A scalable width variable width weeding robot

Abstract

The application discloses a herbicide robot with telescopic variable width, comprising a flail mower head at the front end of a driving vehicle body and a pair of variable width mowers with telescopic function at the rear end; the cutting depth of the flail mower head is adjusted through an adjusting assembly, and the horizontal position and the height position of the pair of variable width mowers with telescopic function are regulated through telescopic assemblies in the horizontal direction and the vertical direction. When the herbicide robot works, the length of the two-wing rope type variable width mowers can be adjusted according to the working terrain and the working environment requirement, so as to adapt to different terrains, and the height of the front and rear mowers can be adjusted according to the herbicide depth requirement, so as to control the herbicide stubble height. In the non-working state, after the herbicide is finished, the front and rear mowers are retracted, and the rear mower is closed, so that the high-speed walking state can be entered and the working environment can be quickly driven away, so as to avoid collision with obstacles and high flexibility when turning.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, specifically relating to a weeding robot with a retractable and variable amplitude. Background Technology

[0002] Weeding is an essential step in farming. Currently, weeding methods are generally divided into three types: chemical weeding, manual weeding, and weeding machine weeding. Chemical weeding has huge side effects, and the residual chemicals directly pollute the soil and the crops planted on it. Manual weeding requires pulling out weeds one by one by manpower, which is labor-intensive and not suitable for large-scale use. Therefore, weeding machine weeding is the most suitable method.

[0003] Existing weeding equipment, such as the portable agricultural weeding device and method disclosed in patent CN112602389B, can be used for weeding small areas of farmland, in already planted fields, and can collect cut weeds while weeding, and can also trim weeds growing among vegetables. Meanwhile, a weeding mechanism and device disclosed in patent CN208597246U can improve weeding efficiency and completely remove weeds.

[0004] However, during orchard planting, various weeds will grow on and between the rows, and these weeds are usually removed manually. Compared to the small planting area in the field, the planting area in an orchard is much larger, and existing weeding equipment is difficult to achieve wide-range weeding. If weeding is done manually, this work consumes a lot of manpower and resources. Therefore, it is necessary to design a retractable wide-range weeding robot to assist in orchard weeding.

[0005] The development of lawn mowing machinery is progressing rapidly both domestically and internationally. However, in agriculture, lawn mowing machines are primarily used for forage harvesting and lawn mowing, and are mostly manually propelled, lacking autonomous movement capabilities. These lawn mowers present the following problems when used for weeding in orchards and furrows:

[0006] 1. Orchards and ridged fields have complex terrain, requiring the weeding unit of the weeder to be able to rise and fall to adapt to the terrain while moving autonomously;

[0007] 2. The planting width of cash crops in orchards and ridges varies greatly, requiring the weeding unit of the weeding machine to be able to vary the width.

[0008] 3. When planting arborescent trees in orchards, it is expected that the weeding unit of the weeding machine will autonomously avoid obstacles during its autonomous movement. Summary of the Invention

[0009] The purpose of this invention is to reduce the labor costs of weeding in orchards. It enables rapid, precise weeding that adapts to various row widths, thereby improving weed control efficiency.

[0010] To achieve the above technical objectives, the present invention provides a telescopic variable-width weeding robot, comprising a drive vehicle and weeding devices respectively disposed at the front and rear ends of the drive vehicle. The front weeding device is a rotary blade weeding head, which can rotate and cut grass in a vertical plane. The height of the rotary blade weeding head can be controlled by an adjustment component to adjust the cutting depth. The rear weeding device includes a pair of telescopic variable-width weeding devices symmetrically disposed on both sides of the rear end of the drive vehicle. The variable-width weeding device includes a longitudinal telescopic component, a transverse telescopic component, and a weeding blade. The transverse telescopic component adjusts the horizontal position of the weeding blade relative to the drive vehicle, so that the pair of weeding blades can move away from or towards each other simultaneously, thereby cutting weeds of different widths, or simultaneously retracting to the rear end of the drive vehicle. The longitudinal telescopic component adjusts the longitudinal height of the weeding blade relative to the drive vehicle, so that the weeding blade can cut weeds of different depths or leave the ground.

