Active and passive terrain-following obstacle avoidance and weeding device and its usage method

Abstract

The present invention discloses a terrain-like obstacle avoidance weeding device and a method of using the device, which combines active and passive methods. The device comprises a frame, and upper and lower profiling devices, an active obstacle avoidance device and a weeding device which are sequentially connected to the front end of the frame through an extension arm. The present invention has the characteristics of reasonable structural design, high weeding rate, and fast weeding efficiency. The present invention realizes the purpose of terrain-like weeding according to the undulating state of the ground in the form of combining active obstacle avoidance and passive obstacle avoidance, and protects grape branches from damage to the maximum extent while completely removing weeds near the branches.

Description

Technical Field

[0001] The present invention relates to the technical field of weeding equipment, and in particular to an active and passive combined terrain-mimicking obstacle-avoiding weeding device and a use method thereof. Background Art

[0002] Weeding is a very important part of agricultural production. Common weeding methods include chemical weeding, manual weeding, mechanical weeding and biological weeding. Although chemical weeding is effective, it will pollute the soil and the environment, and will also cause harm to human health. Manual weeding requires a lot of manpower input, is inefficient, and is not suitable for large-scale planting. Although biological weeding is environmentally friendly, it is less efficient and time-consuming. In contrast, mechanical weeding is an efficient, fast, and environmentally friendly weeding method that can avoid the defects of the above methods. Therefore, in agricultural production, mechanical weeding has been rapidly developed and widely used.

[0003] The current mechanical weeding technology still faces some challenges, especially in the weeding process in fruit tree planting areas such as vineyards: Application No. 201610908683.X discloses a grape intelligent weeding machine, including a frame, a hydraulic system, a solenoid valve control system, a weeding device and running wheels, the weeding device includes a fixed weeding part and a rotating movable weeding part, the fixed weeding part is fixedly installed on the frame, the rotating movable weeding part is fixedly equipped on both sides of the frame, the hydraulic system and the solenoid valve control system are fixed on the frame, the running wheels are fixedly installed on the bottom of the frame, the hydraulic system controls the rotating movable weeding part to rotate and weed, and controls the extension and retraction of the rotating movable weeding part; the solenoid valve control system controls the oil circuit output of the hydraulic system. The prior art uses a horizontally extended obstacle contact rod to touch the grape branches or grape racks, and then controls the extension and retraction of the rotating movable weeding part through a hydraulic system and a solenoid valve control system to achieve the purpose of active avoidance. However, in this obstacle avoidance method, the obstacle contact rod cannot touch the fallen or horizontally growing grape branches, thereby failing to trigger the active avoidance function. The weeder will directly cut off the fallen or horizontally growing grape branches during weeding, causing damage to the branches. In addition, the terrain of the grape planting area is complex, and the lack of a good terrain-mimicking mechanism will cause a significant drop in the weeding rate. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a terrain-like obstacle avoidance and weeding device that combines active and passive methods. It can not only solve the technical problem that the prior art cannot avoid obstacles and weed the fallen or horizontally growing grape branches, causing the branches to be damaged, but it can also solve the technical problem that the prior art cannot achieve terrain-like movement, resulting in a reduced weeding rate. The present invention also provides a method for using the terrain-like obstacle avoidance and weeding device that combines active and passive methods.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A terrain-like obstacle avoidance and weeding device combining active and passive functions, comprising a frame, an upper and lower profiling device, an active obstacle avoidance device and a weeding device which are sequentially connected to the front end of the frame through an extension arm.

[0007] The upper and lower profiling device comprises a profiling sliding mechanism obliquely arranged at the front end of the extension arm and an upper and lower profiling arm fixedly connected to the top end thereof, the profiling sliding mechanism comprises a lower slide rail mechanism and an upper slider mechanism slidably connected thereto, the lower slide rail mechanism comprises a slide rail bracket and slide rails arranged at its left and right ends, the upper slider mechanism comprises a slider bracket and sliders arranged at its left and right ends and respectively slidably matched with the slide rails, the slide rail bracket and the slider bracket are connected together by a slide rail pin, the upper and lower profiling device can adjust the height of the upper slider mechanism in the oblique direction of the lower slide rail mechanism relative to the ground according to the weeding device catering to the undulating action of the ground, so as to ensure that the relative posture of the weeding device and the target of action is in the best position, and the sliding cooperation between the lower slide rail mechanism and the upper slider mechanism in the oblique direction can achieve the purpose of reducing rigid impact, and the front end of the upper and lower profiling arm is connected to the active obstacle avoidance device;

