Fertilizing and weeding integrated robot

Abstract

The application discloses a fertilizing and weeding integrated robot, which comprises a moving chassis (1), wherein a main body frame (2) is arranged on the moving chassis (1), a swing arm driving mechanism (3) is arranged at the front of the main body frame (2), a weeding execution mechanism (4) is arranged at the driving end of the swing arm driving mechanism (3), a fertilizing and discharging mechanism (5) is arranged at the rear of the main body frame (2), a pair of mechanical arms (6) are arranged at the middle of the main body frame (2), a fertilizing executor (7) is arranged at the front end of the mechanical arm (6), the fertilizing executor (7) is used for digging operation during fertilizing, and the fertilizing executor (7) is also used for receiving the fertilizer discharged by the fertilizing and discharging mechanism (5) and scattering the received fertilizer into the groove formed by digging. The application has the advantages of small volume, flexible operation, adaptability to weeding and fertilizing operation in hilly orchards and guarantee of operation efficiency.

Description

Technical Field

[0001] This invention relates to the field of agricultural automation equipment, and in particular to an integrated fertilization and weeding robot. Background Technology

[0002] With the rapid development of intelligent agricultural machinery technology, many automatic weeding or fertilizing devices for flat orchards have appeared on the market. For example, Chinese invention patent CN115119610A discloses an orchard weeding and fertilizing machine, including: a weeding box, a traction frame, a first transmission box, a ditching frame, a first ditching plow, a fertilizer liquid suction pump, a distributor, a fertilizer cart, and a fertilizer liquid tank set on it. The weeding box is equipped with a weeding shaft, and the weeding shaft is equipped with multiple weeding scrapers for scraping off the necks of weeds. The ditching frame is connected to the rear of the weeding box, and the fertilizer cart is connected to the rear of the ditching frame. The first transmission box, the first ditching plow, the fertilizer liquid suction pump, and the distributor are all set on the weeding box. The first transmission box transmits the power of the machine to the weeding shaft and the fertilizer liquid suction pump. The fertilizer liquid suction pump draws the fertilizer liquid from the fertilizer liquid tank to the distributor, and the distributor delivers the fertilizer liquid into the prepared ditch.

[0003] However, existing equipment of this type still has limitations in terms of scene adaptability. The overall equipment structure is large, the whole machine is bulky and has low flexibility. The operation and movement of the mechanism require a high degree of flatness and openness of the working site, and it is only suitable for orchards in plains with regular terrain and gentle slopes. However, most orchards are located in hilly and mountainous areas. These areas have complex terrain, large topographic relief, scattered planting plots and narrow and rugged field roads. Existing large-scale integrated fertilization and weeding equipment cannot enter, move and operate smoothly in these areas, and cannot meet the weeding and fertilization needs of hilly and mountainous orchards. Summary of the Invention

[0004] The purpose of this invention is to provide an integrated fertilization and weeding robot. This invention is compact, flexible in operation, and adaptable to weeding and fertilization operations in hilly and mountainous orchards, ensuring operational efficiency.

[0005] The technical solution of the present invention: an integrated fertilization and weeding robot, including a mobile chassis, a main frame on the mobile chassis, a swing arm drive mechanism at the front of the main frame, and a weeding execution mechanism at the drive end of the swing arm drive mechanism; a fertilization and feeding mechanism at the rear of the main frame, a pair of robotic arms in the middle of the main frame, and a fertilization actuator at the front end of the robotic arms. The fertilization actuator is used for digging operations during fertilization, and also for receiving fertilizer slid out by the fertilization and feeding mechanism, and spreading the received fertilizer into the trench formed by digging.

[0006] In the aforementioned integrated fertilization and weeding robot, the swing arm drive mechanism includes a shaft support seat located at the front of the mobile chassis. A swing shaft is provided in the shaft support seat via a bearing. A swing motor is also provided at the front of the mobile chassis. The output end of the swing motor is connected to one end of the swing shaft. A pair of swing rods are connected to the swing shaft, and the weeding execution mechanism is connected to the swing rods.