[0011] Furthermore, the drive vehicle body includes a frame structured as a hollow cuboid, with tracks symmetrically arranged on both sides of the frame. The swivel-type mowing head is located at the front end of the frame, and a top plate is provided on the upper part of the frame. The connecting block is centrally located at the rear end of the top plate, with its end extending beyond the top plate. Symmetrically mounted on both sides of the connecting block are two-wing variable-amplitude rope mowing devices with telescopic function. A transmission assembly suitable for lithium battery drive is provided inside the frame, which can drive the tracks to travel.

[0012] Furthermore, the swivel-type lawnmower head includes a lawnmower blade, which is horizontally positioned and rotates in a vertical plane to cut grass. A protective cover is fitted over the lawnmower blade. The adjustment assembly includes an electric push rod, the end of which is fixedly mounted on the front end of the drive vehicle body. The extended end of the electric push rod is connected to the protective cover. The cutting depth of the swivel-type lawnmower head can be adjusted by extending or retracting the electric push rod. The rotating shaft of the lawnmower blade is driven by the output shaft of a motor. A protective cover is fitted over the lawnmower blade.

[0013] Furthermore, the longitudinal telescopic assembly includes a vertical electric push rod, the top of which is vertically mounted on the left and right sides of the connecting block at the rear end of the drive vehicle body via a connecting strip. The lateral telescopic assembly includes a horizontally arranged crossbar and a long support rod and a two-fold support rod that can rotate horizontally at both ends of the crossbar. The upper part of the mowing blade is rotatably connected to the other end of the long support rod via a hinge, the hinge's rotation axis being horizontally arranged. The other end of the two-fold support rod is rotatably connected to the middle of the long support rod and can rotate horizontally. A crossbar parallel to the longitudinal direction of the drive vehicle body is fixedly installed at the lower end of the vertical electric push rod extension rod. The crossbar is constructed in the shape of bull horns. The bull horns of the two crossbars on the left and right sides of the connecting block face away from each other. The folded two-fold support rod can be accommodated between the bull horns. When the long support rods of the two crossbars approach each other, the mowing blade moves away from the drive vehicle body. A pulley is installed on the side of the mowing blade.

[0014] Furthermore, the two-section support rod and the crossbar are connected by a rotatable rotating mechanism, which is driven by a motor.

[0015] Furthermore, the two-fold support rod includes a horizontal electric swing rod of fixed length and a telescopic connecting rod. The horizontal electric swing rod is connected by a rotatable rotating mechanism, and the connecting rod is provided with an elastic body to drive the connection to extend.

[0016] Furthermore, the cutting disc includes a disc guard and a cutting rope. The disc guard is constructed to include a circular top plate and an arc-shaped side plate connected to the circumference of the circular top plate. The circular top plate has a central opening and an upward-facing concentric bushing. A motor is vertically mounted on the upper end of the bushing. The output shaft of the motor passes through the bushing and is connected to the cutting rope, so that the cutting rope rotates inside the arc-shaped side plate of the disc guard under the drive of the motor. The arc-shaped side plate of the disc guard is far from the long support rod. An L-shaped frame is set on the side of the disc guard with the arc-shaped side plate. The long arm of the L-shaped frame is connected to the bushing. A pulley is installed at the bottom of the short arm of the L-shaped frame, and the length of the short arm of the L-shaped frame is greater than the height of the arc-shaped side plate of the disc guard, so that the pulley can support the disc guard.

[0017] Furthermore, the drive vehicle body includes a frame structured as a hollow cuboid, with tracks symmetrically arranged on both sides of the frame. The swivel-type mowing head is located at the front end of the frame, and a top plate is provided on the upper part of the frame. The connecting block is centrally located at the rear end of the top plate, with its end extending beyond the top plate. Symmetrically mounted on both sides of the connecting block are two-wing variable-amplitude rope mowing devices with telescopic function. A transmission assembly suitable for lithium battery drive is provided inside the frame, which can drive the tracks to travel.

[0018] Furthermore, the present invention also provides a weeding method based on a scalable variable-width weeding robot, comprising the following steps:

[0019] Step 1. Move the telescopic variable width weeding robot to the weeding area. The vertical electric push rod slowly extends downward, driving the variable width weeding device at the rear of the vehicle to descend to the ground. The motor drives the two-fold support rod to rotate, causing the variable width weeding device to slowly unfold outward. The electric push rod at the front of the vehicle slowly lowers the front-end swivel-type weeding head, entering the working state.

