All-round evasive weeding device and weeding robot

Abstract

The application provides a full-range avoiding weeding device and weeding robot, which is composed of a frame, a first weeding mechanism and a second weeding mechanism. The first weeding mechanism is installed at the rear side of the frame, and the second weeding mechanism is installed at at least one side of the frame. The second weeding mechanism is provided with a swing arm, one end of which is swing-connected with the frame horizontally and is provided with a reset mechanism, and the other end of which is provided with a horizontal obstacle-avoiding wheel. A second cutter head is installed below the horizontal obstacle-avoiding wheel through an elastic floating mechanism. A driving mechanism is arranged on the frame, which is provided with at least two output shafts. A first output shaft is connected with the first cutter head through a first transmission mechanism, and each second output shaft is connected with each second cutter head through a second transmission mechanism. The application can clean weeds on the rear side and the left and right sides simultaneously, and the swing arm can swing adaptively. If the swing arm collides with a tree stump during the movement, the swing arm can swing around the tree stump to clean weeds between the tree stumps.

Description

TECHNICAL FIELD

[0001] The present application relates to a weeding machine, in particular to a full-range avoiding weeding device and weeding robot. BACKGROUND

[0002] The common weeding methods include chemical weeding, manual weeding and mechanical weeding. The chemical weeding has adverse effects on the soil and inhibits the growth of crops. The manual weeding consumes a large amount of manpower and has low efficiency, which is not suitable for large-area planting. The mechanical weeding can avoid the defects of the above two methods, and thus has been rapidly developed and widely applied in agricultural planting.

[0003] In some scenarios, many weeds also grow among fruit trees. Figure 1 For the side view of the existing technology with weeds among the plants, Figure 2 For the plan view of Figure 1 Such weeding environment is very common. The plant spacing of these fruit trees is small, and the traditional weeding machine is usually large in size in order to improve the efficiency, and thus it is difficult to perform weeding work among the plants. SUMMARY

[0004] The present application provides a full-range avoiding weeding device, which is composed of a frame, a first weeding mechanism and a second weeding mechanism. The first weeding mechanism is installed at the rear side of the frame, and the second weeding mechanism is installed at at least one side of the frame.

[0005] The first weeding mechanism is provided with a first cutter head, the axial direction of which is consistent with the left-right direction of the frame. A plurality of axial first weeding knives are arranged on the outer diameter of the first cutter head in the circumferential direction.

[0006] The second weeding mechanism is provided with a swing arm, one end of which is swing-connected to the frame in the horizontal direction and is provided with a reset mechanism. The other end of the swing arm is provided with a horizontal obstacle-avoiding wheel, and a second cutter head is installed below the horizontal obstacle-avoiding wheel through an elastic floating mechanism.

[0007] A driving mechanism is arranged on the frame, which is provided with at least two output shafts. The first output shaft is connected to the first cutter head through a first transmission mechanism, and each second output shaft is connected to each second cutter head through a second transmission mechanism.

[0008] Further, the frame is composed of a hanging frame and a support frame swing-connected to the rear side of the hanging frame. The hanging frame is provided with a quick-release interface, and the first weeding mechanism and the second weeding mechanism are both installed on the support frame.

[0009] The first lifting mechanism is rotatably connected to the support frame at one end and connected to the hanger or the frame of the towing vehicle at the other end, and is an electric push rod, a hydraulic rod or a screw pair.

[0010] Further, the first baffle is vertically installed on the frame, and the second baffle is connected to the first baffle through a hinge at the lower side, and a second lifting mechanism is further connected between the second baffle and the frame for adjusting the angle of the second baffle.

[0011] Further, the first transmission mechanism is a shaft transmission system including a universal joint transmission shaft, and the first output shaft drives the first cutter head to rotate in the vertical direction through the shaft transmission system.

[0012] The second transmission mechanism is a belt / chain transmission system based on a belt / chain, and a driven shaft and a second cutter head shaft are respectively arranged at the two ends of the swing arm, the driven shaft is in transmission connection with the second output shaft and the second cutter head shaft through a belt / chain, and the second cutter head shaft is connected to the second cutter head, and the second output shaft drives the second cutter head to rotate in the horizontal direction or in the vertical direction through the belt / chain transmission system.