[0007] In the aforementioned integrated fertilization and weeding robot, the weeding execution mechanism includes a weeding frame connected to the end of the swing arm, a plurality of weeding motors are evenly arranged on the weeding frame, and the output end of the weeding motor is connected to a blade, which is set inside the weeding frame.

[0008] In the aforementioned integrated fertilization and weeding robot, the robotic arm includes a bottom rotary joint located in the middle of the main frame. A support base is provided on the rotating end of the bottom rotary joint. A movable main arm is provided on the support base. A movable secondary arm is provided at the execution end of the movable main arm. An end-rotating joint is provided at the execution end of the movable secondary arm. The fertilization actuator is connected to the end-rotating joint.

[0009] In the aforementioned integrated fertilization and weeding robot, the end effector includes a support block connected to the actuator end of the movable arm. An electric push rod is hinged to the support block, and a linkage rod group is hinged to the side of the support block. A wrist flip plate is hinged to the end of the support block, and an end effector rotary motor is provided on the wrist flip plate. One end of the wrist flip plate is hinged to one end of the linkage rod group, and the extended end of the electric push rod is connected to one end of the linkage rod group. The fertilization actuator is connected to the output end of the end effector rotary motor.

[0010] In the aforementioned integrated fertilization and weeding robot, the front of the main frame is provided with a cover, and the bottom rotary joint and the swing arm drive mechanism are located inside the cover.

[0011] In the aforementioned integrated fertilization and weeding robot, the movable main arm includes a main arm mounted on a support base. A main arm motor is provided on the upper side of the support base. The output end of the main arm motor is connected to the main arm and controls the swing of the main arm. The movable auxiliary arm is located at the upper end of the main arm.

[0012] In the aforementioned integrated fertilization and weeding robot, the movable auxiliary arm includes a secondary arm connected to the upper end of the main arm. The upper side of the main arm is provided with a secondary motor, and the output end of the secondary motor is connected to the secondary arm. The secondary arm is provided with a rotary motor, and the output end of the rotary motor is provided with a rotary joint. The main support block is connected to the rotary joint.

[0013] In the aforementioned integrated fertilization and weeding robot, the fertilizer dispensing mechanism includes a first plate, a second plate, and a third plate arranged sequentially from top to bottom at the rear of the main frame. The third plate is equipped with a worm gear transmission component, and the output end of the worm gear transmission component is equipped with a turntable shaft passing through the second plate. The upper end of the turntable shaft is equipped with a metering disc via a connecting flange, and the metering disc is equipped with multiple metering cups. The main frame is equipped with a fertilizer bucket, and the outlet of the fertilizer bucket extends into the metering disc. The bottom of the first plate is equipped with a scraper for scraping excess fertilizer from the metering cups. The bottom of the second plate is equipped with a pair of discharge pipes, and the discharge port of the metering cups corresponds to the inlet of the discharge pipes.

[0014] Compared with the prior art, the present invention has the following advantages: 1. In this invention, the mobile chassis enables the overall movement of the device. The swing drive mechanism places the weeding actuator in a suitable position to perform weeding operations. Then, the robotic arm drives the fertilizer actuator to dig trenches in the fertilization area. The fertilizer dispensing mechanism dispenses fertilizer quantitatively, and the fertilizer falls into the trenches. For trenches where fertilizer cannot be dispensed by the fertilizer dispensing mechanism, the fertilizer actuator catches the fertilizer that slides out of the fertilizer dispensing mechanism and dispenses it into these trenches. This invention highly integrates the weeding mechanism, fertilization mechanism, and mechanical actuator on the main frame of a small mobile chassis. The whole machine is compact and can move flexibly in hilly and mountainous areas. The swing drive mechanism effectively controls the weeding angle of the weeding mechanism to adapt to the terrain and weed situation in hilly and mountainous areas. Through the combination of flexible trenching and fertilization, it effectively adapts to the terrain of hilly and mountainous areas and ensures the efficiency of fertilization operations.