[0020] Step 2. Adjust the unfolding length of the two-wing variable-width weeding device at the rear of the drive vehicle to adapt to the working terrain, adjust the extension length of the electric push rod at the front of the drive vehicle, and adjust the extension length of the vertical electric push rod at the rear of the drive vehicle to achieve the required stubble height.

[0021] Step 3. Start the tracked chassis. Drive the blades of the bladed mower head to rotate vertically and mow the grass. Drive the mowing disc to rotate horizontally through the motor of the two-winged mowing device with telescopic function. The weeding robot moves forward in the working environment by track to mow an area.

[0022] Step 4. After weeding is complete, lift the front-end swing-blade mowing head with the electric push rod, and retract the rear-end variable-width mowing device with the two-fold support rod to achieve the retraction of the two-wing variable-width mowing device. Then lift it with the vertical electric push rod until the pair of mowing blades retract and move close to the rear of the drive vehicle. Drive the vehicle from the mowing state to the high-speed walking state and quickly leave the working environment.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0024] This weeding robot cleverly incorporates a pair of telescopic, variable-width mowing devices at the rear of its drive vehicle. These devices utilize different telescopic components to adjust their height and horizontal position. Adjusting the horizontal position allows for control over the mowing width and also enables the mowing device to retract and close to the drive vehicle, preventing the vehicle from being too wide and hindering its ability to pass through obstacles. Adjusting the height allows for control over the mowing depth and also prevents excessive friction between the mowing device and the ground when the vehicle is not in operation, thus avoiding damage to the equipment or non-weeds. Therefore, this weeding robot can achieve fast, precise weeding and adapt to various row widths, improving weeding efficiency. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of a telescopic, variable-amplitude weeding robot.

[0026] Figure 2 for Figure 1 A schematic diagram of the structure in its unfolded state;

[0027] Figure 3 This is a schematic diagram of the structure of the single variable-width rope mowing device in this invention;

[0028] Figure 4 This is a schematic diagram of the structure of a lawnmower head. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0030] This invention provides a telescopic, variable-width weeding robot, such as... Figures 1 to 3 As shown. The extendable and variable-width weeding robot includes a drive vehicle body and a swivel-type mowing head located at the front of the drive vehicle body, as well as a two-wing variable-width mowing device with telescopic function located at the rear of the drive vehicle body.

[0031] like Figure 1 and Figure 4 As shown, the drive vehicle body includes a frame 18 constructed as a hollow rectangular box. Tracks 12 are symmetrically arranged on both sides of the frame 18. A sweeping blade-type mowing head is located at the front end of the frame 18. A top plate 16 is located on the upper part of the frame 18. A connecting block 01 is centrally located at the rear end of the top plate 16, with its end extending beyond the top plate 16. Two telescopic, variable-amplitude rope-type mowing devices are symmetrically mounted on both sides of the connecting block 01. A transmission assembly suitable for lithium battery drive is installed inside the frame 18, which drives the tracks 12. The cyclone mower head includes an electric push rod 15, a motor 14, a mower head blade 20, and a protective cover 13. The mower head blade 20 is horizontally positioned at the front end of the frame 18. The protective cover 13 is fitted over the mower head blade 20 to protect the blade. The output shaft of the motor 14 is connected to the rotation shaft 23 of the mower head blade 20 via a transmission chain 21, causing the mower head blade 20 to rotate vertically in a cycloid motion at the front end of the frame 18 to achieve the purpose of mowing. The end of the electric push rod 15 is fixedly installed at the front end of the frame 18, and the extended end of the electric push rod 15 is connected to the protective cover 13, which can be used to control the height position of the mower head blade 20 relative to the frame 18.

