; 703, U-shaped collecting frame; 7031, electric slide rail; 7032, U-shaped guide plate; 7033, bulldozer; 704, support rod; 705, positioning plate; 8, crushing mechanism; 81, first gear; 82, toothed belt; 83, second gear; 84, crushing roller; 85, third gear; 86, conveying roller; 9, flat plate; 91, counterweight plate. DETAILED DESCRIPTION

[0029] The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0030] The present invention discloses a crawler-type multifunctional agricultural robot, comprising an agricultural robot body 1, wherein the agricultural robot body 1 comprises a soil detection mechanism 2 for detecting soil, a limiting frame 3 connected to the soil detection mechanism 2, a stirring mechanism 4 connected to the limiting frame 3, a spraying mechanism 5 connected to the stirring mechanism 4, a moving mechanism 6 connected to the limiting frame 3, a transmission mechanism 7 connected to the moving mechanism 6, and a crushing mechanism 8 connected to the transmission mechanism 7, wherein the soil detection mechanism 2 comprises an L-shaped card plate 21, a U-shaped collecting plate 22, a first telescopic motor 23, a guide pipe 24, and a soil analysis box 25, wherein the bottom end of the L-shaped card plate 21 is fixedly connected to the front end of the top of the limiting frame 3, the top of the L-shaped card plate 21 is provided with a card slot adapted to the top of the first telescopic motor 23, and the first telescopic motor 23 is connected to the top of the limiting frame 3. The bottom end of the machine 23 is fixedly connected to the center of the top surface of the U-shaped collecting plate 22, and both sides of the top surface of the U-shaped collecting plate 22 are fixedly connected to the bottom end of the guide tube 24. The other end of the guide tube 24 extends to the inner wall of the soil analysis box 25. The inner wall of the soil analysis box 25 is fixedly connected with a vacuum cleaner. The inner wall of the soil analysis box 25 is provided with a processor. The stirring mechanism 4 includes a first motor 41, a stirring box 42, a flow meter 43 and a stirring rod 44. The processor is electrically connected to the flow meter 43. The sides of the two flow meters 43 that are close to each other are fixedly connected to both sides of the stirring box 42. The top of the stirring box 42 is fixedly connected with a limiting plate 45. The back of the limiting plate 45 is fixedly connected to the front of the first motor 41. The top of the stirring rod 44 is fixedly connected to the output end of the first motor 41.

[0031] In one embodiment of the present invention: the spraying mechanism 5 includes an output pipe 51, a limiting rod 52 and a spray head 53. A liquid guide hole compatible with the output pipe 51 is opened at the bottom of the limiting frame 3, and the liquid guide hole extends to the inner wall of the mixing box 42. The top end of the output pipe 51 extends to the inner wall of the liquid guide hole, and the other end of the output pipe 51 extends to the inner wall of the limiting rod 52. The end of the spray head 53 away from the spray head extends to the inner wall of the limiting rod 52.

[0032] In one embodiment of the present invention: the moving mechanism 6 includes a second motor 601, a positioning frame 602, a positioning rod 603, a roller 604 and a track 605, the bottom surfaces of the two second motors 601 are fixedly installed on both sides of the top surface of the limiting frame 3, and the output ends of the two second motors 601 are symmetrical with each other with the limiting frame 3 as the center, the sides of the four positioning rods 603 close to each other are fixedly connected to both sides of the limiting frame 3, the sides of the two positioning frames 602 are provided with positioning openings that are compatible with the positioning rods 603, and the positioning frames 602 are L-shaped, the axes of the three rollers 604 are rollingly connected to the corners of the positioning frames 602, and the inner walls of the tracks 605 are rollingly connected to the outer sides of the rollers 604.

[0033] In one embodiment of the present invention: the transmission mechanism 7 includes a clamping frame 701, a transmission wheel 702 and a U-shaped collecting frame 703, both sides of the top surface of the U-shaped collecting frame 703 are fixedly connected to the bottom surface of the limiting frame 3, both sides of the U-shaped collecting frame 703 are fixedly connected with support rods 704, and the outer side of the support rods 704 is clamped to the inner wall of the clamping frame 701, the axis of the transmission wheel 702 is rollingly connected to the inner wall of the clamping frame 701, the outer side of the transmission wheel 702 is rollingly connected to the inner wall of the crawler 605, and the axis of the transmission wheel 702 away from the clamping frame 701 is rotatably connected with a positioning plate 705.

