A garden shrub pruning and maintenance robot

Abstract

A kind of garden shrub pruning and maintenance robot, comprising: mobile part, the function of overall support and the function of controlling robot movement are set with base, main connecting shaft, walking track on it;Telescopic part is installed above mobile part, control this part to carry out inclination and telescopic operation, such as adjusting the height and inclination angle of pruning part and watering part, automatic positioning is realized;Watering part is installed above telescopic part, through watering part control water gun aims at specified site to carry out watering to shrub, realizes full-automatic watering process;Rough pruning part and fine pruning part are installed above telescopic part, through rough pruning part and fine pruning part, the shape of shrub is pruned and maintained, realizes full-automatic pruning and maintenance process.

Description

Technical Field

[0001] This invention relates to the field of garden and horticulture automation technology, and in particular to a garden shrub pruning and maintenance robot. Background Technology

[0002] Shrubs in gardens need frequent watering and pruning. Because the leaves need to be pruned to a certain shape, regular minor pruning and maintenance are required. Currently, watering and pruning garden shrubs are mainly done manually. The repetitive pruning and watering work is labor-intensive and tedious, especially in the hot summer. Pruning and watering a large number of garden shrubs is an extremely hard task. Therefore, there is an urgent need for a fully automated garden shrub pruning and maintenance robot to replace manual labor in the above tasks. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides a garden shrub pruning and maintenance robot. The robot's moving part moves to the vicinity of the shrub requiring maintenance, improving automation. The telescopic part controls the tilting and extension of the pruning and watering parts, adjusting their height and tilt angle for automatic positioning. The watering part controls the water gun to aim at designated areas and water the shrubs, achieving a fully automatic watering process. The coarse pruning and fine pruning parts trim and maintain the shape of the shrubs, achieving a fully automatic pruning and maintenance process.

[0004] The technical solution used in this invention is: a garden shrub pruning and maintenance robot, characterized in that it includes: a moving part and a control device, wherein the moving part provides overall support and drives the robot to move through a walking track; the control device is fixedly installed on the moving part and includes a control panel and a PLC controller for controlling the automated operation of the entire device.

[0005] A telescopic part is rotatably mounted on the movable part, and a watering part, a coarse pruning part, and a fine pruning part are mounted above the telescopic part; the height and tilt angle of the watering part, the coarse pruning part, and the fine pruning part can be adjusted by tilting and extending the telescopic part; the watering part waters the shrubs with a water gun; the coarse pruning part and the fine pruning part trim and maintain the shape of the shrubs.

[0006] Furthermore, the movable part also includes: an upper base, a main connecting shaft, a wheel drive motor, a first transmission belt, a transmission wheel sleeve, a drive wheel, a movable bracket, a wheel sleeve, a driven wheel, a base rotary motor, a first gear, a second gear, and a circular bearing seat; the wheel drive motor, the circular bearing seat, and the base rotary motor are fixedly mounted on the movable bracket, and the drive wheel and the driven wheel are rotatably mounted on the movable bracket via rolling bearings; the upper base and the circular bearing seat are rotatably mounted via rolling bearings; the first gear is fixedly mounted on the motor shaft of the base rotary motor, and the second gear is fixedly mounted on the upper base, with the first gear meshing with the second gear; the transmission wheel sleeve is fixedly mounted on the outside of the drive wheel, and the first transmission belt is wrapped around the outside of the transmission wheel sleeve and the motor shaft of the wheel drive motor; the wheel sleeve is fixedly mounted on the outside of the drive wheel and the driven wheel, and the walking track is wrapped around the outside of multiple wheel sleeves.