[0032] A two-wing, variable-width mowing device with telescopic functionality includes a mowing blade and a telescopic assembly for adjusting the blade. The telescopic assembly includes a longitudinal telescopic component and a transverse telescopic component. The longitudinal telescopic component includes a vertical electric push rod 03. The transverse telescopic component includes an L-shaped frame 19, pulleys 04, a crossbar 07, and a long support 11 and a two-section support rod that can rotate horizontally at both ends of the crossbar 07. The two-section support rod includes a transverse electric swing rod 08 and a connecting rod 09 rotatably connected to each other. The end of the transverse electric swing rod 08 away from the connecting rod 09 is rotatably connected to one end of the crossbar 07, and the end of the connecting rod 09 away from the transverse electric swing rod 08 is rotatably connected to the middle of the long support 11. The mowing blade includes a motor 02, a blade guard 10, and a mowing rope 05 coaxially fixed to the blade guard 10. The mowing blade is connected to the crossbar 07 via the long support 11, and a pulley 04 connected to the L-shaped frame 19 is fixed in front of the blade.

[0033] Preferably, the upper part of the mowing blade is rotatably connected to the other end of the long support rod 11 via a hinge 30. The rotation axis of the hinge 30 is arranged horizontally, so that when the pulley 04 passes over uneven ground, the mowing blade can rotate around the horizontal hinge 30 axis to adaptively raise and lower the mowing blade.

[0034] The longitudinal telescopic assembly includes two parallel vertical electric actuators 03. The top ends of the vertical electric actuators 03 are vertically mounted on the left and right sides of the connecting block 01 via connecting strips 17. A horizontally arranged crossbar 07 is fixedly installed at the lower end of the extension rod of the vertical electric actuator 03. In the transverse telescopic assembly, the crossbar 07 is constructed in a bull's horn shape. The two ends of the crossbar 07 are constructed as long and short rods of different lengths. The bull's horns of the two crossbars 07 on the left and right sides of the connecting block 01 face away from each other. The long and short rods are parallel and horizontally arranged, and the space between the long and short rods can accommodate a folded two-section support rod. The longer rod of the two crossbars 07 is closer to the frame 18, and the shorter rod is farther from the frame 18. As the vertical electric actuator 03 extends or retracts, the crossbar 07 can move up and down on the left and right sides of the connecting block 01, following the movement of the vertical electric actuator 03.

[0035] Preferably, the connecting rod 09 is constructed as a telescopic structure with an elastic body inside. The elastic body drives the connecting rod 09 to extend, so that when the lateral telescopic component is deployed, the long support rod 11 tends to extend further. When the cutting disc encounters a tree trunk while weeding on the ridge, the long support rod 11 compresses the elastic body, causing the connecting rod 09 to shorten. This allows the long support rod 11 to rotate at a certain angle relative to the connecting rod 09 to avoid the tree trunk. After the cutting disc leaves the tree trunk, the elastic body drives the connecting rod 09 to extend, causing the long support rod 11 to extend back to its original position. Therefore, the cutting disc can automatically avoid obstacles when moving.

[0036] like Figure 3As shown, between the long and short bars of the crossbar 07, one end of the long support bar 11 is rotatably connected to the free end of the long bar of the crossbar 07, and the other end of the long support bar 11 is fixed with a grass-cutting blade. The transverse electric swing arm 08 is connected to the short bar through a rotatable rotating mechanism, which is driven by a motor.

[0037] like Figure 3 As shown, the cutter head protective cover 10 is constructed to include a circular top plate and a partially arc-shaped side plate connected to the circumference of the circular top plate. The motor 02 is vertically mounted on a bushing located at the center of the circular top plate of the cutter head protective cover 10. The output shaft of the motor 02 passes through the bushing and is connected to the mowing rope 05, so that the mowing rope 05 rotates inside the arc-shaped side plate of the cutter head protective cover 10 under the drive of the motor 02. The far end of the long support rod 11 is fixedly connected to the bushing on the cutter head protective cover 10. The arc-shaped side plate of the cutter head protective cover 10 is far away from the long support rod 11. A pulley 04 is also provided on one side of the arc-shaped side plate of the cutter head protective cover 10. An L-shaped frame 19 is provided on the side of the cutter head protective cover 10 with the arc-shaped side plate. The long arm of the L-shaped frame 19 is connected to the bushing, and the short arm of the L-shaped frame 19 is equipped with the pulley 04. The length of the short arm of the L-shaped frame 19 is greater than the height of the arc-shaped side plate of the cutter head protective cover 10, so that the pulley 04 can support the cutter head protective cover 10.