[0013] Further, the second cutter head is a horizontal rotary cutter head coaxially installed at the bottom of the second cutter head shaft, and a downward second grass cutting knife is arranged at the lower end surface of the second cutter head.

[0014] One end of the swing arm is provided with a vertical sleeve, and the second cutter head shaft is coaxially installed in the sleeve, and a plurality of bearings are arranged between the outer wall of the second cutter head shaft and the inner wall of the sleeve.

[0015] A height adjusting mechanism is arranged at the top of the sleeve to adjust the height of the second cutter head.

[0016] Further, the height adjusting mechanism includes a hand wheel, a lifting rod and a connecting sleeve, the hand wheel is rotatably installed at the top end of the sleeve through a bearing sleeve, the lifting rod passes through the hand wheel and is in threaded cooperation with the hand wheel, the bottom of the lifting rod and the top of the second cutter head shaft are respectively fixed with a "T"-shaped lifting ring and a lowering ring, the lifting ring and the lowering ring are movably connected through the connecting sleeve, and the lifting ring and the lowering ring pass through the end covers at the upper and lower ends of the connecting sleeve and cannot be pulled out.

[0017] Further, the elastic floating mechanism includes an upper sliding sleeve, an upper pressing ring, a lower sliding sleeve, a lower pressing ring and a spring.

[0018] The upper slide sleeve of the inverted "T" shape is slidably installed inside the bottom of the sleeve, and the outer step of the upper slide sleeve is used to limit the upper sliding stroke of the upper slide sleeve,

[0019] The upper pressing ring fixing sleeve is arranged on the second cutter head shaft,

[0020] The lower slide sleeve is axially slidably installed at the bottom of the second cutter head shaft, and a nut is arranged at the lower end of the second cutter head shaft to support the lower slide sleeve upward, a bearing is arranged between the bottom of the upper slide sleeve and the lower slide sleeve, and the bearing is clamped between the inner step of the upper slide sleeve and the second cutter head,

[0021] The lower pressing ring is pressed on the upper surface of the lower slide sleeve and the bearing and is in sliding fit with the second cutter head shaft,

[0022] The spring is arranged between the upper pressing ring and the lower pressing ring.

[0023] Further, the swing arm is connected by two hollow tubes, the first hollow tube is fixedly connected after extending into the second hollow tube and the extending length is adjustable;

[0024] The second hollow tube is provided with a convex ring at one end close to the first hollow tube, and a waist-shaped hole is arranged on at least two side walls of the second hollow tube, and an ear seat is fixed on the side wall of the first hollow tube and passes through the waist-shaped hole, and a guide bolt consistent with the length direction of the swing arm passes through the convex ring and the ear seat and is locked by a nut.

[0025] Further, a reset spring is arranged at the connection between the swing arm and the rack as a reset mechanism, and two sets of limiting mechanisms are arranged on the rack and located on the front and rear sides of the swing arm respectively, for limiting the front and rear swing angles of the swing arm.

[0026] A weeding robot, the weeding robot is provided with the weeding device, a power output mechanism is arranged on the chassis of the weeding robot, and a power shaft of the power output mechanism is connected with a power input shaft of the driving mechanism.

[0027] The weeding robot has the following advantages:

[0028] 1) The first cutter head of the rolling type is arranged on the rear side of the rack, at least one swing arm is arranged on the left and right sides of the rack, and the second cutter head of the horizontal rotation type is arranged at the end of the swing arm, so that the weeds on the rear side and the left and right sides can be cleaned at the same time, and the swing arm can be adaptively swung, if the swing arm collides with a tree stump during the movement, the swing arm can be turned behind the tree stump to clean the weeds between the tree stumps;

[0029] 2) The second cutter head is arranged on the swing arm through the elastic floating mechanism, and can float up and down when working on the rugged ground, so that the second cutter head is prevented from being damaged;

[0030] 3) One driving mechanism can be used to drive the first cutter head and the second cutter head to work at the same time, so that the driving mechanism is simplified and the cost is optimized. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram showing weeds growing between plants from a test angle.

