CN208402413U - A kind of agricultural robot of essence amount sowing of vegetable - Google Patents

Abstract

The utility model discloses a kind of agricultural robots of essence amount sowing of vegetable, including rack and as the crawler body of walking power, rack is fixed on crawler body, and rack is equipped with hoisting mechanism and dismountable fertilizing mechanism and sowing mechanism, fertilizing mechanism are installed on front end of rack；The sowing mechanism includes plants case, sowing pedestal and sowing motor, and plants case is mounted on sowing pedestal by plants case installing mechanism, and sowing pedestal also is provided with connecting plate, and connecting plate is equipped with the wedge block that installation is matched with wedge groove on hoisting mechanism sliding block；The installation axles that plants case installing mechanism includes two plants case fixed plates, is installed in parallel in link block that two plants case fixed plates are fixedly linked and two on sowing pedestal.For the utility model using crawler body shared module as the load bearing component of other each functional modules, sowing and fertilizing functions module are replaceable, effectively reduce agriculture production cost, improve agricultural production efficiency.

Description

A kind of agricultural robot of essence amount sowing of vegetable

Technical field

The utility model belongs to farm machine field, is related to a kind of agricultural robot, and in particular to it is a kind of essence amount vegetables broadcast The agricultural robot of kind.

Background technique

Vegetable cultivation is mechanical in widely used canopy room at this stage, is mostly the simple transplanting version of field planting machinery, makes With there are problems in the process, if exhaust emission is serious, noise is big；Because canopy room narrow space leads to turn to inconvenient, mini-tiller It easily balks, labor intensity of operating staff is big and agricultural machinery utilization rate is not high, although China's greenhouse area occupy world head Position, but it is suitable for the machinery of greenhouse cultivation, develop more slow, large labor intensity, low efficiency.

Utility model content

The purpose of this utility model is to design a kind of agricultural for vegetables in greenhouse booth precision drilling for above situation Robot, sowing machine people use modular design method, complete seeding operation task by the coordinated of each functional module, Its mechanical structure composition is as shown in Figure 1.The robot is made of chassis walking module, sowing module, fertilising module.Sow module Essence amount sowing of vegetable is completed, fertilising module is then to impose appropriate agricultural fertilizer to field in seeding process, increases soil fertility, improves Percentage of seedgermination.

In order to solve the above-mentioned technical problem, the technical solution adopted in the utility model is:

A kind of agricultural robot of essence amount sowing of vegetable, including rack and as the crawler body of walking power, the machine Frame is fixed on crawler body, it is characterised in that: the rack is equipped with hoisting mechanism and dismountable fertilizing mechanism and broadcasts Kind mechanism, the fertilizing mechanism are installed on front end of rack, for arable land or Crops in Applying Fertilizer；The sowing mechanism includes kind Case, sowing pedestal and sowing motor, the plants case are mounted on sowing pedestal by plants case installing mechanism, and sowing pedestal also is provided with Connecting plate, connecting plate are equipped with the wedge block that installation is matched with wedge groove on hoisting mechanism sliding block；The plants case installing mechanism Sowing pedestal is installed in parallel in including two plants case fixed plates, by link block that two plants case fixed plates are fixedly linked and two On installation axle, the plants case is fixedly mounted in plants case fixed plate, and plants case fixed plate rear and front end, which is respectively equipped with, can be stuck in two C-shaped gap in a installation axle, at least one C-shaped gap are equipped with the clamping screw held out against on the mounting shaft, and the plants case has Multiple, each plants case bottom is equipped with sowing port, and seed wheel is equipped in the sowing port, and the seed wheel is equipped with fixed thereto be connected Driven gear, driven gear is equipped with one and is engaged with connected driving gear, the fixed peace of the driving gear of plants case bottom On same root transmission shaft, the transmission shaft is connected with sowing motor power transmission.