[0015] 2. The weeding machine frame is evenly equipped with multiple independent weeding motors and a single-blade weeding structure. Multiple weeding units work together to achieve uniform and dense coverage. Compared to traditional single-blade rotating weeding structures, this effectively avoids missed weeds and residual weeds between rows. The single-blade structure is suitable for removing and cutting shallow weeds in orchards, and is highly effective at clearing creeping weeds, clump-forming weeds, and shallow root weeds. It enables precise weeding in the near-root areas between rows and plants, significantly improving the overall weeding success rate.

[0016] 3. This invention adopts a volumetric quantitative structure with a metering disc and multiple metering cups. Standardized material dispensing is achieved based on the volume of a single metering cup. Combined with a scraper structure fixed at the bottom of the first plate, excess fertilizer above the metering cups can be scraped off in real time during the rotation of the metering disc, ensuring that the amount of fertilizer in each metering cup remains consistent. This effectively offsets the feeding errors caused by differences in fertilizer properties and slight vibrations of the equipment, ensuring uniform and accurate fertilizer dosage each time. It fundamentally avoids the problems of over-fertilization burning seedlings and under-fertilization causing nutrient deficiency, and greatly improves the uniformity and standardization of orchard fertilization. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of a single-blade knife; Figure 3 A schematic diagram of the weeding execution mechanism; Figure 4 This is a schematic diagram of a robotic arm; Figure 5 This is a schematic diagram of the fertilizer dispensing mechanism; Figure 6 This is a schematic diagram of a measuring cup; Figure 7 This is a schematic diagram of the scraper.

[0018] Explanation of markings in the attached diagram: 1-Mobile chassis, 2-Main frame, 3-Swing arm drive mechanism, 4-Weeding actuator, 5-Fertilizer feeding mechanism, 6-Mechanical arm, 7-Fertilizer actuator, 8-Shaft support seat, 9-Swing shaft, 10-Swing motor, 11-Swing arm, 12-Weeding frame, 13-Weeding motor, 14-Straight blade, 15-Bottom rotary joint, 16-Support base, 17-Moving main arm, 18-Moving auxiliary arm, 19-End flip joint, 20-Support main block 21-Electric push rod, 22-Linkage rod assembly, 23-Wrist flip plate, 24-End rotary motor, 25-Cover, 26-Main arm, 27-Main arm motor, 28-Secondary arm, 29-Secondary arm motor, 30-Rotation motor, 31-Rotation joint, 32-First plate, 33-Second plate, 34-Third plate, 35-Worm gear transmission component, 36-Turntable shaft, 37-Metering disc, 38-Metering cup, 39-Fertilizer bucket, 40-Scraper, 41-Discharge pipe. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments, but this should not be construed as limiting the present invention.