[0007] Furthermore, the telescopic part also includes: a drive rod, a water spraying and trimming angle adjustment cylinder, a rotating disk, a lifting top plate, a third gear, a rotating disk motor, a fourth gear, an outer telescopic rod, an inner telescopic rod, a lifting motor, a fifth gear, a rack, a fixed telescopic seat, a movable telescopic seat, a lifting chassis, and a chassis angle adjustment cylinder; the lifting chassis and the upper base of the movable part are rotatably mounted via the main connecting shaft of the movable part; the top of the chassis angle adjustment cylinder is rotatably mounted to the lifting chassis, and the bottom is rotatably mounted to the upper base; one end of the drive rod and the water spraying and trimming angle adjustment cylinder is rotatably mounted to the rotating disk; the rotating disk and the lifting top plate are rotatably mounted via rolling bearings, and the rotating disk motor is fixedly mounted on the lifting top plate. The fourth gear is fixedly installed on the motor shaft of the rotating disk motor, and the third gear is fixedly installed on the rotating disk. The third gear meshes with the fourth gear. The uppermost outer telescopic rod and inner telescopic rod are rotatably installed on the lifting top plate, and their lower ends are rotatably installed on the inner telescopic rod and outer telescopic rod respectively. The middle outer telescopic rod and inner telescopic rod are rotatably installed relative to each other. The lowermost outer telescopic rod is rotatably installed on the movable telescopic seat, and the lower end of the inner telescopic rod is rotatably installed on the fixed telescopic seat. The rack and fixed telescopic seat are fixedly installed on the lifting chassis, and the movable telescopic seat is slidably installed on the lifting chassis. The lifting motor is fixedly installed on the movable telescopic seat. The fifth gear is fixedly installed on the motor shaft of the lifting motor, and the fifth gear meshes with the rack.

[0008] Furthermore, the water spraying section also includes: a double-row connecting rod, a water gun adjusting motor, a sixth gear, and a seventh gear; one end of the double-row connecting rod is rotatably mounted on the drive rod of the telescopic section, and the other end is rotatably mounted on the water spraying and trimming angle adjusting cylinder of the telescopic section; the water gun adjusting motor is fixedly mounted on the double-row connecting rod, and the water gun and the double-row connecting rod are rotatably mounted through rolling bearings; the sixth gear is fixedly mounted on the motor shaft of the water gun adjusting motor, and the seventh gear is fixedly mounted on the water gun, with the sixth gear meshing with the seventh gear.

[0009] Furthermore, the coarse trimming section also includes: a double-layer triangular plate, a triangular plate adjusting electric cylinder, a movable irregular rod, an end rod adjusting electric cylinder, a rotating end rod, a rotating end adjusting motor, an eighth gear, a ninth gear, a rotating end rod, a cutting wheel angle adjusting motor, a second transmission belt, a motor rotating seat, a cutting wheel rotating motor, a cutting wheel sleeve, and a large cutting wheel; one end of the double-layer triangular plate is rotatably mounted on the drive rod of the telescopic section, and the other end is rotatably mounted on the water-spraying trimming angle adjusting electric cylinder of the telescopic section; the bottom of the triangular plate adjusting electric cylinder is fixedly mounted on the double-layer triangular plate, the movable irregular rod is slidably mounted on the double-layer triangular plate, and the rotating end rod is rotatably mounted on the double-layer triangular plate; the movable irregular rod is fixedly mounted on the top of the triangular plate adjusting electric cylinder, and the end rod is adjusted... The top of the electric cylinder is rotatably mounted to the rotating end rod, and the bottom is rotatably mounted to the movable irregular rod; the rotating end adjusting motor is fixedly mounted to the rotating end rod, and the rotating end is rotatably mounted to the rotating end rod; the eighth gear is fixedly mounted on the motor shaft of the rotating end adjusting motor, and the ninth gear is fixedly mounted on the rotating end, with the eighth gear meshing with the ninth gear; the cutting wheel angle adjusting motor is fixedly mounted on the rotating end, and the motor rotating seat is rotatably mounted to the rotating end; the second transmission belt is wrapped around the outside of the motor shaft of the cutting wheel angle adjusting motor and the motor rotating seat; the cutting wheel rotating motor is fixedly mounted on the motor rotating seat, the large cutting wheel is fixedly mounted on the motor shaft of the cutting wheel rotating motor, and the cutting wheel sleeve is fixedly mounted on the motor shaft of the cutting wheel rotating motor.

[0010] Furthermore, the fine trimming section includes a small cutting wheel, and the rest of the structure is the same as that of the coarse trimming section. The small cutting wheel is fixedly mounted on the motor shaft of the cutting wheel rotation motor.