As an improvement, the hoisting mechanism is installed on central rack, hoisting mechanism is mainly by promotion motor, motor cabinet, cunning Block and lead screw composition, the lead screw is vertical to be mounted on the rack, and lead screw is equipped with the nut by being threadedly engaged, and is gone back in rack Equipped with the guide rail parallel with lead screw, the sliding block is mounted on guide rail, and is fixedly linked with nut, and the promotion motor passes through Motor cabinet is mounted on the rack, and promotes the output shaft and lead screw axis connection of motor, and sliding block is equipped with the wedge being connected with sowing mechanism Shape slot, the sliding block above wedge groove are equipped with connecting hole.

As an improvement, the fertilizing mechanism includes mainly being made of fertilizer box, fertile box, roller and transmission shaft, the fertilizer box Be fixedly mounted on the rack, it is described fertilizer box have it is multiple, at one column be mounted on fertilizer box bottom and be connected in fertilizer box, it is each fertilizer box It is inside equipped with a roller, all rollers are connected by the way that transmission shaft is fixed, and rotation axis is electric by the fertilising being set in fertilizer box Machine driving rotation, the fertilizer box lower section are equipped with the cross-tie parallel with transmission shaft, are equipped with a fertilising below each fertilizer box and open Ditch plough, fertilising ditching plow are mounted on cross-tie by connector, and each fertilizer cassette bottom portion's fertilizer outlet is equipped with a fertilizer hose, The fertilizer hose is extend into the groove of fertilising ditching plow bottom.

As an improvement, the connector includes pressing plate and U-shaped card hoop, the U-shaped card cuff passes through pressure on cross-tie After plate by nut fasten, fertilising ditching plow be fixedly linked with pressing plate, release fastening nut, can regulated fertilization ditching plow in cross Position on pull rod.

It is ploughed as an improvement, being equipped with sowing and ditching below the plants case sowing port, the sowing and ditching plough is parallel by two pieces Front edge of board is drawn close to form V-shape structure composition, and between two blocks of parallel plates of sowing port face, two pieces of parallel plate tail portions, which are equipped with, inclines The trailing bar tiltedly installed.

As an improvement, the transmission shaft is equipped with connected big synchronous pulley fixed thereto, sowing motor is equipped with and it The small synchronous pulley that output shaft is fixedly linked is connected between small synchronous pulley and big synchronous pulley by synchronous belt, and motor is sowed It is fixedly mounted on sowing pedestal.

As an improvement, the sowing motor is fixed on sowing motor cabinet, sowing motor cabinet is mounted on by lifting device Rear end of rack, the adjustable sowing motor height of the lifting device, so as to adjust same between small synchronous pulley and big synchronous pulley Step band tensioning degree.

As an improvement, the lifting device of installation sowing motor is one group of bolt, sowing motor cabinet is equipped with and this group of bolt The height of sowing motor cabinet can be adjusted by turning bolt in the through-hole being threadedly engaged.

The utility model beneficial effect is:

The utility model passes through each function mould using crawler body shared module as the load bearing component of other each functional modules The coordinated of block completes seeding operation task, which is made of chassis walking module, sowing module, fertilising module.It broadcasts Kind module completes essence amount sowing of vegetable, and fertilising module is then to impose appropriate agricultural fertilizer to field in seeding process, and it is fertile to increase soil Power improves percentage of seedgermination.

Detailed description of the invention

Fig. 1 is each functional module transformational relation figure of the utility model agricultural robot；

Fig. 2 is the utility model agricultural robot shared module structure chart；

Fig. 3 is hoisting mechanism structure chart；

Fig. 4 is fertilizing mechanism structural representation；

Fig. 5 is sowing mechanism structure chart；

Fig. 6 is single seeding apparatus structure chart；

Fig. 7 is the crawler body structural schematic diagram for installing sowing mechanism；

Fig. 8 is the connecting plate of sowing mechanism and the sliding block scheme of installation of hoisting mechanism.