[0008] The active obstacle avoidance device comprises a middle arm and an obstacle avoidance control mechanism arranged beside the middle arm, and a hydraulic pulling mechanism at the bottom end thereof; the top end of the middle arm is fixedly connected to the front ends of the upper and lower contour-matching arms; the obstacle avoidance control mechanism comprises an arc-shaped touch rod and an axis rotation mechanism and a travel switch mechanism connected thereto in sequence; the hydraulic pulling mechanism is connected to the weeding device through a connecting rod; the active obstacle avoidance device can cause the axis rotation mechanism connected to the arc-shaped touch rod to actuate and activate the travel switch mechanism after the arc-shaped touch rod touches the target plant, thereby causing the travel switch mechanism to control the hydraulic pulling mechanism to pull the weeding device to achieve the purpose of the weeding device actively avoiding obstacles and turning to weed. The middle arm is connected to the weeding device through a hinge telescopic mechanism;

[0009] The weeding device includes left and right contour arms and a weeding mechanism located at the front end thereof, the weeding mechanism includes a transmission assembly and a weeding and obstacle avoidance assembly arranged at the lower end thereof, the transmission assembly includes a hydraulic motor and a driving pulley connected thereto through a spherical bearing, and a driven pulley transmission-connected to the driving pulley, the weeding and obstacle avoidance assembly includes an obstacle avoidance disk and a weeding blade disc and a contour chassis located below the weeding blade disc and connected in sequence to the driven pulley, the bottom end of the weeding blade disc is provided with a knife claw, the center position of the obstacle avoidance disk is provided with a one-way bearing, the output end of the hydraulic motor extends below the driving pulley until it is connected to the one-way bearing, the weeding mechanism can achieve the purpose of driving the weeding blade disc to rotate and weed under the power provided by the transmission assembly, and can also achieve the purpose of passively surrounding the edge of the target plant for weeding under the reverse thrust of the target plant and the action of the one-way bearing only when the weeding and obstacle avoidance assembly touches the target plant.

[0010] Furthermore, the frame is connected to a driving device through a traction mechanism, and the traction mechanism has the function of providing traction and supporting force. The driving device is a motor vehicle with a suspension structure that can travel in fields or hilly terrain. It can provide travel power for the upper and lower contour-profiling devices, active obstacle avoidance devices and weeding devices by pulling the frame.

[0011] Furthermore, the rear end of the extension arm is movably connected to the frame, and the extension arm can rotate relative to the connection between it and the frame. The extension arm adjusts the size of the angle between it and the frame by rotation, and then adjusts the horizontal distance of the upper and lower profiling devices, the active obstacle avoidance device and the weeding device relative to the target. The front end of the extension arm is set as an inclined plane with a certain inclination angle, and the lower slide rail mechanism is located at the inclined surface of the front end of the extension arm.

[0012] Furthermore, the slide rail bracket is fixedly connected to the front end surface of the extension arm at a certain inclination angle, and comprises a U-shaped slide rail base plate fixedly connected to the front end upper surface of the extension arm, and the left and right ends of the U-shaped slide rail base plate respectively extend obliquely upward to form mutually symmetrical slide rail wing plates, and the top surface of the slide rail wing plate is provided with a slide rail, and the front and rear ends of the slide rail respectively extend a distance relative to the front and rear ends of the slide rail wing plate, and the front and rear ends of the slide rail are both provided with limit blocks, and the tops of the front and rear ends of the U-shaped slide rail base plate are penetrated and connected by slide rail pins.

[0013] Furthermore, the slider bracket includes a slider base plate arranged relative to the slide rail bracket, and the left and right ends of the slider base plate respectively extend obliquely downward to form symmetrical slider wing plates, and the bottom end surfaces of the slider wing plates are evenly provided with a plurality of sliders that slide with the slide rails of the lower slide rail mechanism. A sliding connecting piece penetrated by the slide rail pin shaft is arranged in the middle position of the bottom end surface of the slider base plate toward the direction of the slide rail bracket, and the sliding connecting piece can slide relative to the slide rail pin shaft in its extension direction.

[0014] Furthermore, the top center position of the slider bracket is connected to the upper and lower contour arms inclined at a certain angle through a contour vertical rod.