[0011] The beneficial effects of this invention are:

[0012] 1. The moving part of this invention can achieve fully automatic movement and rotation of the upper part of the robot relative to the moving part, enabling the robot to move and rotate;

[0013] 2. The present invention allows the three working ends of the robot to tilt relative to the vertical direction through the telescopic part, and can perform telescopic, rotating and other actions, which greatly increases the degree of freedom of the working ends;

[0014] 3. The water spraying part of this invention is equipped with a water gun, which can adjust the spraying direction to make the spraying range wider;

[0015] 4. The coarse trimming section and the fine trimming section of this invention are composed of parallel robotic arms, and can perform multi-directional rotation operations, which improves the degree of freedom of trimming;

[0016] 5. The difference between the coarse trimming part and the fine trimming part of this invention lies in the size of the cutting wheel used, and the cutting wheels of both parts can be replaced. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 , Figure 3 This is a schematic diagram of the structure of the movable part of the present invention.

[0019] Figure 4 , Figure 5 This is a schematic diagram of the telescopic part of the present invention.

[0020] Figure 6 This is a schematic diagram of the water spraying part of the present invention.

[0021] Figure 7 , Figure 8 This is a schematic diagram of the coarse trimming part of the present invention.

[0022] Figure 9 This is a schematic diagram of the structure of the fine trimming part of the present invention.

[0023] Reference numerals: 1-Moving part, 2-Telescopic part, 3-Sprinkling part, 4-Coarse trimming part, 5-Fine trimming part, 101-Upper base, 102-Main connecting shaft, 103-Wheel drive motor, 104-First transmission belt, 105-Transmission wheel sleeve, 106-Drive wheel, 107-Moving bracket, 108-Traveling track, 109-Wheel sleeve, 110-Driven wheel, 111-Base rotation motor, 112-First gear, 113-Second gear, 114-Circular bearing seat, 201-Drive rod, 202-Sprinkling and trimming angle adjustment cylinder, 203-Rotating disc, 204-Lifting top plate, 205-Third gear, 206-Rotating disc rotation motor, 207-Fourth gear, 208-Outer telescopic rod, 209-Inner telescopic rod, 210-Lifting motor, 21 1-Fifth gear, 212-Rack, 213-Fixed telescopic seat, 214-Moving telescopic seat, 215-Lifting chassis, 216-Chassis angle adjustment electric cylinder, 301-Double row connecting rod, 302-Water gun adjustment motor, 303-Sixth gear, 304-Seventh gear, 305-Water gun, 401-Double layer triangular plate, 402-Triangular plate adjustment electric cylinder, 403-Moving irregular rod, 404-End rod adjustment electric cylinder, 405-Rotating end rod, 406-Rotating end adjustment motor, 407-Eighth gear, 408-Ninth gear, 409-Rotating end, 410-Cutting wheel angle adjustment motor, 411-Second transmission belt, 412-Motor rotating seat, 413-Cutting wheel rotation motor, 414-Cutting wheel sleeve, 415-Large cutting wheel, 501-Small cutting wheel. Detailed Implementation

[0024] The technical solution of the present invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. Example

[0025] like Figure 1 , Figure 2 and Figure 6 As shown, a garden shrub pruning and maintenance robot includes: a mobile part 1 and a control device. The mobile part 1 provides overall support and is driven by a walking track 108. The control device is fixedly installed on the mobile part 1 and includes a control panel and a PLC controller for controlling the automated operation of the entire device. A telescopic part 2 is rotatably mounted on the mobile part 1, and a watering part 3, a coarse pruning part 4, and a fine pruning part 5 are mounted above the telescopic part 2. The telescopic part 2 adjusts the height and tilt angle of the watering part 3, the coarse pruning part 4, and the fine pruning part 5 through tilting and telescopic operations. The watering part 3 waters the shrubs using a water gun 305. The coarse pruning part 4 and the fine pruning part 5 irrigate the shrubs. The equipment is used for pruning and maintaining the shape of the shrubs. A control program is written in the PLC of the control device as needed. The equipment is operated by manipulating the control panel. The entire process is automated. The moving part 1 moves to the vicinity of the shrubs to be maintained. The telescopic part 2 controls the tilting and telescopic operations of this part, adjusting the height and tilt angle of the coarse pruning part 4, fine pruning part 5, and watering part 3 to achieve automatic positioning. The watering part 3 controls the water gun 305 to aim at the designated area and water the shrubs, achieving a fully automatic watering process. The coarse pruning part 4 and fine pruning part 5 prune and maintain the shape of the shrubs, achieving a fully automatic pruning and maintenance process.