1 rack；2 battery groups；3 hoisting mechanisms；4 expansion tightening wheels；5 crawler belts；6 chassis overhangs；7 thrust wheels；8 fertilizing mechanisms；9 Control cabinet；10 crawler bodies；12- camera；13 press wheels；1-1 promotes motor；1-2 motor cabinet；1-3 sliding block；1-4 lead screw；2-1 Fertilizer box；2-2 bearing block；2-3 fertilizer box；2-4 cross-tie；2-5 pressing plate；2-6U type clip；2-7 roller；2-8 fertilising trench digging Plough；4-1 grip block；4-2 plants case fixed plate；4-3 driven gear；4-4 driving gear 4-5 plants case；4-6 trailing bar；4-7 sowing Ditching plow；4-8 small synchronous pulley；The big synchronous pulley of 4-9；4-10 sows motor；4-11 connecting plate；4-12 line-spacing adjusting block；4- 13 link blocks；4-14 sows pedestal；4-15 sows motor cabinet.

Specific embodiment

Shared module: being mainly made of the several majors such as crawler body, rack, hoisting mechanism and fertilizing mechanism, power supply, Shared module structure chart is as shown in Figures 1 to 8.

Crawler body: conventional structure is used, for providing walking power for whole device, mainly by battery group 2, tensioner Wheel 4, crawler belt 5, chassis overhang 6, thrust wheel 7, control cabinet 9, driving wheel 10, movable motor 11 form.11 power of movable motor warp Driving wheel 10 is passed to after retarder deceleration torque increase, tooth engagement in 10 external tooth of driving wheel and crawler belt 5 drives crawler body movement.

Hoisting mechanism: as shown in figure 3, being mainly made of promotion motor 1-1, motor cabinet 1-2, sliding block 1-3, lead screw 1-4.It mentions It rises mechanism 3 and is fixed on 1 corresponding position of rack (the present embodiment is middle part), sowing mechanism is mounted on hoisting mechanism 3 by connecting plate Sliding block 1-3 on, controlled by control system and promote motor 1-1 and go up and down sliding block 1-3 along lead screw 1-4, it is adjustable to be mounted on cunning The liftoff spacing of each functional module end effector (i.e. sowing mechanism) on block 1-3.Be illustrated in figure 8 sowing mechanism connecting plate with Hoisting mechanism sliding block connection schematic diagram, for the positive connection for ensuring feed screw nut top shoe 1-3 and sowing mechanism, before sliding block 1-3 There is wedge groove on end face, also has wedge block with matching on the connecting plate connecting plate 4-11 of same sowing mechanism.Sliding block 1-3 Upper end is opened there are two through-hole, and there are two threaded holes for the wedge block upper end on sowing mechanism connecting plate 4-11, is connected by bolts cunning Block 1-3 and sowing mechanism connecting plate 4-11.Due to the effect of wedge shape, protect the stress of attachment bolt substantially during the work time Hold it is constant, to will not fail because of the vibration in operation process.

Fertilizing mechanism: as shown in figure 4, mainly by fertilizer box 2-1, bearing block 2-2, fertile box 2-3, cross-tie 2-4, pressing plate 2- 5, the composition such as U-shaped card hoop 2-6, roller 2-7, fertilising ditching plow 2-8, fertilizer-guiding plate 2-9, fertilising motor 2-10.