[0033] Figure 2 for Figure 1 Top view;

[0034] Figure 3 A perspective view of an all-around avoidance weeding device provided by the present invention;

[0035] Figure 4 for Figure 3 A magnified view of a portion of the image;

[0036] Figure 5 This is a top view of the weeding device of the present invention;

[0037] Figure 6 This is a front view of the weeding device of the present invention;

[0038] Figure 7 This is a side sectional view of the weeding device of the present invention;

[0039] Figure 8 for Figure 7 A magnified view of a portion of the image;

[0040] Figure 9 This is a schematic diagram of the driving principle of the weeding device of the present invention;

[0041] Figure 10 A perspective view of a weeding robot equipped with the weeding device of the present invention;

[0042] Figure 11 for Figure 10 Top view. Detailed Implementation

[0043] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0044] For a thorough understanding of the application, detailed steps and detailed structures will be presented in the following description in order to explain the technical solutions of the application. The preferred embodiments of the application are described in detail as follows, however, in addition to these detailed descriptions, the application can also have other implementation manners.

[0045] Referring to Figure 2 As shown in the figure, the application provides a full-range avoiding type weeding device, which is composed of a frame 100, a first weeding mechanism 200 and a second weeding mechanism 300. The first weeding mechanism 200 is installed at the rear side of the frame 100, and the second weeding mechanism 300 is installed at least one side of the frame 100.

[0046] Frame 100

[0047] As Figure 3 shown, the frame 100 is composed of a hanger 101 and a support frame 103 rotatably connected at the rear side of the hanger 101. The hanger 101 is provided with a quick release interface 102, and the first weeding mechanism 200 and the second weeding mechanism 300 are both installed on the support frame 103. The frame 100 is provided with a first lifting mechanism 104 for adjusting the elevation angle of the support frame 103. One end of the first lifting mechanism 104 is rotatably connected with the support frame 103, and the other end is connected with the hanger 101 or the frame of the towing vehicle. The first lifting mechanism 104 is an electric push rod, a hydraulic rod or a screw pair.

[0048] A first baffle 105 and a second baffle 106 are provided at the rear side of the frame 100, located in front of and above the first cutter 201. The first baffle 105 is vertically installed on the frame 100, and the lower side of the second baffle 106 is connected with the first baffle 105 through a hinge 107. A second lifting mechanism 108 is further connected between the second baffle 106 and the frame 100 for adjusting the angle of the second baffle 106.

[0049] As Figure 9 shown, a driving mechanism 110 is provided on the frame 100. The driving mechanism 110 is provided with a first output shaft 111 for driving the first weeding mechanism 200, and a same number of second output shafts 113 for driving the second weeding mechanism 300 respectively.

[0050] First weeding mechanism 200

[0051] As Figure 3 shown, the first weeding mechanism 200 is provided with a first cutter 201, and the axial direction of the first cutter 201 is consistent with the left-right direction of the frame 100. A plurality of axial first mowing knives 202 are arranged on the outer diameter of the first cutter 201 in the circumferential direction.

[0052] A first baffle 105 and a second baffle 106 are arranged at the rear side of the frame 100 in front of and above the first cutter 201 to block flying soil and weeds. The first baffle 105 is vertically installed on the frame 100, and the second baffle 106 is connected to the first baffle 105 through a hinge 107 at the lower side, and a second lifting mechanism 108 is further connected between the second baffle 106 and the frame 100 to adjust the angle of the second baffle 106.