[0026] In the optional solutions of this embodiment, such as Figure 2 and Figure 3As shown, the movable part 1 also includes: an upper base 101, a main connecting shaft 102, a wheel drive motor 103, a first transmission belt 104, a transmission wheel sleeve 105, a drive wheel 106, a movable bracket 107, a wheel sleeve 109, a driven wheel 110, a base rotation motor 111, a first gear 112, a second gear 113, and a circular bearing seat 114; the wheel drive motor 103, the circular bearing seat 114, and the base rotation motor 111 are fixedly mounted on the movable bracket 107, and the drive wheel 106 and the driven wheel 110 are rotatably mounted on the movable bracket 107 via rolling bearings; the upper base 101 and the circular bearing seat 114 are rotatably mounted via rolling bearings, so that the upper base 101 can rotate relative to the movable bracket 107; the first gear 112 is fixedly mounted on... On the motor shaft of the base rotary motor 111, the second gear 113 is fixedly mounted on the upper base 101, and the first gear 112 meshes with the second gear 113; the transmission wheel sleeve 105 is fixedly mounted on the outside of the drive wheel 106, and the first transmission belt 104 is wrapped around the outside of the transmission wheel sleeve 105 and the motor shaft of the wheel drive motor 103; the wheel sleeve 109 is fixedly mounted on the outside of the drive wheel 106 and the driven wheel 110, and the walking track 108 is wrapped around the outside of multiple wheel sleeves 109; the walking track 108 is symmetrically distributed on both sides, and one drive wheel 106 and three driven wheels 110 are provided on one side, making the walking more stable; the moving part 1 can realize fully automatic movement and the rotation of the upper part of the robot relative to the moving part, so that the robot can move and rotate.

[0027] In the optional solutions of this embodiment, such as Figure 4 and Figure 5As shown, the telescopic part 2 also includes: a drive rod 201, a water spraying and trimming angle adjustment cylinder 202, a rotating disk 203, a lifting top plate 204, a third gear 205, a rotating disk motor 206, a fourth gear 207, an outer telescopic rod 208, an inner telescopic rod 209, a lifting motor 210, a fifth gear 211, a rack 212, a fixed telescopic seat 213, a movable telescopic seat 214, a lifting chassis 215, and a chassis angle adjustment cylinder 216; the lifting chassis 215 is rotatably mounted to the upper base 101 of the moving part 1 via the main connecting shaft 102 of the moving part 1. The top of the electric cylinder 216 for adjusting the disc angle is rotatably mounted to the lifting base 215, and the bottom is rotatably mounted to the upper base 101. One end of the drive rod 201 and the electric cylinder 202 for adjusting the water spraying and trimming angle are rotatably mounted to the rotating disc 203. The rotating disc 203 and the lifting top plate 204 are rotatably mounted via rolling bearings. The rotating disc rotary motor 206 is fixedly mounted on the lifting top plate 204, allowing the rotating disc 203 to rotate relative to the lifting top plate 204. The fourth gear 207 is fixedly mounted on the motor shaft of the rotating disc rotary motor 206, and the third gear 205 is fixedly mounted on the rotating disc 203. The third gear 205 meshes with the fourth gear 207; the uppermost outer telescopic rod 208 and inner telescopic rod 209 are rotatably mounted to the lifting top plate 204 at their upper ends, and rotatably mounted to the inner telescopic rod 209 and outer telescopic rod 208 respectively at their lower ends; the middle outer telescopic rod 208 and inner telescopic rod 209 are rotatably mounted to each other; the lower end of the lower outer telescopic rod 208 is rotatably mounted to the movable telescopic seat 214, and the lower end of the inner telescopic rod 209 is rotatably mounted to the fixed telescopic seat 213; the telescopic rods on both sides are symmetrically distributed, with three outer telescopic rods 208 and three inner telescopic rods 209 on each side, enabling the lifting... The top plate 204 can extend and retract relative to the lifting base 215; the rack 212 and the fixed telescopic seat 213 are fixedly installed on the lifting base 215, the movable telescopic seat 214 is slidably installed on the lifting base 215, and the lifting motor 210 is fixedly installed on the movable telescopic seat 214; the fifth gear 211 is fixedly installed on the motor shaft of the lifting motor 210, and the fifth gear 211 meshes with the rack 212; through the telescopic part 2, the three working ends of the robot can be tilted relative to the vertical direction, and can perform telescopic, rotation and other actions, which greatly increases the degree of freedom of the working ends.