Entire fertilizing mechanism is bolted on 1 front end of rack, and (specially fertilizer box 2-1 is bolted on rack 1 On), the bottom the fertilizer box 2-1 is equipped with multiple fertile box 2-3 as fertile channel out, is equipped with a fertilizer in each fertilizer box 2-3 2-7 is taken turns, the roller 2-7 is surface runner with groove, and all rollers pass through the fixed series connection of a transmission shaft, rotation axis By the fertilising motor driven rotation being set in fertilizer box, the bearing block 2-2 on the left of fertilizer box 2-1 is used to be secured across in fertile box 2-3 Transmission shaft one end of portion roller 2-7, fertilising motor 2-10 are motor reducer integral structure, pass through spiral shell corresponding on retarder Fertilising motor 2-10 is fixed on the right side of fertilizer box 2-1 by keyhole, and it is solid that the transmission shaft other end passes through fertilising motor 2-10 retarder axis hole Fixed, under fertilising motor 2-10 driving, transmission shaft drives roller 2-7 rotation, realizes seeding movement, it is pointed out that this reality Applying roller 2-7 in example can also be using the rotating blanking valve for being used for blanking in the prior art.As a kind of more preferable embodiment, institute It states and is equipped with inclined fertilizer-guiding plate 2-9 in fertile box 2-3, the fertilizer-guiding plate 2-9 is located at the two sides roller 2-7 inside fertile box 2-3, uses In guiding agricultural fertilizer to roller 2-7 groove, so that agricultural fertilizer passes through the fertilizer outlet that roller 2-7 flows to fertile box 2-3, adjustment The defertilizing amount in the unit time can be changed in the motor 2-10 revolving speed that applies fertilizer.Each fertilizer cassette bottom portion is corresponding to be equipped with a fertilising trench digging 2-8 is ploughed, fertilising ditching plow 2-8 can select triangle ditching plow conventional in the prior art, and fertilising ditching plow 2-8 passes through pressing plate 2-5, U-shaped card hoop 2-6 are fixed on the corresponding position cross-tie 2-4, and the U-shaped card cuff passes through pressing plate on cross-tie 2-4 After 2-5 by nut fasten, fertilising ditching plow 2-8 and pressing plate 2-5 be fixedly linked, release fastening nut, can regulated fertilization open Position of the ditch plough 2-8 on cross-tie 2-4；Plastics defertilizing tube (i.e. bellows, tool are connected at the fertilizer outlet of the lower end fertile box 2-3 Body can be plastic flexible pipe or bellows), defertilizing tube lower part is embedded in along the vertical direction in fertilising ditching plow 2-8 groove, always It extends in fertilising ditching plow 2-8 bottom-rear groove, due to the good plasticity of defertilizing tube, for different spacings fertilizer operation When, each fertilising ditching plow 2-8 spacing on cross-tie 2-4 only need to be adjusted, without changing fertile box 2-3 installation site.Fertilising Process is realized in operation: for operator by crop row away from requirement, regulating each fertilising ditching plow 2-8 spacing is that agricultural fertilizer is avoided to burn kind to death Seedling, fertile ditch and kind ditch are generally different ditches, and be staggered certain distance between each other.And embedded depth, in Robot crop row During traveling, fertilising ditching plow 2-8, which buries, outputs certain depth fertilizer ditch, and agricultural fertilizer goes out fertilizer from fertile box 2-3 through roller 2-7 Mouth discharge, and Fei Gou is discharged into along defertilizing tube.

Power supply: electric energy needed for the robot works will be stored both from battery group 2 by DC-DC voltage transformation module 2 voltage of battery pack is converted into voltage rating needed for each electrical equipment of robot works.

Sowing mechanism: as shown in Figure 5 and Figure 6, mainly by grip block 4-1, plants case fixed plate 4-2, transmission gear 4-3, master Moving gear 4-4, plants case 4-5, trailing bar 4-6, sowing and ditching plough 4-7, small pulley 4-8, big belt wheel 4-9, sowing motor 4-10, connect The compositions such as fishplate bar 4-11, line-spacing adjusting block 4-12, link block 4-13, sowing pedestal 4-14.

Grip block 4-1 is for being clamped in 1 corresponding position guide post of rack, playing lifting guiding and reducing sowing mechanism operation The effect vibrated in the process.