[0015] Furthermore, the rear end of the middle arm is connected to the shaft rotation mechanism through an L-shaped connecting rod, and the shaft rotation mechanism includes a sleeve that is sleeved and fastened to one end of the L-shaped connecting rod through a fastening bolt I, and the side end of the sleeve is connected to a rotating bearing through a semicircular plate, and a rotating rod is provided inside the rotating bearing, and the rotating rod can rotate relative to the rotating bearing, and the bottom of the rotating rod is connected to an arc-shaped touch rod through a fastening bolt II, and the arc-shaped touch rod can surround the side of the weeding device and extend to the front end of the weeding device from the connection between the arc-shaped touch rod and the bottom of the rotating rod, and the top of the rotating rod is fixedly connected to an extrusion paddle, and the extrusion paddle is connected to the travel switch mechanism through a travel spring.

[0016] Furthermore, the travel switch mechanism includes a travel support plate arranged on the upper surface of the rear end of the sleeve, the upper end surface of the travel support plate is provided with a travel switch, the front end surface of the travel switch is provided with a switch button, and the travel spring is sleeved on the outside of the switch button and fixedly connected to the front end surface of the travel switch.

[0017] Furthermore, a spring limit assembly is also provided at the top of the rotating rod, and the spring limit assembly includes a limit paddle fixedly connected to the outer surface of the top of the rotating rod, and the limit paddle is connected to one end of the limit spring through a limit rod passing through its surface, and the other end of the limit spring is connected to the semicircular plate of the shaft rotation mechanism.

[0018] Furthermore, the hydraulic pulling mechanism includes a connecting pipe and a hydraulic cylinder arranged at its bottom end, the hydraulic cylinder is provided with a cylinder body end and a piston end, the top end of the connecting pipe passes through the surface of the middle arm and is threadedly connected thereto, the bottom end of the connecting pipe is connected to the cylinder body end of the hydraulic cylinder, and the piston end of the hydraulic cylinder is movably connected to the connecting rod.

[0019] Furthermore, the hinge telescopic mechanism includes a hinge and a stop block I and a stop block II respectively arranged at the front and rear ends thereof, the stop block I is fastened to the rear end of the weeding device by bolts, the rear end face of the stop block I is fixedly connected to the front end face of the hinge, the stop block II is fastened to the front end of the middle arm by bolts, the front end face of the stop block II is provided with a moving shaft, the outer wall surface of the moving shaft is sleeved with a hinge spring, the front end of the moving shaft passes through the rear end face of the hinge and the rear end face of the hinge is fastened to the front end outer wall surface of the moving shaft by a hinge limiting nut threadedly connected to the front end of the moving shaft, the moving shaft and the rear end face of the hinge are both inside the front end of the middle arm, and the rear end of the hinge can slide forward and backward on the surface of the moving shaft relative to the stop block II.

[0020] Furthermore, the rear ends of the left and right contour arms are connected to the hinge telescopic mechanism, the front end bottom surfaces of the left and right contour arms are fixedly connected to the connecting rod, the connecting rod and the left and right contour arms are arranged at a 90 degree angle, and the front ends of the left and right contour arms are connected to the transmission assembly.

[0021] Furthermore, the front ends of the left and right contour arms are fixedly connected to a transmission support, a hydraulic motor is arranged above the transmission support, and an output end of the hydraulic motor is connected to a driving pulley located below the transmission support through a spherical bearing arranged on the surface of the transmission support, and the driving pulley is cooperated with a driven pulley located beside it through a V-belt. A driven shaft is arranged at the bottom end of the driven pulley, and the driven shaft is connected to the weeding knife disc and the contour chassis located below the obstacle avoidance disc in sequence through a weeding bearing located on the surface of the obstacle avoidance disc.

[0022] Furthermore, the one-way bearing has the function of limiting the rotation direction of the obstacle avoidance disk.

[0023] Furthermore, the knife claw is provided with a vertical end and a bent end, the vertical end of the knife claw is fixedly connected to the bottom end surface of the weeding knife disc, the bent end of the knife claw is bent toward the center position of the weeding knife disc at the bottom of the weeding knife disc, and both sides of the knife claw are sharpened; the diameter of the contoured chassis is smaller than the diameter of the weeding knife disc.