[0028] In the optional solutions of this embodiment, such as Figure 6As shown, the water spraying section 3 also includes: a double-row connecting rod 301, a water gun adjusting motor 302, a sixth gear 303, and a seventh gear 304; one end of the double-row connecting rod 301 is rotatably mounted on the drive rod 201 of the telescopic section 2, and the other end is rotatably mounted on the water spraying and trimming angle adjusting cylinder 202 of the telescopic section 2; the water gun adjusting motor 302 is fixedly mounted on the double-row connecting rod 301, and the water gun 305 is rotatably mounted on the double-row connecting rod 301 through a rolling bearing; the sixth gear 303 is fixedly mounted on the motor shaft of the water gun adjusting motor 302, and the seventh gear 304 is fixedly mounted on the water gun 305, with the sixth gear 303 and the seventh gear 304 meshing; the water spraying section 3 is equipped with a water gun 305, which can adjust the spraying direction to make the spraying range wider.

[0029] In the optional solutions of this embodiment, such as Figure 7 and Figure 8As shown, the coarse trimming section 4 also includes: a double-layer triangular plate 401, a triangular plate adjusting electric cylinder 402, a moving irregular rod 403, an end rod adjusting electric cylinder 404, a rotating end rod 405, a rotating end adjusting motor 406, an eighth gear 407, a ninth gear 408, a rotating end rod 409, a cutting wheel angle adjusting motor 410, a second transmission belt 411, a motor rotating seat 412, a cutting wheel rotating motor 413, a cutting wheel sleeve 414, and a large cutting wheel 415; one end of the double-layer triangular plate 401 is rotatably mounted on the drive rod 201 of the telescopic section 2, and the other end is rotatably mounted on the water spray trimming angle of the telescopic section 2. The adjustment cylinder 202 is mounted on the upper part of the triangular plate adjustment cylinder 402; the bottom of the triangular plate adjustment cylinder 402 is fixedly mounted on the double-layer triangular plate 401; the movable irregular rod 403 is slidably mounted on the double-layer triangular plate 401; the rotating end rod 405 is rotatably mounted on the double-layer triangular plate 401; the movable irregular rod 403 is fixedly mounted on the top of the triangular plate adjustment cylinder 402; the top of the end rod adjustment cylinder 404 is rotatably mounted on the rotating end rod 405, and the bottom is rotatably mounted on the movable irregular rod 403; the rotating end adjustment motor 406 is fixedly mounted on the rotating end rod 405; the rotating end 409 is rotatably mounted on the rotating end rod 405; the eighth gear 407 is fixedly mounted on... The ninth gear 408 is fixedly mounted on the motor shaft of the rotating end adjustment motor 406, and the eighth gear 407 meshes with the ninth gear 408. The cutting wheel angle adjustment motor 410 is fixedly mounted on the rotating end 409, and the motor rotating seat 412 is rotatably mounted on the rotating end 409. The second transmission belt 411 is wrapped around the outside of the motor shaft of the cutting wheel angle adjustment motor 410 and the motor rotating seat 412, so that the motor rotating seat 412 can rotate in four directions relative to the rotating end rod 405, greatly increasing the degree of freedom. The cutting wheel rotation motor 413 is fixedly mounted on the motor rotating seat 41. 2. The large cutting wheel 415 is fixedly mounted on the motor shaft of the cutting wheel rotary motor 413, and the cutting wheel sleeve 414 is fixedly mounted on the motor shaft of the cutting wheel rotary motor 413. The large cutting wheel 415 can be replaced by removing the cutting wheel sleeve 414. The cutting wheel sleeve 414 serves to fix the large cutting wheel 415 and prevent it from flying out. The coarse trimming part 4 and the fine trimming part 5 are composed of parallel robotic arms and can perform multi-directional rotation operations, which improves the degree of freedom of trimming. The difference between the coarse trimming part 4 and the fine trimming part 5 is that the cutting wheels used are different in size, and the cutting wheels of both parts can be replaced.