[0034] In one embodiment of the present invention: the crushing mechanism 8 includes a first gear 81, a toothed belt 82, a second gear 83, a crushing roller 84, a third gear 85 and a conveying roller 86, the transmission wheel 702 is fixedly connected to the axis of the first gear 81 at one end close to the clamping frame 701, the outer side of the first gear 81 is meshed with the inner wall of the toothed belt 82, the top of the inner wall of the toothed belt 82 is respectively meshed with the outer sides of the second gear 83 and the third gear 85, both ends of the crushing roller 84 are fixedly connected to the axis of the second gear 83, and both ends of the conveying roller 86 are fixedly connected to the axis of the third gear 85.

[0035] In one embodiment of the present invention: the bottom of the limiting frame 3 is fixedly connected to the second telescopic motor 31, the bottom end of the second telescopic motor 31 is fixedly connected to the adjusting rod 32, the side of the adjusting rod 32 is fixedly connected to a plurality of guide rods 33, the top of the guide rod 33 is sleeved with a positioning cylinder 34, the top inner wall of the positioning cylinder 34 is slidably connected to a straight rod 35, the top of the straight rod 35 is rotatably connected to an axle rod 36, and both ends of the axle rod 36 are rotatably connected to the inner wall of the U-shaped collecting frame 703.

[0036] In one embodiment of the present invention: electric slide rails 7031 are fixedly connected to both sides of the inner wall of the U-shaped collection rack 703, and a U-shaped guide plate 7032 is slidably connected to the front inner wall of the U-shaped collection rack 703, and the sides where the two electric slide rails 7031 are close to each other are fixedly connected to the tops of both sides of the U-shaped guide plate 7032.

[0037] In one embodiment of the present invention: the front end of the U-shaped collecting frame 703 is fixedly connected to the bulldozer plate 7033 , and the front end of the U-shaped guide plate 7032 is adapted to the inclined surface of the bulldozer plate 7033 .

[0038] In one embodiment of the present invention: a rotating rod is fixedly connected to the bottom back of the limiting frame 3, and a pressing plate 9 is rotatably connected to the outer sides of both ends of the rotating rod, and a counterweight plate 91 is fixedly connected to the bottom end of the pressing plate 9.

[0039] In one embodiment of the present invention, liquid boxes 46 are fixedly connected to both sides of the top surface of the limiting frame 3 , a liquid outlet pipe 47 is fixedly connected to the top surface of the liquid box 46 , and the other end of the liquid outlet pipe 47 is fixedly connected to the inner wall of the flow meter 43 .

[0040] Example 1, please refer to the attached Figure 1 -Attached Fig. 9 The liquid tank 46 is used to store different liquid medicines or liquid fertilizers, and then the liquid is guided to the inner wall of the mixing box 42 by the liquid outlet pipe 47, and the proportion of the liquid entering the mixing box 42 is controlled by the flow meter 43, and then the first motor 41 and the stirring rod 44 are started to fully mix the liquid, and then the liquid flows from the output pipe 51 and the limiting rod 52, and finally sprayed from the spray head 53 to fully mix the nutrients in the soil.

[0041] Example 2, please refer to the attached Figure 1 -Attached Fig. 9 The transmission wheel 702 moves on the inner wall of the crawler 605, and when the crawler 605 moves, the transmission wheel 702 rotates along the inner wall of the crawler 605, so that the transmission wheel 702 drives the first gear 81, the toothed belt 82, the second gear 83 and the third gear 85 to rotate, so that the crushing roller 84 and the conveying roller 86 rotate, so that the agricultural robot can provide power for the crushing mechanism 8 when moving.

[0042] Example 3, please refer to the attached Figure 1 -Attached Fig. 9 By cooperating with the pressing plate 9 and the counterweight plate 91, the surface of the land is made flat when the agricultural robot moves.

[0043] Specifically, the U-shaped collecting plate 22 is pushed to move by the first telescopic motor 23, and then the U-shaped collecting plate 22 is driven to move when the agricultural robot body 1 moves, so that the U-shaped collecting plate 22 collects part of the soil in the land, and guides the soil to the inner wall of the soil analysis box 25 through the guide tube 24 and the vacuum cleaner, and the nutrients in the soil are collected by the soil analysis box 25, and the nutrient solution is transported to the inner wall of the soil analysis box 25 through the flow meter 43, and then the first motor 41 is used to drive the stirring rod 44 to rotate, stir the liquid inside the stirring box 42, and spray the liquid through the spray head 53, so that the agricultural robot body 1 is convenient to spray pesticides and liquid fertilizers according to the soil nutrients.

[0044] Specifically, the second telescopic motor 31 drives the adjusting rod 32 to move up and down mechanically, and then the adjusting rod 32 drives the guide rod 33 and the positioning cylinder 34 to move, so that the positioning cylinder 34 slides on the straight rod 35 and drives the straight rod 35 to rotate around the shaft 36, so that the agricultural robot body 1 guides the soil and stones in the land to the inner wall of the U-shaped collection frame 703, uses the conveying roller 86 to provide power for the soil and stones, and then uses the crushing roller 84 to crush the stones, so that the agricultural robot can crush larger soil and stones during movement, so as to facilitate better planting of crops.