[0024] The present invention also provides a method for using an active and passive combined terrain-like obstacle avoidance weeding device, which can be applied to the above-mentioned active and passive combined terrain-like obstacle avoidance weeding device, and the specific steps include:

[0025] Step S1: firstly, the driving device is connected to the frame of the terrain-like obstacle avoidance weeding device through a traction mechanism, the driving device is started to tow the terrain-like obstacle avoidance weeding device to the target plant planting area, the position of the terrain-like obstacle avoidance weeding device is adjusted, and the horizontal distances of the upper and lower profiling devices, the active obstacle avoidance device and the weeding device relative to the target are adjusted so that the weeding device is as close to the ground as possible and is located directly in front of the target plant, and the driving device is driven to move forward in the direction of the target plant until the target plant contacts the terrain-like obstacle avoidance weeding device, that is, the weed removal work around the target plant begins;

[0026] Step S2: start the hydraulic motor to make it move, the output end of the hydraulic motor drives the active pulley to rotate so that the active pulley can drive the driven pulley to rotate through the V-belt, and the driven pulley drives the driven shaft at its bottom to rotate in the same direction, thereby driving the weeding cutter disc and the contour chassis connected to the driven shaft to rotate in the same direction. At this time, the knife claws at the bottom of the weeding cutter disc have been extended into the soil, and the weeds in the area where the knife claws are located at this moment are removed and the soil is loosened. The bottom surface of the contour chassis is also in contact with the soil surface. With the movement of the terrain-mimicking obstacle avoidance weeding device, the contour chassis can float up and down to cater to the undulating state of the ground, and the slider of the upper slider mechanism can move obliquely upward and downward on the slide rail surface of the lower slide rail mechanism to achieve the purpose of terrain-mimicking action, ensuring that the relative posture of the weeding device and the target is in the best position;

[0027] Step S3: When the arc-shaped touch rod of the terrain-like obstacle avoidance weeding device touches the trunk of the target plant, the arc-shaped touch rod is pushed by the trunk of the target plant while the driving device drives the terrain-like obstacle avoidance weeding device to continue to move forward. The arc-shaped touch rod drives the rotating rod connected to it to rotate relative to the rotating bearing. The squeezing paddle located on the top of the rotating rod rotates in the same direction as the rotating rod and squeezes the travel spring so that the squeezing paddle presses the switch button to activate the travel switch. The travel switch controls the external hydraulic system to pump hydraulic fluid to the cylinder end of the hydraulic cylinder so that the piston end of the hydraulic cylinder moves forward. As the cylinder end retracts, the piston end of the hydraulic cylinder drives the weeding device connected thereto to twist in the direction away from the arc-shaped touch rod through the connecting rod, and the weeding device surrounds the bottom of the target plant trunk to achieve the purpose of the weeding device actively avoiding obstacles and turning to weeding. At the same time, the weeding device is also pulled by the hydraulic pulling mechanism. The force generated toward the rear end of the weeding device causes the weeding device to push the hinge through the stop block I, and then the rear end surface of the hinge moves on the surface of the moving shaft toward the direction of the stop block II, the hinge spring is compressed, and the weeding device retracts a distance in the direction of the middle arm to drive the weeding device away from the target plant. When the arc-shaped touch rod passes the target plant and has not yet touched the next target plant, the travel spring pushes the squeezing paddle under the action of its rebound force, so that the rotating rod connected to the squeezing paddle rotates relative to the rotating bearing, thereby driving the arc-shaped touch rod to return to its original position. At this time, the spring limit assembly can limit the position of the squeezing paddle relative to the travel switch mechanism when the rebound force of the travel spring pushes the squeezing paddle, thereby preventing the travel spring from pushing the squeezing paddle under the action of rebound, and then when the arc-shaped touch rod is driven to rotate through the rotating rod, the rotational inertia generated by the arc-shaped touch rod drives the squeezing paddle to pull the travel rod The stroke spring causes the stroke spring to be stretched excessively, causing the distance between the arc-shaped touch rod and the weeding device to increase, and some target plants pass over the arc-shaped touch rod and enter between the arc-shaped touch rod and the weeding device. The stroke switch mechanism returns to the inactive state, and the piston end of the hydraulic cylinder returns to the extended state relative to the cylinder end of the hydraulic cylinder. At the same time, the hinge spring on the surface of the moving shaft in the hinge telescopic mechanism pushes the rear end surface of the hinge under the action of its rebound force, so that the rear end of the hinge moves on the surface of the moving shaft toward the direction of the stop block I, and the weeding device returns to its original position driven by the extended action of the piston end of the hydraulic cylinder.