[0030] In the optional solutions of this embodiment, such as Figure 9 As shown, the fine trimming part 5 includes a small cutting wheel 501, and the rest of the structure is the same as that of the coarse trimming part. The small cutting wheel 501 is fixedly installed on the motor shaft of the cutting wheel rotation motor.

[0031] The coarse trimming section 4 and the fine trimming section 5 are composed of parallel robotic arms and can perform multi-directional rotation operations, which improves the degree of freedom of trimming. The difference between the coarse trimming section 4 and the fine trimming section 5 is that the cutting wheels used are different in size, and the cutting wheels of both parts can be replaced.

Claims

1. A garden shrub pruning and maintenance robot, characterized in that, include: The mobile part (1) and the control device, wherein the mobile part (1) provides overall support and drives the robot to move through the walking track (108); The control device is fixedly installed on the mobile part (1), and includes a control panel and a PLC controller to control the automated operation of the entire device; The movable part (1) is rotatably mounted with a telescopic part (2), and a water spraying part (3), a coarse trimming part (4) and a fine trimming part (5) are mounted above the telescopic part (2). The telescopic part (2) adjusts the height and tilt angle of the water spraying part (3), the coarse trimming part (4), and the fine trimming part (5) through tilting and telescopic operations; The watering section (3) waters the shrubs using a water gun (305); The coarse pruning section (4) and the fine pruning section (5) prune and maintain the shape of the shrub; The water spraying part (3) also includes: a double-row connecting rod (301), a water gun adjustment motor (302), a sixth gear (303) and a seventh gear (304); One end of the double-row connecting rod (301) is rotatably mounted on the drive rod (201) of the telescopic part (2), and the other end is rotatably mounted on the water spraying and trimming angle adjustment cylinder (202) of the telescopic part (2); The water gun adjustment motor (302) is fixedly installed on the double-row connecting rod (301), and the water gun (305) is rotatably installed on the double-row connecting rod (301) through a rolling bearing; The sixth gear (303) is fixedly installed on the motor shaft of the water gun adjusting motor (302), and the seventh gear (304) is fixedly installed on the water gun (305). The sixth gear (303) meshes with the seventh gear (304). The coarse trimming section (4) also includes: a double-layer triangular plate (401), a triangular plate adjusting electric cylinder (402), a moving irregular rod (403), an end rod adjusting electric cylinder (404), a rotating end rod (405), a rotating end adjusting motor (406), an eighth gear (407), a ninth gear (408), a rotating end (409), a cutting wheel angle adjusting motor (410), a second transmission belt (411), a motor rotating seat (412), a cutting wheel rotating motor (413), a cutting wheel sleeve (414), and a large cutting wheel (415). One end of the double-layer triangular plate (401) is rotatably mounted on the drive rod (201) of the telescopic part (2), and the other end is rotatably mounted on the water spraying and trimming angle adjustment electric cylinder (202) of the telescopic part (2); The bottom of the triangular plate adjusting electric cylinder (402) is fixedly installed on the double-layer triangular plate (401), the movable irregular rod (403) is slidably installed with the double-layer triangular plate (401), and the rotating end rod (405) is rotatably installed with the double-layer triangular plate (401). The top of the movable irregular rod (403) is fixedly installed with the triangular plate adjusting electric cylinder (402), the top of the end rod adjusting electric cylinder (404) is rotatably installed with the rotating end rod (405), and the bottom is rotatably installed with the movable irregular rod (403); The rotating end adjustment motor (406) and the rotating end rod (405) are fixedly installed, and the rotating end (409) and the rotating end rod (405) are rotatably installed; The eighth gear (407) is fixedly installed on the motor shaft of the rotating end adjusting motor (406), and the ninth gear (408) is fixedly installed on the rotating end (409). The eighth gear (407) meshes with the ninth gear (408). The cutting wheel angle adjustment motor (410) is fixedly installed on the rotating end (409), and the motor rotating seat (412) is rotatably installed on the rotating