[0020] Example: An integrated fertilization and weeding robot, including a mobile chassis 1, as shown in the attached diagram. Figure 1As shown, the mobile chassis adopts a tracked walking structure, which can adapt to the terrain of hilly and mountainous areas. A main frame 2 is mounted on the mobile chassis 1. A swing arm drive mechanism 3 is located at the front of the main frame 2, and a weeding execution mechanism 4 is mounted on the drive end of the swing arm drive mechanism 3. The swing arm drive mechanism 3 includes a shaft support seat 8 located at the front of the mobile chassis 1. A swing shaft 9 is mounted in the shaft support seat 8 via bearings. A swing motor 10 is also located at the front of the mobile chassis 1, and the output end of the swing motor 10 is connected to one end of the swing shaft 9. A pair of swing rods 11 are connected to the swing shaft 9, and the weeding execution mechanism 4 is connected to the swing rods 11. When the swing motor is activated, it drives the swing shaft to swing at a certain angle, which, through the swing rods, causes the weeding execution mechanism to tilt at a certain angle, adapting to the terrain of hilly and mountainous areas. The weeding execution mechanism 4 includes a weeding frame 12 connected to the end of the swing rods 11, as shown in the attached diagram. Figure 3 As shown, multiple weeding motors 13 are evenly installed on the weeding frame 12. The output end of the weeding motor 13 is connected to a flat blade 14, as shown in the attached diagram. Figure 2As shown, each weeding motor individually controls a single-blade weeder, ensuring strong rotational power and improving weeding efficiency. The single-blade weeder 14 is housed within the weeding frame 12. Multiple independent weeding motors and single-blade weeding structures are evenly arranged on the weeding frame. These multiple weeding units work collaboratively, resulting in uniform and dense coverage. Compared to traditional single-blade rotating weeding structures, this effectively avoids missed weeds and residual weeds between rows. The single-blade structure is suitable for removing and cutting shallow weeds in orchards, providing excellent removal of creeping weeds, clump-forming weeds, and shallow root weeds. It enables precise weeding in the near-root areas between rows and plants, significantly improving the overall weeding success rate. The rear of the main frame 2 is equipped with a fertilizer dispensing mechanism 5, and the middle of the main frame 2 is equipped with a pair of robotic arms 6. The symmetrically arranged robotic arms can balance the load of the front weeding mechanism, improve the stability and center of gravity of the whole machine. The front end of the robotic arm 6 is equipped with a fertilizer actuator 7, which is used for digging during fertilization. The fertilizer actuator 7 is also used to receive the fertilizer that slides out of the fertilizer dispensing mechanism 5 and spread the received fertilizer into the trench formed by digging. In hilly and mountainous areas with a certain slope, using robotic arms to drive the fertilizer actuator to open trenches is more flexible and better adapts to the terrain. The front end of the fertilizing actuator's robotic arm is bolted and can be detached. During weeding, the weeding actuator can change its weeding posture according to the terrain to ensure that it remains perpendicular to the ground and does not damage the crops. Therefore, during weeding, the fertilizing actuator can be removed and replaced with the weeding actuator. The blade set of this weeding actuator is less than that of the weeding actuator set at the front end of the main frame. The robotic arm can drive the weeding actuator to rotate 90 degrees. The weeding actuator set at the front end of the main frame can remove weeds in the orchard aisles, while the weeding actuator driven by the robotic arm can remove weeds between plants.

[0021] The robotic arm 6 includes a bottom rotary joint 15 located in the middle of the main frame 2, as shown in the attached figure. Figure 4As shown, the bottom rotary joint can drive the upper mechanical rotation, expanding the degree of freedom of movement. A cover 25 is installed at the front of the main frame 2, and the bottom rotary joint 15 and the swing arm drive mechanism 3 are housed within the cover 25. The bottom rotary joint and the bottom swing arm drive mechanism are the core moving parts for adjusting the weeding and fertilizing posture of the entire machine, requiring high precision and small clearances. During field operations, debris such as soil fragments, weeds, branches, and gravel are easily generated. Traditional exposed structures easily allow debris to enter the joints and rotation gaps, causing rotational jamming, swing arm jamming, and incomplete rotation. This invention uses a cover to completely enclose and protect the aforementioned core components, effectively preventing various field debris from intruding into the movement gaps, ensuring smooth and flexible swing arm movement and joint rotation throughout the entire process, and guaranteeing continuous and stable operation of the equipment. A support base 16 is mounted on the rotating end of the bottom slewing joint 15. A movable main boom 17 is mounted on the support base 16. A movable auxiliary boom 18 is mounted on the actuating end of the movable main boom 17. An end-tilting joint 19 is mounted on the actuating end of the movable auxiliary boom 18. The fertilizer actuator 7 is connected to the end-tilting joint 19. The fertilizer actuator 7 is an integral bucket structure. The end-tilting joint 19 includes a support main block 20 connected to the actuating end of the movable auxiliary boom 18. An electric push rod 21 is hinged to the support main block 20. A linkage rod group 22 is hinged to the side of the support main block 20. A wrist tilting plate 23 is hinged to the end of the support main block 20. An end-rotating motor 24 is mounted on the wrist tilting plate 23. One end of the wrist tilting plate 23 is hinged to one end of the linkage rod group 22. The extended end of the electric push rod 21 is connected to one end of the linkage rod group 22. The fertilizer actuator 7 is connected to the output end of the end-rotating motor 24. The weeding actuator is also connected to the output end of the end rotary motor by bolts. The end flip joint controls the swing of the fertilizer actuator by the extension and retraction of the electric push rod. When digging the soil in the fertilizer trench, the fertilizer actuator swings downward and when discharging the material, the fertilizer actuator swings upward.