[0028] Step S4: When the target plant in front is in a lodging or horizontal growth state so that the arc-shaped touch rod cannot touch or detect it, the edge of the obstacle avoidance disk touches the target plant in the lodging or horizontal growth state, and the target plant applies a thrust to the obstacle avoidance disk. Under the action of the one-way bearing, the obstacle avoidance disk passively rotates in a direction away from the arc-shaped touch rod with the one-way bearing as the center and removes the weeds around the target plant along the edge of the target plant. At this time, the positions of the driven pulley above the obstacle avoidance disk and the weeding blade and contour chassis below the obstacle avoidance disk are changed in the horizontal direction. Subsequently, under the drive of the driving device, the terrain-like obstacle avoidance and weeding device moves toward the next target plant.

[0029] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0030] 1. The present invention has the characteristics of reasonable structural design, high weeding rate, fast weeding efficiency, etc. The present invention realizes the purpose of terrain-like weeding according to the undulating state of the ground in the form of combining active obstacle avoidance and passive obstacle avoidance, and protects the grape branches from damage to the greatest extent while completely removing the weeds near the branches;

[0031] 2. The active obstacle avoidance device of the present invention can cause the shaft rotation mechanism connected to the arc touch rod to operate and activate the travel switch mechanism after the arc touch rod touches the target plant, so that the travel switch mechanism controls the hydraulic pulling mechanism to pull the weeding device to achieve the purpose of active obstacle avoidance and weeding of the weeding device; the weeding mechanism of the present invention can achieve the purpose of driving the weeding blade to rotate and weed under the power provided by the transmission component, and it can also achieve the purpose of weeding obstacle avoidance component touching the target plant when the target plant is in a lodging or horizontal growth state so that the arc touch rod cannot touch or detect it, and passively surrounds the edge of the target plant to weed under the action of the reverse thrust of the target plant and the one-way bearing; the upper and lower profiling device of the present invention can adjust the height of the upper slider mechanism in the inclination direction of the lower slide rail mechanism relative to the ground according to the action of the weeding device to meet the undulating action of the ground, so as to ensure that the relative posture between the weeding device and the target is in the best position, thereby improving the weeding rate;

[0032] Other beneficial effects of the present invention will be further described in the following specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0034] Figure 1 A is a schematic diagram of the overall structure of the present invention;

[0035] Figure 2 FIG. B is a schematic diagram of the overall structure of the present invention;

[0036] Figure 3 A is a schematic structural diagram of the upper and lower profiling device of the present invention;

[0037] Figure 4 It is a schematic diagram B of the structure of the upper and lower profiling device of the present invention;

[0038] Figure 5 A is a structural schematic diagram of the active obstacle avoidance device of the present invention;

[0039] Figure 6 FIG. B is a structural schematic diagram of the active obstacle avoidance device of the present invention;

[0040] Figure 7 It is a structural schematic diagram of the hinge telescopic mechanism of the present invention;

[0041] Figure 8 A is a schematic structural diagram of a weeding device according to the present invention;

[0042] Fig. 9 Schematic diagram B of the structure of the weeding device of the present invention;

[0043] Among them: 1. frame; 2. extension arm; 3. upper and lower profiling device; 31. lower slide rail mechanism; 311. U-shaped slide rail bottom plate; 312. slide rail wing plate; 313. slide rail pin; 32. slide rail; 33. upper slider mechanism; 331. slider bottom plate; 332. slider wing plate; 333. sliding connecting plate; 34. slider; 35. upper and lower profiling arm; 4. active obstacle avoidance device; 41. middle arm; 42. L-shaped connecting rod; 431. sleeve; 432. semicircular plate; 433. rotating bearing; 434. rotating rod; 435. arc touch rod; 436. extrusion paddle; 437. travel spring; 441. limit paddle; 442. limit rod; 4 43. Limit spring; 451. Travel support plate; 452. Travel switch; 461. Connecting pipe; 462. Hydraulic cylinder; 463. Connecting rod; 471. Hinge; 472. Stop block I; 473. Stop block II; 474. Moving shaft; 475. Hinge spring; 476. Hinge limit nut; 5. Weeding device; 51. Left and right contour arms; 521. Transmission support; 522. Hydraulic motor; 523. Spherical bearing; 524. Driving pulley; 525. Driven pulley; 526. V-belt; 527. Weeding bearing; 528. Weeding disc; 529. Contour chassis; 5210. Claw; 5211. One-way bearing; 5212. Obstacle avoidance disc. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] like Figures 1 to 9 As shown, the present invention provides a terrain-like obstacle-avoiding weeding device that combines active and passive features.