[0053] As shown in Figure 9 , the first output shaft 111 is connected to the first cutter 201 through a first transmission mechanism 112, and each second output shaft 113 is connected to each second cutter 302 through a second transmission mechanism 114. Preferably, the first transmission mechanism 112 is a shaft transmission system containing a universal joint transmission shaft, and the first cutter 201 is driven to rotate in the vertical direction by the first output shaft 111 through the shaft transmission system. As shown in Figure 10 , the first cutter 201 adopts a two-section design,

[0054] The second weeding mechanism 300

[0055] The second weeding mechanism 300 is provided with a swing arm 310. The swing arm 310 is connected by two hollow tubes, as shown in Figure 4 , Figure 5 and Figure 7 , the first hollow tube 3101 is fixedly connected into the second hollow tube 3102 and the length of the extension is adjustable. Further referring to Figure 4 , the second hollow tube 3102 is provided with a convex ring 3103 near one end of the first hollow tube 3101, and a waist-shaped hole 3104 is arranged on at least two side walls of the second hollow tube 3102. The side wall of the first hollow tube 3101 is fixed with an ear seat 3105 passing through the waist-shaped hole 3104, and a guide bolt 3106 passes through the convex ring 3103 and the ear seat 3105 and is locked with a nut 3107. In this way, on the one hand, the fixing and guiding functions between the first hollow tube 3101 and the second hollow tube 3102 are realized, and on the other hand, through the cooperation of the ear seat 3105 and the waist-shaped hole 3104, the length adjustment range of the swing arm 310 is limited, avoiding excessive adjustment to increase the structural burden and affect stability.

[0056] One end of the swing arm 310 is horizontally swing-connected with the frame 100 and is provided with a reset mechanism 311. Preferably, a reset spring is arranged at the connection between the swing arm 310 and the frame 100 as the reset mechanism 311, and two sets of limiting mechanisms are arranged on the frame 100, respectively on the front and rear sides of the swing arm 310, to limit the front and rear swing angles of the swing arm 310. The other end of the swing arm 310 is provided with a horizontal obstacle-avoiding wheel 312, and a second cutter 302 is arranged below the horizontal obstacle-avoiding wheel 312 through a flexible floating mechanism 340. The working area of the second cutter 302 is located within the area of the horizontal obstacle-avoiding wheel 312.

[0057] The second cutter head 302 is a horizontal rotary cutter head coaxially installed at the bottom of the second cutter head shaft 314, and a downward second grass cutter 303 is arranged at the lower end face of the second cutter head 302; one end of the swing arm 310 is provided with a vertical sleeve 320, and the second cutter head shaft 314 is coaxially installed in the sleeve 320, and a plurality of bearings are arranged between the outer wall of the second cutter head shaft 314 and the inner wall of the sleeve 320.

[0058] The elastic floating mechanism 340 includes an upper sliding sleeve 341, an upper pressing ring 342, a lower sliding sleeve 343, a lower pressing ring 344, and a spring 345. Figure 8 As shown, the inverted "T"-shaped upper sliding sleeve 341 is slidably and rotatably installed at the inner side of the bottom of the sleeve 320, and the outer step of the upper sliding sleeve 341 is used to limit the upper sliding stroke of the upper sliding sleeve 341, in addition, the horizontal obstacle avoidance wheel 312 is fixedly installed on the outer diameter of the bottom of the upper sliding sleeve 341. The upper pressing ring 342 is fixedly sleeved on the second cutter head shaft 314. The lower sliding sleeve 343 is axially slidably installed at the bottom of the second cutter head shaft 314, and the second cutter head shaft 314 is a spline shaft, the upper and lower ends of which are respectively axially slidably matched with the belt pulley and the lower sliding sleeve 343, and the nut 347 is fixed at the lower end of the second cutter head shaft 314 for upward supporting the lower sliding sleeve 343. The limiting bearing 346 is arranged between the bottom of the upper sliding sleeve 341 and the lower sliding sleeve 343, and the limiting bearing 346 is clamped between the inner step of the upper sliding sleeve 341 and the second cutter head 302. The lower pressing ring 344 is pressed on the upper surface of the lower sliding sleeve 343 and the limiting bearing 346 and is slidably matched with the second cutter head shaft 314, and the spring 345 is arranged between the upper pressing ring 342 and the lower pressing ring 344.