[0038] In use, the two-wing variable-amplitude wide-rope mower moves under the action of the telescopic components, realizing the functions of extending and retracting the mower, and raising and lowering the mower. The horizontal electric swing arm 08 rotates outward relative to the crossbar 07, driving the connecting rod 09 at its end to rotate, and simultaneously driving the long support rod 11 to rotate relative to the long rod of the crossbar 07. When the connecting rod 09 and the horizontal electric swing arm 08 rotate to be in a straight line, the long support rod 11 is driven to its maximum angle, at which point the long support rod 11 stops rotating relative to the crossbar 07. Conversely, when the end of the horizontal electric swing arm 08 rotates inward relative to the short rod in the crossbar 07, the opposite movement occurs. The horizontal electric swing arm 08 and the connecting rod 09 can be folded and stored between the long rod and the short rod of the crossbar 07, and the long support rod 11 can be brought close to the side of the crossbar 07, that is, folded up at the rear end of the frame 18. The movement of the long support rod 11 drives the blade guard 10 at its end and the mowing rope 05 inside to move. Driven by the motor, the rotation of the mowing rope 05 performs the mowing work. After weeding is completed, the variable width rope mowing device first gradually retracts to the side of the crossbar 07 via the horizontal electric swing rod 08, and then the entire mowing device is lifted by the vertical electric push rod 03. In this way, the mowing device retracts to the rear end of the frame 18, and the entire drive vehicle enters a high-speed driving state, quickly leaving the working environment.

[0039] In summary, a weeding method for a telescopic, variable-width weeding robot includes the following steps:

[0040] Step 1. Move the extendable, variable-width mowing robot to the mowing area. The vertical electric push rod slowly extends downwards, driving the variable-width mowing device at the rear of the vehicle to descend to the ground. The motor drives the horizontal electric swing arm to rotate, causing the mowing device to slowly unfold outwards, entering working mode. The electric push rod at the front of the vehicle slowly lowers the swivel-type mowing head device, entering working mode.

[0041] Step 2. Adjust the unfolding length of the mowing device with variable width on both wings at the rear of the drive vehicle to adapt to the working terrain, according to the requirements of the working terrain and the requirements of the working environment. Adjust the extension length of the electric push rod at the front of the drive vehicle and the extension length of the longitudinal electric push rod in the telescopic component of the mowing device to achieve the required mowing stubble height.

[0042] Step 3. Start the tracked chassis. The motor of the swing-blade mowing head can drive the mowing head blade to perform vertical rotation mowing. The motor of the telescopic two-wing variable-amplitude rope mowing device can drive the rear mowing device to perform horizontal rotation mowing. The mowing robot moves forward on the track in the working environment to perform mowing work in a certain area.

[0043] Step 4. After weeding is complete, lift the front-end swing-blade mowing head using the electric push rod, and retract the rear-end variable-width rope mowing device using the horizontal electric push rod and lift it using the vertical electric push rod to enter high-speed walking mode and quickly leave the working environment.