[0046] The vehicle comprises a frame 1 and an upper and lower profiling device 3, an active obstacle avoidance device 4 and a weeding device 5 which are sequentially connected to the front end of the frame through a stretching arm 2.

[0047] The upper and lower profiling device 3 includes a profiling sliding mechanism obliquely arranged at the front end of the extension arm 2 and an upper and lower profiling arm 35 fixedly connected to the top end thereof, the profiling sliding mechanism includes a lower slide rail mechanism 31 and an upper slider mechanism 33 slidably connected thereto, the lower slide rail mechanism 31 includes a slide rail bracket and slide rails 32 arranged at its left and right ends, the upper slider mechanism 33 includes a slider bracket and sliders 34 arranged at its left and right ends respectively slidably matched with the slide rails 32, the slide rail bracket and the slider bracket are connected together by a slide rail pin 313, the upper and lower profiling device 3 can adjust the height of the upper slider mechanism 33 in the oblique direction of the lower slide rail mechanism 31 relative to the ground according to the undulating action of the weeding device 5 to cater to the ground, so as to ensure that the relative posture of the weeding device 5 and the target is in the best position, and the sliding cooperation between the lower slide rail mechanism 31 and the upper slider mechanism 33 in the oblique direction can achieve the purpose of reducing rigid impact, and the front end of the upper and lower profiling arm 35 is connected to the active obstacle avoidance device 4;

[0048] The active obstacle avoidance device 4 includes a middle arm 41, an obstacle avoidance control mechanism arranged beside it, and a hydraulic pulling mechanism located at its bottom. The top end of the middle arm 41 is fixedly connected to the front end of the upper and lower contour arms 35. The obstacle avoidance control mechanism includes an arc-shaped touch rod 435 and an axis rotation mechanism and a travel switch mechanism connected thereto in sequence. The hydraulic pulling mechanism is connected to the weeding device 5 through a connecting rod 463. After the arc-shaped touch rod 435 touches the target plant, the active obstacle avoidance device 4 can cause the axis rotation mechanism connected to the arc-shaped touch rod 435 to actuate and activate the travel switch mechanism, thereby causing the travel switch mechanism to control the hydraulic pulling mechanism to pull the weeding device 5 to achieve the purpose of the weeding device actively avoiding obstacles and turning to weed. The middle arm 41 is connected to the weeding device 5 through a hinge telescopic mechanism.

[0049] The weeding device 5 includes left and right contour arms 51 and a weeding mechanism located at the front end thereof, the weeding mechanism includes a transmission assembly and a weeding obstacle avoidance assembly arranged at the lower end thereof, the transmission assembly includes a hydraulic motor 522 and a driving pulley 524 connected thereto through a spherical bearing 523, and a driven pulley 525 connected to the driving pulley 524 in a transmission manner, the weeding obstacle avoidance assembly includes an obstacle avoidance disc 5212 and a weeding blade disc 528 and a contour chassis 529 located below the weeding blade disc 528 and connected to the driven pulley 525 in sequence, A knife claw 5210 is arranged at the bottom end, a one-way bearing 5211 is arranged at the center position of the obstacle avoidance disc 5212, and the output end of the hydraulic motor 522 extends to the bottom of the driving pulley 524 until it is connected with the one-way bearing 5211. The weeding mechanism can achieve the purpose of driving the weeding knife disc 528 to rotate and weed under the power provided by the transmission component, and can also achieve the purpose of passively weeding around the edge of the target plant under the action of the reverse thrust of the target plant and the one-way bearing only when the weeding and obstacle avoidance component touches the target plant.