The sowing mechanism can be required according to different spacings, sow four to six row crops, single dispenser as shown in fig. 6, Sowing mechanism is installed on 3 sliding block 1-3 of hoisting mechanism by connecting plate 4-11, passes through the vertical height-adjustable of adjusting slider 1-3 Sowing mechanism sowing and ditching ploughs the liftoff spacing of 4-7, specifically: sowing pedestal 4-14 is equipped with connecting plate 4-11, connecting plate 4-11 It is equipped with the wedge block that installation is matched with wedge groove on the sliding block 1-3 of hoisting mechanism 3；The plants case 4-5 is installed by plants case Mechanism is mounted on sowing pedestal 4-14, and the plants case installing mechanism is fixed including two plants case fixed plate 4-2, by two plants cases The link block 4-13 and two installation axles being installed in parallel on sowing pedestal 4-14, plants case 4-5 that plate 4-2 is fixedly linked are logical Too short pin is mounted between two plants case fixed plate 4-2；Plants case fixed plate 4-2 is rectangle structure, and it is solid that rear and front end is provided with card slot Determine on the mounting shaft, link block 4-13 is between two plants case fixed plate 4-2, for connecting three.Line-spacing adjusting block 4-12 is mounted on the outside of plants case fixed plate 4-2 and with link block 4-13 in the same end, by lag bolt by line-spacing adjusting block 4-12, Plants case fixed plate 4-2 and link block 4-13 are connected, and the plants case rear end fixed plate 4-2 is equipped with the C that can be stuck in rear side installation axle Type notch, the line-spacing front end adjusting block 4-12 is equipped with the C-shaped gap that can be stuck on installed in front axis, wherein after plants case fixed plate 4-2 Straight down, the C-shaped gap of the front end line-spacing adjusting block 4-12 is horizontal direction to the C-shaped gap at end, and in line-spacing adjusting block 4-12 Front end is equipped with the clamping screw that can be screwed into C-shaped gap, and when clamping screw is tightened, front end is held out against can consolidate on the mounting shaft Determine the relative position of plants case fixed plate 4-2 on the mounting shaft, therefore works as and adjust the relative position of plants case 4-5 on the mounting shaft Afterwards, the relative position plants case 4-5 can be fixed by tightening clamping screw.

The plants case 4-5 has multiple, and the bottom each plants case 4-5 is equipped with sowing port, and seed wheel, institute are equipped in the sowing port Seed wheel is stated to be equipped with one equipped with connected driven gear 4-3 fixed thereto, driven gear 4-3 and be engaged with connected active The driving gear 4-4 of the bottom gear 4-4, plants case 4-5 is fixedly mounted on same root transmission shaft, the transmission shaft and sowing motor Power transmission is connected, and specially the transmission shaft is equipped with connected big synchronous pulley 4-9 fixed thereto, sows and sets on motor 4-10 There is the small synchronous pulley 4-8 being fixedly linked with its output shaft, passes through synchronization between small synchronous pulley 4-8 and big synchronous pulley 4-9 Band is connected, and sowing motor 4-10 is fixedly mounted on sowing pedestal 4-14.

It is equipped with sowing and ditching below the sowing port of the plants case 4-5 and ploughs 4-7, the sowing and ditching plough 4-7 is parallel by two pieces Front edge of board draw close to form V-shape structure composition, between two blocks of parallel plates of sowing port face, two pieces of parallel plate tail portions are equipped with Tilt the trailing bar 4-6 of installation.