[0022] The movable main arm 17 includes a main arm 26 mounted on a support base 16. A main arm motor 27 is mounted on the upper side of the support base 16. The output end of the main arm motor 27 is connected to the main arm 26 and controls the swing of the main arm 26. A movable auxiliary arm 18 is located on the upper end of the main arm 26. The movable auxiliary arm 18 includes a secondary arm 28 connected to the upper end of the main arm 26. A secondary motor 29 is located on the upper side of the main arm 26, and the output end of the secondary motor 29 is connected to the secondary arm 28. A rotary motor 30 is mounted on the secondary arm 28, and a rotary joint 31 is mounted on the output end of the rotary motor 30. The support block 20 is connected to the rotary joint 31. Both the movable main arm and the movable auxiliary arm can swing, and the movable auxiliary arm can also rotate, increasing the degree of freedom of the actuator at the end of the robotic arm and making it more flexible during fertilization operations.

[0023] The fertilizer application and dispensing mechanism 5 includes a first plate 32, a second plate 33, and a third plate 34 arranged sequentially from top to bottom at the rear of the main frame 2, as shown in the attached figure. Figure 5 As shown, a worm gear transmission component 35 is provided on the third plate 34. The worm gear transmission component includes a motor and a worm gear assembly. The output end of the worm gear transmission component 35 is provided with a turntable shaft 36 that passes through the second plate 33. The power output by the motor is transmitted to the turntable shaft through the worm gear assembly, realizing the rotation of the turntable shaft. A measuring plate 37 is provided on the upper end of the turntable shaft 36 via a connecting flange. Multiple measuring cups 38 are mounted on the measuring plate 37, as shown in the attached figure. Figure 6 As shown, there are four sets of measuring cups, evenly arranged around the turntable axis; the main frame 2 is equipped with a fertilizer bucket 39, the outlet of which extends into the measuring plate 37; the bottom of the first plate 32 is equipped with a scraper 40 for scraping excess fertilizer from the measuring cups 38, as shown in the attached figure. Figure 7 As shown, a volumetric quantitative fertilizer dispensing system is achieved using a measuring cup. A scraper removes excess fertilizer from the top of the cup, ensuring consistent fertilizer dosage regardless of particle size, moisture content, or equipment vibration. The scraper has a V-shaped structure, which effectively enhances its structural strength. It also allows for secondary scraping of excess fertilizer from the measuring cup, ensuring the fertilizer level with the cup rim and accurate fertilizer quantity. A pair of discharge pipes 41 are located at the bottom of the second plate 33, with the discharge port of the measuring cup 38 corresponding to the inlet of the discharge pipes 41. Fertilizer from the fertilizer container falls into the measuring pan and gradually fills the measuring cup. The scraper is fixed to the upper first plate. As the measuring pan rotates, the scraper levels the measuring cup, aligning the bottom of the cup with the discharge pipes. This allows the measured amount of fertilizer to be dispensed, effectively preventing over-fertilization (burning seedlings) and under-fertilization (insufficient fertilizer), resulting in consistent fertilization. If the trenches on both sides correspond to the discharge pipes, the fertilizer falling from the discharge pipes on both sides can be directly put into the trenches.