[0045] Specifically, the U-shaped collecting frame 703 is driven to move by the electric slide rail 7031, and then the front end of the U-shaped collecting frame 703 is connected to the back of the bulldozer plate 7033, so that the agricultural robot can guide the soil from the bulldozer plate 7033 to the inner wall of the U-shaped collecting frame 703 during the movement, and then guide the soil to the inner wall of the U-shaped collecting frame 703, so that the agricultural robot can spray the soil at different positions according to needs.

[0046] Working principle:

[0047] First, the soil nutrients in the land are detected by the soil detection mechanism 2, and then the mixing mechanism 4 is used to adjust the ratio of the liquid fertilizer according to the nutrients in the soil, and the liquid fertilizer with the good ratio is sprayed by the spraying mechanism 5. At the same time, the second telescopic motor 31, the adjusting rod 32, the guide rod 33, the positioning cylinder 34, the straight rod 35 and the shaft rod 36 cooperate with each other to guide the soil blocks in the soil to the inner wall of the U-shaped collecting frame 703, and then the crushing mechanism 8 is used to crush the soil blocks, and the bulldozer 7033 is used to facilitate the agricultural robot body 1 to spray liquid fertilizer on the soil in the area according to the soil conditions. Finally, the soil surface is flattened by the counterweight plate 91 and the pressing plate 9. At this point, the entire workflow is completed.

[0048] The above-mentioned front, back, left, right, top and bottom are all based on the figures in the specification. Figure 1 As a benchmark, according to the person's observation perspective, the side of the device facing the observer is defined as the front, the left side of the observer is defined as the left, and so on.

[0049] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the scope of protection of the present invention.

[0050] It should be noted that the device structure and the drawings of the present invention mainly describe the principle of the present invention. In terms of the technology of the design principle, the settings of the power mechanism, power supply system and control system of the device are not fully described. On the premise that the technical personnel in this field understand the principle of the above invention, the details of the power mechanism, power supply system and control system can be clearly known. The control method of the application document is automatic control through a controller, and the control circuit of the controller can be realized by simple programming by the technical personnel in this field.

[0051] The standard parts used therein can all be purchased from the market and can be customized according to the instructions and drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt conventional models in the prior art, and the structures and principles of the components known to technical personnel in this field can be known by these technical personnel through technical manuals or through conventional experimental methods.

[0052] 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 described embodiments. For those skilled in the art, various changes, modifications, substitutions and variations of these embodiments are made without departing from the principles and spirit of the present invention, and still fall within the scope of protection of the present invention.

Claims

1. A crawler-type multifunctional agricultural robot, comprising an agricultural robot body (1), characterized in that: The agricultural robot body (1) comprises a soil detection mechanism (2) for detecting soil, a limiting frame (3) connected to the soil detection mechanism (2), a stirring mechanism (4) connected to the limiting frame (3), a spraying mechanism (5) connected to the stirring mechanism (4), a moving mechanism (6) connected to the limiting frame (3), a transmission mechanism (7) connected to the moving mechanism (6), and a crushing mechanism (8) connected to the transmission mechanism (7); the soil detection mechanism (2) comprises an L-shaped card plate (21), a U-shaped collecting plate (22), a first telescopic motor (23), a guide tube (24), and a soil analysis box (25); the bottom end of the L-shaped card plate (21) is fixedly connected to the front end of the top of the limiting frame (3); the top of the L-shaped card plate (21) is provided with a card slot adapted to the top of the first telescopic motor (23); the bottom end of the first telescopic motor (23) is fixedly connected to the U-shaped collecting plate (22); The top surface center of the U-shaped collecting plate (22), both sides of the top surface of the U-shaped collecting plate (22) are fixedly connected to the bottom end of the guide tube (24), the other end of the guide tube (24) extends to the inner wall of the soil analysis box (25), the inner wall of the soil analysis box (25) is fixedly connected to a vacuum cleaner, the inner wall of the soil analysis box (25) is provided with a processor, the stirring mechanism (4) comprises a first motor (41), a stirring box (42), a flow meter (43) and a stirring rod (44), the processor is electrically connected to the flow meter (43), the sides of the two flow meters (43) close to each other are fixedly connected to the two sides of the stirring box (42), the top of the stirring box (42) is fixedly connected to a limiting plate (45), the back side of the limiting plate (45) is fixedly connected to the front side of the first motor (41), and the top end of the stirring rod (44) is fixedly connected to the output end of the first motor (41); The spraying mechanism (5) comprises an output pipe (51), a limiting rod (52) and a spraying head (53); a liquid guide hole matched with the output pipe (51) is provided at the bottom of the limiting frame (3), and the liquid guide hole extends to the inner wall of the mixing box (42); the top end of the output pipe (51) extends to the inner wall of the liquid guide hole; the other end of the output pipe (51) extends to the inner wall of the limiting rod (52); and the end of the spraying head (53) away from the spraying head extends to the inner wall of the limiting rod (52); Liquid boxes (46) are fixedly connected to both sides of the top surface of the limiting frame (3), a liquid outlet pipe (47) is fixedly connected to the top surface of the liquid box (46), and the other end of the liquid outlet pipe (47) is fixedly connected to the inner wall of the flow meter (43).