[0050] In the embodiment of the present invention, the frame 1 is connected to a driving device through a traction mechanism, the traction mechanism has the function of providing traction and support force, and the driving device is a motor vehicle with a suspension structure that can travel in fields or shallow hills and mountains, which can provide travel power for the upper and lower contour-profiling device 3, the active obstacle avoidance device 4 and the weeding device 5 by pulling the frame 1;

[0051] In the embodiment of the present invention, the rear end of the extension arm 2 is movably connected to the vehicle frame 1, and the extension arm 2 can rotate at the connection between the extension arm 2 and the vehicle frame 1. The extension arm 2 adjusts the size of the angle between the extension arm 2 and the vehicle frame 1 by rotating, thereby adjusting the horizontal distances of the upper and lower profiling devices 3, the active obstacle avoidance device 4 and the weeding device 5 relative to the target. When the horizontal distances of the active obstacle avoidance device 4 and the weeding device 5 relative to the target are adjusted, the connection between the extension arm 2 and the vehicle frame 1 can be tightened to prevent the active obstacle avoidance device 4 and the weeding device 5 from moving away from the target during operation. The front end of the extension arm 2 is set as an inclined plane with a certain inclination angle, and the lower slide rail mechanism 31 is located at the inclined surface of the front end of the extension arm 2;

[0052] In the embodiment described in the present invention, the slide rail bracket is fixedly connected to the front end surface of the extension arm 2 at a certain inclined angle, and includes a U-shaped slide rail base plate 311 fixedly connected to the front end upper surface of the extension arm 2, and the left and right ends of the U-shaped slide rail base plate 311 respectively extend obliquely upward to form mutually symmetrical slide rail wing plates 312, and the top surface of the slide rail wing plate 312 is provided with a slide rail 32, and the front and rear ends of the slide rail 32 respectively extend one end distance relative to the front and rear ends of the slide rail wing plate 312, and the front and rear ends of the slide rail 32 are both provided with limit blocks, and the limit blocks have a range of distances within which the upper slider mechanism 33 can slide on the slide rail 32 of the lower slider mechanism 31, so as to prevent the upper slider mechanism 33 from derailing and causing damage to the structure of related components, and the tops of the front and rear ends of the U-shaped slide rail base plate 311 are penetrated and connected by the slide rail pin shaft 313;

[0053] In the embodiment of the present invention, the slider bracket includes a slider bottom plate 331 arranged relative to the slide rail bracket, and the left and right ends of the slider bottom plate 331 respectively extend downwardly and obliquely to form symmetrical slider wing plates 332, and the bottom end surfaces of the slider wing plates 332 are evenly provided with a plurality of sliders 34 that slidably cooperate with the slide rail 32 of the lower slide rail mechanism 31. A sliding connection piece 333 penetrated by the slide rail pin shaft 313 is arranged in the middle position of the bottom end surface of the slider bottom plate 331 in the direction of the slide rail bracket, and the sliding connection piece 333 can slide relative to the slide rail pin shaft 313 in the extension direction thereof. The cooperation of the slide rail pin shaft 313 and the sliding connection piece 333 can not only provide a connection support function between the lower slide rail mechanism 31 and the upper slider mechanism 33, but also can further prevent the upper slider mechanism 33 from derailing on the slide rail 32 of the lower slide rail mechanism 31.

[0054] In the embodiment of the present invention, the top center position of the slider bracket is connected to the upper and lower contour arms 35 tilted at a certain angle through a contoured vertical rod. The upper and lower contour arms 35 not only have the function of connecting and supporting, but their tilted setting can also ensure that the vertical distance between the active obstacle avoidance device 4 and the weeding device 5 and the target is at an optimal height.

[0055] In the embodiment described in the present invention, the rear end of the middle arm 41 is connected to the shaft rotation mechanism through the L-shaped connecting rod 42, and the shaft rotation mechanism includes a sleeve 431 which is sleeved and fastened to one end of the L-shaped connecting rod 42 through a fastening bolt I, and the side end of the sleeve 431 is connected to a rotating bearing 433 through a semicircular plate 432, and a rotating rod 434 is provided inside the rotating bearing 433, and the rotating rod 434 can rotate relative to the rotating bearing 433, and the bottom of the rotating rod 434 is connected to an arc-shaped touch rod 435 through a fastening bolt II, and the arc-shaped touch rod 435 can surround the side of the weeding device 5 from the connection between it and the bottom of the rotating rod 434 and extend to the front end of the weeding device 5, and the arc-shaped touch rod 435 can touch the target on the side of the weeding device 5 that is within its horizontal height. The plant is touched and detected, and a squeezing paddle 436 is fixedly connected to the top of the rotating rod 434. The squeezing paddle 436 is connected to the travel switch mechanism through a travel spring 437. When the arc-shaped touching rod 435 is pushed by the target plant it touches and drives the rotating rod 434 to rotate relative to the rotating bearing 433, the squeezing paddle 436 located at the top of the rotating rod 434 rotates in the same direction as the rotating rod 434 and squeezes the travel spring 437 so that the squeezing paddle 436 activates the travel switch mechanism. When the arc-shaped touching rod 435 no longer touches the target plant, the travel spring 437 pushes the squeezing paddle 436 under the action of its rebound force, so that the rotating rod 434 connected to the squeezing paddle 436 rotates relative to the rotating bearing 433, thereby driving the arc-shaped touching rod 435 to return to its original position;