[0059] Further referring to Figure 8 The upper sliding sleeve 341 adopts an inverted "T" shape, the limiting bearing 346 is clamped in the large hole at the lower end of the upper sliding sleeve 341, and the outer edge of the lower end face of the upper sliding sleeve 341 is provided with a supporting block extending to the middle for supporting the limiting bearing 346, so that the upper sliding sleeve 341, the limiting bearing 346 and the second cutter head 302 are fixedly connected. When the second cutter head 302 encounters an obstacle such as a ground protrusion during work, the upper sliding sleeve 341 will be lifted to play a self-adaptive adjustment role, and after leaving the obstacle, the spring 345 exerts a downward elastic force to make the upper sliding sleeve 341, the limiting bearing 346 and the second cutter head 302 return to the original position.

[0060] The height adjusting mechanism 330 is arranged at the top of the sleeve 320 to adjust the height of the second cutter head 302. As shown Figure 8As shown, the height adjusting mechanism 330 comprises a hand wheel 331, a lifting rod 332 and a connecting sleeve 333. The hand wheel 331 is rotatably installed at the top end of the sleeve 320 through a bearing sleeve. The lifting rod 332 passes through the hand wheel 331 and is threadedly connected with the hand wheel 331. The bottom of the lifting rod 332 is fixed with a T-shaped upper lifting ring 332-1 and a lower lifting ring 314-1, respectively, which are movably connected through the connecting sleeve 333. The upper lifting ring 332-1 and the lower lifting ring 314-1 pass through the end covers at the upper and lower ends of the connecting sleeve 333 and cannot be pulled out. When the height of the second cutter head 302 needs to be lifted, the hand wheel 331 is rotated, and the lifting rod 332 moves up and down under the action of the thread. The bottom of the lifting rod 332 is connected with the second cutter head shaft 314 through the connecting sleeve 333, so that the height of the second cutter head 302 is lifted or lowered. In order to prevent the lifting rod 332 from rotating when the hand wheel 331 is rotated, the lifting rod 332 is provided with a plurality of limiting grooves 332-2, and the connecting sleeve 333 is provided with a plurality of limiting protrusions 333-1 corresponding to the limiting grooves 332-2.

[0061] The second transmission mechanism 114 is a belt / chain transmission system based on belt / chain. Figure 7 As shown, the two ends of the swing arm 310 are respectively provided with a driven shaft 313 and a second cutter head shaft 314. The driven shaft 313 is respectively connected with the second output shaft 113 and the second cutter head shaft 314 through a belt / chain. The second cutter head shaft 314 is connected with the second cutter head 302. The second output shaft 113 drives the second cutter head 302 to rotate in the horizontal direction or in the vertical direction through the belt / chain transmission system (the second cutter head 302 shown in the drawing rotates in the horizontal direction). In addition, it should be noted that when the length of the swing arm 310 is adjusted, the belt / chain between the driven shaft 313 and the second cutter head shaft 314 also needs to be replaced, so as to avoid the belt / chain being too loose or too tight and affecting the stability of the transmission.

[0062] Figure 10 And Figure 11 A weeding robot 400 provided with the omnibearing avoiding weeding device is shown. The weeding robot 400 adopts a composite walking driving mechanism. The front end of the chassis is a driving track, and the rear end is provided with walking wheels on both sides. The chassis design has high mobility and obstacle crossing ability, and is very suitable for working in the complex field environment. A power output mechanism is arranged on the weeding robot. In addition to providing power for the track and the walking wheels, the power output mechanism also leads out an output shaft through a gearbox to be connected with the driving mechanism 110 of the weeding device, so as to provide power output for the weeding device, and further drive the first weeding mechanism 200 and the second weeding mechanism 300 to work.

[0063] The working principle of the present application is as follows:

[0064] The first output shaft 111 of the driving mechanism 110 drives the first cutter head 201 to rotate through the first transmission mechanism 112. The second output shaft 113 drives the driven shaft 313 to rotate through a belt, and the driven shaft 313 drives the second cutter head shaft 314 to rotate through a belt, thereby realizing the rotation of the second cutter head 302 installed at the bottom of the second cutter head shaft 314. During the forward movement of the weeding robot, the first cutter head 201 at the rear side rotates to remove 50-80mm of soil and remove the surface weeds by the roots. On the other hand, the second cutter head 302 at the end of the swing arm 310 also rotates horizontally to perform the weeding operation. When the horizontal obstacle wheel 312 on the swing arm 310 encounters a stump, the swing arm 310 will adaptively swing backward around the driven shaft 313 as the center to the rear side of the stump to avoid blocking the forward movement of the weeding robot, and at the same time, the weeds between the stumps are removed by the second cutter head 302 rotating below the horizontal obstacle wheel 312.