2. A crawler-type multifunctional agricultural robot according to claim 1, characterized in that: The moving mechanism (6) comprises a second motor (601), a positioning frame (602), a positioning rod (603), a roller (604) and a crawler belt (605). The bottom surfaces of the two second motors (601) are fixedly mounted on both sides of the top surface of the limiting frame (3), and the output ends of the two second motors (601) are symmetrical with each other with the limiting frame (3) as the center. The sides of the four positioning rods (603) close to each other are fixedly connected to both sides of the limiting frame (3). The sides of the two positioning frames (602) are provided with positioning openings matched with the positioning rods (603), and the positioning frames (602) are L-shaped. The axes of the three rollers (604) are rollingly connected to the corners of the positioning frames (602), and the inner walls of the crawler belt (605) are rollingly connected to the outer sides of the rollers (604).

3. A crawler-type multifunctional agricultural robot according to claim 2, characterized in that: The transmission mechanism (7) comprises a clamping frame (701), a transmission wheel (702) and a U-shaped collecting frame (703); both sides of the top surface of the U-shaped collecting frame (703) are fixedly connected to the bottom surface of the limiting frame (3); both sides of the U-shaped collecting frame (703) are fixedly connected to support rods (704), and the outer sides of the support rods (704) are clamped to the inner wall of the clamping frame (701); the axis of the transmission wheel (702) is rollingly connected to the inner wall of the clamping frame (701); the outer side of the transmission wheel (702) is rollingly connected to the inner wall of the crawler (605); and the axis of the transmission wheel (702) away from the clamping frame (701) is rotatably connected to a positioning plate (705).

4. A crawler-type multifunctional agricultural robot according to claim 3, characterized in that: The crushing mechanism (8) comprises a first gear (81), a toothed belt (82), a second gear (83), a crushing roller (84), a third gear (85) and a conveying roller (86); one end of the transmission wheel (702) close to the clamping frame (701) is fixedly connected to the axis of the first gear (81); the outer side of the first gear (81) is meshed with the inner wall of the toothed belt (82); the top of the inner wall of the toothed belt (82) is respectively meshed with the outer sides of the second gear (83) and the third gear (85); both ends of the crushing roller (84) are fixedly connected to the axis of the second gear (83); and both ends of the conveying roller (86) are fixedly connected to the axis of the third gear (85).

5. The crawler-type multifunctional agricultural robot according to claim 3, characterized in that: The bottom of the limiting frame (3) is fixedly connected to a second telescopic motor (31), the bottom end of the second telescopic motor (31) is fixedly connected to an adjusting rod (32), the side of the adjusting rod (32) is fixedly connected to a plurality of guide rods (33), the top of the guide rod (33) is sleeved with a positioning cylinder (34), the top inner wall of the positioning cylinder (34) is slidably connected to a straight rod (35), the top of the straight rod (35) is rotatably connected to an axle rod (36), and both ends of the axle rod (36) are rotatably connected to the inner wall of the U-shaped collecting frame (703).

6. The crawler-type multifunctional agricultural robot according to claim 3, characterized in that: The inner walls of the U-shaped collection rack (703) are fixedly connected with electric slide rails (7031) on both sides, the front inner wall of the U-shaped collection rack (703) is slidably connected with a U-shaped guide plate (7032), and the sides of the two electric slide rails (7031) close to each other are fixedly connected to the tops of both sides of the U-shaped guide plate (7032).

7. A crawler-type multifunctional agricultural robot according to claim 6, characterized in that: The front end of the U-shaped collecting frame (703) is fixedly connected to a bulldozer (7033), and the front end of the U-shaped guide plate (7032) is adapted to the inclined surface of the bulldozer (7033).

8. The crawler-type multifunctional agricultural robot according to claim 1, characterized in that: The back of the bottom surface of the limiting frame (3) is fixedly connected to a rotating rod, the outer sides of both ends of the rotating rod are rotatably connected to a pressing plate (9), and the bottom end of the pressing plate (9) is fixedly connected to a counterweight plate (91).

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