[0024] The working principle of this invention: Weeding is completed by the swing arm drive mechanism 3 at the front of the main frame 2 and the weeding execution mechanism 4 in coordination. During operation, the swing motor 10 starts and drives the swing shaft 9 to rotate, causing a pair of swing rods 11 on the swing shaft 9 to swing synchronously, thereby driving the weeding frame 12 at the end and the overall weeding execution mechanism 4 to complete the angle adjustment, so that the weeding execution mechanism 4 always conforms to the undulating terrain. Multiple independent weeding motors 13 and blades 14 are evenly arranged on the weeding frame 12. During operation, each weeding motor 13 independently drives the corresponding blade 14 to move at a height. The fertilizer feeding mechanism 5 employs a volumetric quantitative feeding structure, with multiple units working together to cover the operating area. During operation, fertilizer from the fertilizer hopper 39 at the rear of the main frame 2 continuously falls into the area of ​​the metering disc 37 below. The worm gear transmission component 35 drives the turntable shaft 36 to rotate at a constant speed, causing the metering disc 37 and multiple metering cups 38 evenly arranged on the disc to rotate synchronously. As the metering disc 37 rotates, the metering cups 38 continuously receive the fertilizer falling from the fertilizer hopper 39. When the metering cup 38 filled with fertilizer rotates to below the scraper 40 at the bottom of the first plate 32, the fixed scraper 40 automatically scrapes off the fertilizer. Excess fertilizer above the rim of cup 38 ensures a uniform fertilizer filling amount in each measuring cup 38. After calibration, the measuring cup 38 continues to rotate. When the cup's outlet precisely aligns with the discharge pipe 41 at the bottom of the second plate 33, the measured amount of fertilizer in the cup naturally slides down through the discharge pipe 41, completing precise quantitative dispensing. The robotic arm 6 achieves 360° horizontal rotation via the bottom rotary joint 15. Combined with the swing adjustment of the main movable arm 17 and the swing and rotation adjustment of the auxiliary movable arm 18, it can achieve multi-dimensional and wide-range posture adjustment, flexibly adapting to fertilization at different slopes and locations in mountainous areas. At the target fertilization point, the end-mounted flip joint 19 drives the linkage group 22 to move via the extension and retraction of the electric push rod 21, which in turn drives the wrist flip plate 23 to complete the pitch and flip. At the same time, it works with the end-mounted rotary motor 24 to achieve fine-tuning of the angle of the fertilizer actuator 7. During operation, the robotic arm 6 drives the bucket-type fertilizer actuator 7 to move to the target fertilization point, flips downward to complete soil excavation, and forms a fertilizer trench. For irregular trenches and sloping trenches where the discharge pipe 41 cannot be directly connected, the fertilizer actuator 7 can receive the quantitative fertilizer that slides off the discharge pipe 41 in real time, and then accurately spread the fertilizer into the excavated trench through posture adjustment.

Claims

1. A fertilization and weeding integrated robot, comprising a mobile chassis (1), on which a main frame (2) is mounted, characterized in that: The front part of the main frame (2) is provided with a swing arm drive mechanism (3), and the drive end of the swing arm drive mechanism (3) is provided with a weeding execution mechanism (4); the rear part of the main frame (2) is provided with a fertilizer feeding mechanism (5), and the middle part of the main frame (2) is provided with a pair of mechanical arms (6). The front end of the mechanical arms (6) is provided with a fertilizer actuator (7). The fertilizer actuator (7) is used for digging operations during fertilization, and the fertilizer actuator (7) is also used to receive the fertilizer that slides out of the fertilizer feeding mechanism (5) and scatter the received fertilizer into the trench formed by digging.