end (409); The second transmission belt (411) is wrapped around the outside of the motor shaft and the motor rotating seat (412) of the cutting wheel angle adjustment motor (410); The cutting wheel rotary motor (413) is fixedly mounted on the motor rotating seat (412), the large cutting wheel (415) is fixedly mounted on the motor shaft of the cutting wheel rotary motor (413), and the cutting wheel sleeve (414) is fixedly mounted on the motor shaft of the cutting wheel rotary motor (413). The movable part (1) further includes: an upper base (101), a main connecting shaft (102), a wheel drive motor (103), a first transmission belt (104), a transmission wheel sleeve (105), a drive wheel (106), a movable bracket (107), a wheel sleeve (109), a driven wheel (110), a base rotation motor (111), a first gear (112), a second gear (113), and a circular bearing seat (114). The wheel drive motor (103), the annular bearing housing (114), and the base rotation motor (111) are fixedly mounted on the movable bracket (107), and the driving wheel (106) and the driven wheel (110) are rotatably mounted on the movable bracket (107) through rolling bearings; The upper base (101) and the annular bearing housing (114) are rotatably mounted via rolling bearings; The first gear (112) is fixedly mounted on the motor shaft of the base rotary motor (111), and the second gear (113) is fixedly mounted on the upper base (101). The first gear (112) meshes with the second gear (113). The transmission wheel sleeve (105) is fixedly installed on the outside of the drive wheel (106), and the first transmission belt (104) is wrapped around the outside of the transmission wheel sleeve (105) and the motor shaft of the wheel drive motor (103); Wheel sleeves (109) are fixedly installed on the outside of the drive wheel (106) and the driven wheel (110), and the track (108) is wrapped around the outside of multiple wheel sleeves (109); The telescopic part (2) further includes: a drive rod (201), a water spraying and trimming angle adjustment cylinder (202), a rotating disk (203), a lifting top plate (204), a third gear (205), a rotating disk motor (206), a fourth gear (207), an outer telescopic rod (208), an inner telescopic rod (209), a lifting motor (210), a fifth gear (211), a rack (212), a fixed telescopic seat (213), a movable telescopic seat (214), a lifting chassis (215), and a chassis angle adjustment cylinder (216). The lifting chassis (215) and the upper base (101) of the moving part (1) are rotatably mounted through the main connecting shaft (102) of the moving part (1). The top of the chassis angle adjustment electric cylinder (216) is rotatably mounted with the lifting chassis (215), and the bottom is rotatably mounted with the upper base (101). One end of the drive rod (201) and the electric cylinder (202) for adjusting the water spraying and trimming angle are rotatably mounted to the rotating disk (203); The rotating disk (203) and the lifting top disk (204) are rotatably mounted via rolling bearings, and the rotating disk rotation motor (206) is fixedly mounted on the lifting top disk (204); The fourth gear (207) is fixedly mounted on the motor shaft of the rotating disk motor (206), and the third gear (205) is fixedly mounted on the rotating disk (203). The third gear (205) meshes with the fourth gear (207). The uppermost outer telescopic rod (208) and inner telescopic rod (209) are rotatably installed on the lifting top plate (204), and their lower ends are rotatably installed on the inner telescopic rod (209) and outer telescopic rod (208) respectively. The middle part of the outer telescopic rod (208) and inner telescopic rod (209) are rotatably installed on each other. The lower end of the lower outer telescopic rod (208) is rotatably installed on the movable telescopic seat (214), and the lower end of the inner telescopic rod (209) is rotatably installed on the fixed telescopic seat (213). The rack (212) and the fixed telescopic seat (213) are fixedly installed on the lifting chassis (215), the movable telescopic seat (214) is slidably installed on the lifting chassis (215), and the lifting motor (210) is fixedly installed on the movable telescopic seat (214); The fifth gear (211) is fixedly installed on the motor shaft of the lifting motor (210), and the fifth gear (211) meshes with the rack (212); The fine trimming part (5) includes a small cutting wheel (501), and the rest of the structure is the same as that of the coarse trimming part. The small cutting wheel (501) is fixedly installed on the motor shaft of the cutting wheel rotating motor.

Images