[0065] During use, we can change the elevation angle of the rack 100 through the first lifting mechanism 104 according to the weeding needs and the terrain to adjust the weeding height and the soil removal depth. In addition, we can also adjust the weeding height of the second cutter head 302 through the height adjusting mechanism 330 to meet various terrains and weeding needs.

[0066] The above describes the preferred embodiments of the present application. It should be understood that the present application is not limited to the above specific embodiments, and the devices and structures not described in detail should be understood as being implemented in the ordinary way in the art; any person skilled in the art can make many possible changes and modifications to the technical solutions of the present application, or modify them into equivalent embodiments with equivalent changes, without departing from the scope of the technical solutions of the present application, which does not affect the essential content of the present application. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application, without departing from the content of the technical solutions of the present application, still belongs to the scope of protection of the technical solutions of the present application.

Claims

1. An all-around avoidance weeding device, characterized in that, The weeding device consists of a frame (100), a first weeding mechanism (200), and a second weeding mechanism (300). The first weeding mechanism (200) is installed on the rear side of the frame (100), and the second weeding mechanism (300) is installed on at least one side of the frame (100). The first weeding mechanism (200) is provided with a first cutter head (201), and the axial direction of the first cutter head (201) is consistent with the left and right direction of the frame (100); The second weeding mechanism (300) is provided with a swing arm (310). One end of the swing arm (310) is horizontally oscillatingly connected to the frame (100) and is equipped with a reset mechanism (311). The other end of the swing arm (310) is equipped with a horizontal obstacle avoidance wheel (312). A second cutter disc (302) is installed below the horizontal obstacle avoidance wheel (312) through an elastic floating mechanism (340). The elastic floating mechanism (340) includes an upper sliding sleeve (341), an upper pressure ring (342), a lower sliding sleeve (343), a lower pressure ring (344), and a spring (345). A drive mechanism (110) is provided on the frame (100). The drive mechanism (110) has at least two output shafts. The first output shaft (111) is connected to the first cutter head (201) through the first transmission mechanism (112). Each second output shaft (113) is connected to each second cutter head (302) through the second transmission mechanism (114). The first transmission mechanism (112) is a shaft transmission system including a universal joint transmission shaft. The first output shaft (111) drives the first cutter head (201) to rotate in the vertical direction through the shaft transmission system. The swing arm (310) is composed of two hollow tubes connected together. The first hollow tube (3101) is fixedly connected after extending into the second hollow tube (3102), and the length of the extension is adjustable. The second hollow tube (3102) has a protruding ring (3103) at one end near the first hollow tube (3101), and at least two side walls of the second hollow tube (3102) have waist-shaped holes (3104). The side wall of the first hollow tube (3101) is fixed with an ear seat (3105) that passes through the waist-shaped hole (3104). The guide bolt (3106) that is consistent with the length direction of the swing arm (310) passes through the protruding ring (3103) and the ear seat (3105) and is locked with a nut (3107).

2. The all-around avoidance weeding device as described in claim 1, characterized in that, The frame (100) consists of a hanging bracket (101) and a support frame (103) rotatably connected to the rear side of the hanging bracket (101). The hanging bracket (101) is provided with a quick-release interface (102). The first weeding mechanism (200) and the second weeding mechanism (300) are both installed on the support frame (103). The frame (100) is provided with a first lifting mechanism (104) for adjusting the elevation angle of the support frame (103). One end of the first lifting mechanism (104) is rotatably connected to the support frame (103), and the other end is connected to the hanger (101) or the frame of the tractor. The first lifting mechanism (104) is an electric push rod, a hydraulic rod, or a lead screw pair.