2. The fertilization and weeding integrated robot according to claim 1, characterized in that: The swing arm drive mechanism (3) includes a shaft support seat (8) located at the front of the mobile chassis (1), a swing shaft (9) is provided in the shaft support seat (8) via a bearing, and a swing motor (10) is also provided at the front of the mobile chassis (1). The output end of the swing motor (10) is connected to one end of the swing shaft (9); a pair of swing rods (11) are connected to the swing shaft (9), and the weeding execution mechanism (4) is connected to the swing rods (11).

3. The fertilization and weeding integrated robot according to claim 2, characterized in that: The weeding actuator (4) includes a weeding frame (12) connected to the end of the swing arm (11). Multiple weeding motors (13) are evenly arranged on the weeding frame (12). The output end of the weeding motor (13) is connected to a blade (14), which is located inside the weeding frame (12).

4. The fertilization and weeding integrated robot according to claim 1, characterized in that: The robotic arm (6) includes a bottom rotary joint (15) located in the middle of the main frame (2). A support base (16) is provided on the rotating end of the bottom rotary joint (15). A movable main arm (17) is provided on the support base (16). A movable secondary arm (18) is provided at the execution end of the movable main arm (17). An end flip joint (19) is provided at the execution end of the movable secondary arm (18). The fertilizer actuator (7) is connected to the end flip joint (19).

5. The fertilization and weeding integrated robot according to claim 4, characterized in that: The end-rotating joint (19) includes a support block (20) connected to the execution end of the movable auxiliary arm (18). An electric push rod (21) is hinged on the support block (20). A linkage rod group (22) is hinged to the side of the support block (20). A wrist-rotating plate (23) is hinged to the end of the support block (20). An end-rotating motor (24) is provided on the wrist-rotating plate (23). One end of the wrist-rotating plate (23) is hinged to one end of the linkage rod group (22). The extended end of the electric push rod (21) is connected to one end of the linkage rod group (22). The fertilizer actuator (7) is connected to the output end of the end-rotating motor (24).

6. The fertilization and weeding integrated robot according to claim 4, characterized in that: The front of the main frame (2) is provided with a cover (25), and the bottom rotary joint (15) and the swing arm drive mechanism (3) are located inside the cover (25).

7. The fertilization and weeding integrated robot according to claim 4, characterized in that: The movable main arm (17) includes a main arm (26) mounted on a support base (16). A main arm motor (27) is provided on the upper side of the support base (16). The output end of the main arm motor (27) is connected to the main arm (26) and controls the swing of the main arm (26). The movable auxiliary arm (18) is located at the upper end of the main arm (26).

8. The fertilization and weeding integrated robot according to claim 7, characterized in that: The movable auxiliary arm (18) includes an auxiliary body arm (28) connected to the upper end of the main body arm (26). The upper side of the main body arm (26) is provided with an auxiliary body motor (29), and the output end of the auxiliary body motor (29) is connected to the auxiliary body arm (28). The auxiliary body arm (28) is provided with a rotary motor (30), and the output end of the rotary motor (30) is provided with a rotary joint (31). The main support block (20) is connected to the rotary joint (31).

9. The fertilization and weeding integrated robot according to claim 1, characterized in that: The fertilizer feeding mechanism (5) includes a first plate (32), a second plate (33), and a third plate (34) arranged sequentially from top to bottom at the rear of the main frame (2). The third plate (34) is provided with a worm gear transmission component (35). The output end of the worm gear transmission component (35) is provided with a turntable shaft (36) that passes through the second plate (33). The upper end of the turntable shaft (36) is provided with a metering plate (37) via a connecting flange. The metering plate (37) is provided with multiple metering cups (38). The main frame (2) is provided with a fertilizer bucket (39). The outlet of the fertilizer bucket (39) extends into the metering plate (37). The bottom of the first plate (32) is provided with a scraper (40) for scraping off excess fertilizer from the metering cups (38). The bottom of the second plate (33) is provided with a pair of discharge pipes (41). The outlet of the metering cups (38) corresponds to the inlet of the discharge pipes (41).

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