Sowing power transmitting: sowing motor 4-10 output torque is transferred to big synchronous pulley 4-9 through small synchronous pulley 4-8, The driving gear 4-4 rotation on transmission shaft is driven, seed wheel is logical in the driven gear 4-3 and plants case 4-5 of the side plants case 4-5 It crosses short axle to be connected, driven gear 4-3 is engaged with driving gear 4-4 drives coaxial seed wheel rotation, completes seeding movement, owns The driving gear 4-4 of seeder is installed on a transmission shaft, and with the driven gear 4-3 on the seed shaft of each seeder Engagement.The sowing and ditching plough front end 4-7 long axis passes through axis hole in the middle part of link block 4-13 and fixes, and adjustment long axis vertical displacement is adjustable to be broadcast Kind ditching plow 4-7 embedded depth, trailing bar 4-6 are installed on the sowing and ditching plough end 4-7, and earthing power is fixed on short pin from it pacifies The helical spring of dress.Line-spacing adjusting block 4-12, plants case fixed plate 4-2, link block 4-13, plants case 4-5, transmission gear 4-3, active Gear 4-4, trailing bar 4-6, the sowing and ditching plough parts such as 4-7 constitute one group of dispenser, the sowing mechanism as shown in Figure 5 this Tetra- groups of dispensers of Shi Gongyou can sow four row crops simultaneously in operation process, and sowing line-spacing adjusting is by adjusting line-spacing Clamping screw on adjusting block 4-12 changes what the axial spacing between each group dispenser was realized.

It may be noted that the present embodiment in seed wheel seed wheel in the prior art can be used, can also using rotation under Expect valve or surface idler wheel with groove.

It additionally needs and is pointed out that in the present embodiment, sowing motor 4-10 is fixed on sowing motor cabinet 4-15, sowing electricity Base 4-15 is mounted on 1 rear end of rack by lifting device, the adjustable sowing motor 4-10 height of the lifting device, thus Synchronous belt tensioning degree between small synchronous pulley 4-8 and big synchronous pulley 4-9 is adjusted, the lifting device is one group in the present embodiment Bolt adjusts sowing motor cabinet 4-15 height by one group of bolt, so that sowing motor 4-10 height is adjusted, to reach tensioning The purpose of synchronous belt has been sowed in addition it can which press wheel 13 is arranged in the tail end of the tail end of rack 1 or sowing pedestal 4-14 Afterwards, earthing compacting is carried out with press wheel 13 immediately, can effectively guarantees that germination bears rate.

Additionally need and be pointed out that: in the present embodiment, wedge-shaped groove structure is corresponding on sowing mechanism on hoisting mechanism sliding block Wedge block guarantees firm connection between the two by bevel edge effect.

Control system: the various functions of robot are automatically performed in the United Dispatching of control system and coordination, control system It include: each motor control module, image variants module, power supply monitoring module, communication module and remote control module etc.. Control system major function includes:

1. chassis travelling control: realize the robot ambulations functions such as agricultural robot advance, retrogressing, left and right turn, and The control of robot straight line autonomous.

2. sowing, fertilising operation control: when seeding operation, realizing sowing motor start and stop and speed control.When fertilising operation, Realize fertilizer motor start-up and shut-down control.

3. image variants module: control camera acquires field image, to understand the operating condition at scene.

4. power supply monitoring module: real-time monitoring is carried out to electric quantity of power supply, real-time monitoring is carried out to battery group, when voltage or After charge value is lower than setting value, warning note is carried out at once, and staff's electric quantity of power supply deficiency is reminded to need charging in time.

5. communication module: by wireless receiving module, receiving the control instruction signal issued from remote control controller.

6. remote control module: receiving the command signal from remote controller key, and it is sent out by wireless transmitter module Give multi-function robot.

Claims (8)

1. a kind of agricultural robot of essence amount sowing of vegetable, including rack and as the crawler body of walking power, the rack It is fixed on crawler body, it is characterised in that: the rack is equipped with hoisting mechanism and dismountable fertilizing mechanism and sowing Mechanism, the fertilizing mechanism are installed on front end of rack, for arable land or Crops in Applying Fertilizer；The sowing mechanism include plants case, Pedestal and sowing motor are sowed, the plants case is mounted on sowing pedestal by plants case installing mechanism, and sowing pedestal also is provided with connecting Fishplate bar, connecting plate are equipped with the wedge block that installation is matched with wedge groove on hoisting mechanism sliding block；The plants case installing mechanism packet It includes two plants case fixed plates, be installed in parallel in link block that two plants case fixed plates are fixedly linked and two on sowing pedestal Installation axle, the plants case is fixedly mounted in plants case fixed plate, and plants case fixed plate rear and front end, which is respectively equipped with, can be stuck in two C-shaped gap in installation axle, at least one C-shaped gap are equipped with the clamping screw held out against on the mounting shaft, and the plants case has more A, each plants case bottom is equipped with sowing port, and seed wheel is equipped in the sowing port, and the seed wheel is equipped with fixed thereto connected Driven gear, driven gear are equipped with one and are engaged with connected driving gear, and the driving gear of plants case bottom is fixedly mounted On same root transmission shaft, the transmission shaft is connected with sowing motor power transmission.