3. The all-around avoidance weeding device as described in claim 1, characterized in that, A first baffle (105) and a second baffle (106) are provided on the rear side of the frame (100) in front of and above the first cutter head (201). The first baffle (105) is vertically mounted on the frame (100). The lower side of the second baffle (106) is connected to the first baffle (105) via a hinge (107). A second lifting mechanism (108) is also connected between the second baffle (106) and the frame (100) for adjusting the angle of the second baffle (106).

4. The all-around avoidance weeding device as described in claim 1, characterized in that, The second transmission mechanism (114) is a belt / chain transmission system based on belts / chains. A driven shaft (313) and a second cutter head shaft (314) are respectively provided at both ends of the swing arm (310). The driven shaft (313) is connected to the second output shaft (113) and the second cutter head shaft (314) through belts / chains. The second cutter head shaft (314) is connected to the second cutter head (302). The second output shaft (113) drives the second cutter head (302) to rotate in the horizontal direction or in the vertical direction through the belt / chain transmission system.

5. The all-around avoidance weeding device as described in claim 4, characterized in that, The second cutter head (302) is a horizontally rotating cutter head coaxially mounted at the bottom of the second cutter head shaft (314), and a downward-facing second grass-cutting blade (303) is provided on the lower end face of the second cutter head (302). One end of the swing arm (310) is provided with a vertical sleeve (320), the second cutter head shaft (314) is coaxially installed in the sleeve (320), and multiple bearings are provided between the outer wall of the second cutter head shaft (314) and the inner wall of the sleeve (320); A height adjustment mechanism (330) is provided on the top of the sleeve (320) to adjust the height of the second cutter head (302).

6. The all-around avoidance weeding device as described in claim 5, characterized in that, The height adjustment mechanism (330) includes a handwheel (331), a lifting rod (332), and a connecting sleeve (333). The handwheel (331) is rotatably mounted on the top of the sleeve (320) through a bearing sleeve. The lifting rod (332) passes through the handwheel (331) and is threadedly engaged with the handwheel (331). The bottom of the lifting rod (332) and the top of the second cutter head shaft (314) are respectively fixed with a "T"-shaped upper lifting ring (332-1) and a lower lifting ring (314-1). The upper lifting ring (332-1) and the lower lifting ring (314-1) are movably connected through the connecting sleeve (333). The upper lifting ring (332-1) and the lower lifting ring (314-1) pass through the end caps at the upper and lower ends of the connecting sleeve (333) and cannot be removed.

7. The all-around avoidance weeding device as described in claim 5, characterized in that... ； An inverted "T"-shaped upper sliding sleeve (341) is slidably mounted on the inner side of the bottom of the sleeve (320). The outer step of the upper sliding sleeve (341) is used to limit the upper sliding stroke of the upper sliding sleeve (341). The upper pressure ring (342) is fixedly sleeved on the second cutter head shaft (314). The sliding sleeve (343) is axially slidably mounted on the bottom of the second cutter head shaft (314). A nut (347) is provided at the lower end of the second cutter head shaft (314) to support the sliding sleeve (343) upward. A limiting bearing (346) is provided between the bottom of the upper sliding sleeve (341) and the sliding sleeve (343). The limiting bearing (346) is locked between the inner step of the upper sliding sleeve (341) and the second cutter head (302). The lower pressure ring (344) presses against the upper surface of the lower sliding sleeve (343) and the limit bearing (346) and slides in cooperation with the second cutter head shaft (314). The spring (345) is located between the upper pressure ring (342) and the lower pressure ring (344).

8. The all-around avoidance weeding device as described in claim 1, characterized in that, A reset spring is provided at the connection between the swing arm (310) and the frame (100) as a reset mechanism (311), and two sets of limiting mechanisms are provided on the frame (100) respectively located on the front and rear sides of the swing arm (310) to limit the front and rear swing angle of the swing arm (310).

9. A weeding robot, characterized in that, The weeding machine is equipped with the weeding device according to any one of claims 1-8, and the chassis of the weeding robot is provided with a power output mechanism, the power shaft of the power output mechanism being connected to the power input shaft of the drive mechanism (110).

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