[0044] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A telescopic, variable-width weeding robot, comprising a drive vehicle and weeding devices respectively disposed at the front and rear ends of the drive vehicle, characterized in that, The front-end mowing device is a rotary mowing head, which can rotate and cut grass in a vertical plane. The height of the rotary mowing head can be controlled by an adjustment component, thereby adjusting the cutting depth. The rear-end mowing device includes a pair of symmetrically arranged telescopic variable-width mowing devices on both sides of the rear end of the drive vehicle body. The variable-width mowing device includes a longitudinal telescopic component, a transverse telescopic component, and a cutting disc. The transverse telescopic component adjusts the horizontal position of the cutting disc relative to the drive vehicle body, so that the pair of cutting discs can move away from or closer to each other at the same time, thereby cutting weeds of different widths, or simultaneously retracting to the rear end of the drive vehicle body. The longitudinal telescopic component adjusts the longitudinal height of the cutting disc relative to the drive vehicle body, so that the cutting disc can cut weeds of different depths or leave the ground. The drive vehicle body includes a frame (18) constructed as a hollow rectangular box. The frame (18) has a top plate (16) on the upper part. A connecting block (01) is centrally located at the rear end of the top plate (16), and the end of the connecting block (01) extends beyond the top plate (16). A two-wing variable-amplitude rope mowing device with telescopic function is symmetrically installed on both sides of the connecting block (01). The longitudinal telescopic component includes a vertical electric push rod (03), the top of which is vertically mounted on the left and right sides of the connecting block (01) at the rear end of the drive vehicle body via a connecting strip (17). The lateral telescopic component includes a horizontally arranged crossbar (07) and a long support rod (11) and a two-fold support rod that can rotate horizontally at both ends of the crossbar (07). The lower end of the extension rod of the vertical electric push rod (03) is fixedly installed with a crossbar (07) parallel to the longitudinal direction of the drive vehicle body. The crossbar (07) is constructed in the shape of a cow horn, and the two ends of the crossbar (07) are constructed as a long rod and a short rod of different lengths. The cow horns of the two crossbars (07) on the left and right sides of the connecting block (01) face... The long and short poles are arranged parallel to each other and horizontally. The horns can accommodate a folded two-section support rod. The long pole of the two crossbars (07) is close to the frame (18), and the short pole is away from the frame (18). One end of the long support rod (11) is rotatably connected to the free end of the long pole in the crossbar (07). The upper part of the grass cutting blade is rotatably connected to the other end of the long support rod (11) through a hinge. The other end of the two-section support rod is rotatably connected to the middle part of the long support rod (11) and can rotate horizontally. The two-section support rod includes a horizontal electric swing rod (08) of fixed length and a telescopic connecting rod (09). The horizontal electric swing rod (08) and the short pole are connected through a rotatable rotating mechanism.

2. The retractable and variable-width weeding robot according to any one of claims 1, characterized in that, The frame (18) is symmetrically provided with tracks (12) on both sides. The swivel-type grass cutter head is located at the front end of the frame (18). The top plate (16) is provided on the upper part of the frame (18). The frame (18) is provided with a transmission component suitable for lithium battery drive. The transmission component can drive the tracks (12) to travel.

3. The weeding robot with extendable and variable width according to claim 2, characterized in that, The swivel-type mowing head includes a mowing head blade (20), which is horizontally positioned and rotates in the vertical plane to cut grass. A protective cover (13) is fitted over the mowing head blade (20). The adjustment component includes an electric push rod (15), the end of which is fixedly installed at the front end of the drive vehicle body. The extended end of the electric push rod (15) is connected to the protective cover (13). The cutting depth of the swivel-type mowing head can be adjusted by extending and retracting the electric push rod (15). The rotating shaft of the mowing head blade (20) is driven by the output shaft of a motor (14).

4. The weeding robot with extendable and variable width according to claim 2, characterized in that, The hinge's rotation axis is arranged horizontally. When the long support rod (11) of the two crossbars (07) approaches each other, the grass-cutting blade is away from the drive vehicle body. A pulley is installed on the side of the grass-cutting blade.

5. A weeding robot with a retractable and variable width according to claim 3, characterized in that, The rotating mechanism is driven by a motor.

6. A telescopic variable-width weeding robot according to claim 5, characterized in that, The connecting rod (09) is equipped with an elastic body to drive the connecting rod (09) to extend.

7. A weeding robot with a retractable and variable width according to claim 6, characterized in that, The cutting disc includes a disc guard (10) and a cutting rope (05). The disc guard (10) is constructed to include a circular top plate and an arc-shaped side plate connected to the circumference of the circular top plate. The circular top plate has a central opening and an upward-facing concentric bushing. A motor (02) is vertically mounted on the upper end of the bushing. The output shaft of the motor (02) passes through the bushing and connects to the cutting rope (05), so that the cutting rope (05) moves under the drive of the motor (02) within the disc guard (10). The curved side plate rotates inward, and the curved side plate of the cutter head protective cover (10) moves away from the long support rod (11). The L-shaped frame (19) is set on the side of the cutter head protective cover (10) with the curved side plate. The long arm of the L-shaped frame (19) is connected to the bushing. The bottom of the short arm of the L-shaped frame (19) is equipped with a pulley (04), and the length of the short arm of the L-shaped frame (19) is greater than the height of the curved side plate of the cutter head protective cover (10), so that the pulley (04) can support the cutter head protective cover (10).

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