2. agricultural robot as described in claim 1, it is characterised in that: the hoisting mechanism is installed on central rack, is promoted Mechanism is mainly made of promotion motor, motor cabinet, sliding block and lead screw, and the lead screw is vertical to be mounted on the rack, and is set on lead screw There is the nut by being threadedly engaged, the guide rail parallel with lead screw is additionally provided in rack, the sliding block is mounted on guide rail, and with Nut is fixedly linked, and the promotion motor is mounted on the rack by motor cabinet, promotes the output shaft and lead screw axis connection of motor, Sliding block is equipped with the wedge groove being connected with sowing mechanism, and the sliding block above wedge groove is equipped with connecting hole.

3. agricultural robot as claimed in claim 2, it is characterised in that: the fertilizing mechanism include mainly by fertilizer box, fertile box, Roller and transmission shaft composition, the fertilizer box are fixedly mounted on the rack, and the fertilizer box has multiple, are mounted on fertilizer box bottom at a column Portion and be connected in fertilizer box, be equipped with a roller in each fertilizer box, all rollers by the fixed series connection of transmission shaft, turn Moving axis is rotated by the fertilising motor driven being set in fertilizer box, and the cross-tie parallel with transmission shaft is equipped with below the fertilizer box, A fertilising ditching plow is equipped with below each fertilizer box, fertilising ditching plow is mounted on cross-tie by connector, each fertilizer box Bottom fertilizer outlet is equipped with a fertilizer hose, and the fertilizer hose is extend into the groove of fertilising ditching plow bottom.

4. agricultural robot as claimed in claim 3, it is characterised in that: the connector includes pressing plate and U-shaped card hoop, described U-shaped card cuff is fastened after passing through pressing plate by nut on cross-tie, and fertilising ditching plow is fixedly linked with pressing plate, is unclamped tight Gu nut, can position of the regulated fertilization ditching plow on cross-tie.

5. agricultural robot as claimed in claim 4, it is characterised in that: be equipped with sowing and ditching below the plants case sowing port Plough, sowing and ditching plough is drawn close by two pieces of parallel front edge of board forms V-shape structure composition, and two pieces of sowing port face parallel Between plate, two pieces of parallel plate tail portions are equipped with the trailing bar of inclination installation.

6. agricultural robot as claimed in claim 5, it is characterised in that: the transmission shaft is equipped with fixed thereto connected big Synchronous pulley, sowing motor are equipped with the small synchronous pulley being fixedly linked with its output shaft, small synchronous pulley and big synchronous pulley Between by synchronous belt be connected, sowing motor be fixedly mounted on sowing pedestal on.

7. agricultural robot as claimed in claim 6, it is characterised in that: the sowing motor is fixed on sowing motor cabinet, It sows motor cabinet and rear end of rack is mounted on by lifting device, the adjustable sowing motor height of the lifting device, so as to adjust Synchronous belt tensioning degree between small synchronous pulley and big synchronous pulley.

8. agricultural robot as claimed in claim 7, it is characterised in that: the lifting device of installation sowing motor is one group of spiral shell Bolt, sowing motor cabinet are equipped with the through-hole cooperated with this group of bolt thread, and by turning bolt, sowing motor cabinet can be adjusted Highly.