[0056] In the embodiment of the present invention, the travel switch mechanism includes a travel support plate 451 disposed on the upper surface of the rear end of the sleeve 431, the upper end surface of the travel support plate 451 is provided with a travel switch 452, the front end surface of the travel switch 452 is provided with a switch button, the travel spring 437 is sleeved on the outside of the switch button and fixedly connected to the front end surface of the travel switch 452, and the travel switch 452 is activated by pressing the switch button, so that the travel switch 452 controls the hydraulic pulling mechanism to move and then pulls the weeding device 5 to achieve the purpose of active obstacle avoidance and steering of the weeding device 5;

[0057] In the embodiment described in the present invention, a spring limiting assembly is further provided on the top of the rotating rod 434, and the spring limiting assembly can limit the position of the squeezing paddle 436 relative to the travel switch mechanism when the rebound force of the travel spring 437 pushes the squeezing paddle 436, so as to prevent the travel spring 437 from pushing the squeezing paddle 436 under the rebound action, and then when the arc-shaped touch rod 435 is driven to rotate by the rotating rod 434, the rotational inertia generated by the arc-shaped touch rod 435 drives the squeezing paddle 436 to pull the travel spring 437, so that the travel spring 437 is overstretched, causing the arc-shaped touch rod 435 to collide with the travel spring 437. The spacing between the weeding devices 5 increases, and some target plants pass over the arc-shaped touch rod 435 and enter between the arc-shaped touch rod 435 and the weeding device 5. The spring limit assembly includes a limit paddle 441 fixedly connected to the outer surface of the top of the rotating rod 434, and the limit paddle 441 is connected to one end of the limit spring 443 through a limit rod 442 penetrating the surface thereof, and the other end of the limit spring 443 is connected to the semicircular plate 432 of the shaft rotating mechanism. When the travel spring 437 is not stressed and is in a stationary state, the limit spring 443 is also in a straightened stationary state.

[0058] In the embodiment described in the present invention, the hydraulic pulling mechanism includes a connecting pipe 461 and a hydraulic cylinder 462 arranged at the bottom end thereof, the hydraulic cylinder 462 is provided with a cylinder end and a piston end, the top end of the connecting pipe 461 passes through the surface of the middle arm 41 and is threadedly connected thereto, the bottom end of the connecting pipe 461 is connected to the cylinder end of the hydraulic cylinder 462, the piston end of the hydraulic cylinder 462 is movably connected to the connecting rod 463, the travel switch mechanism can control the external hydraulic system to pump hydraulic fluid to the cylinder end of the hydraulic cylinder 462 so that the piston end of the hydraulic cylinder 462 can be extended and retracted relative to the cylinder end, and when the travel switch 452 is not activated, the piston end of the hydraulic cylinder 462 is relative to the hydraulic cylinder 462. The cylinder end of the hydraulic cylinder 462 is in an extended state. At this time, the weeding device 5 connected to the hydraulic cylinder 462 through the connecting rod 463 does not turn. When the travel switch mechanism is activated, it controls the external hydraulic system to pump hydraulic fluid to the cylinder end of the hydraulic cylinder 462 so that the piston end of the hydraulic cylinder 462 retracts toward the cylinder end. At this time, the piston end of the hydraulic cylinder 462 drives the weeding device 5 connected thereto to twist in a direction away from the arc-shaped touch rod 435 through the connecting rod 463. When the travel switch mechanism returns to the inactivated state, the piston end of the hydraulic cylinder 462 returns to an extended state relative to the cylinder end of the hydraulic cylinder 462. Driven by the extended action of the piston end of the hydraulic cylinder 462, the weeding device 5 returns to its original position.

[0059] In the embodiment described in the present invention, the hinge telescopic mechanism includes a hinge 471 and a stop block I 472 and a stop block II 473 respectively arranged at the front and rear ends thereof, the stop block I 472 is fastened to the rear end of the weeding device 5 by bolts, the rear end face of the stop block I 472 is fixedly connected to the front end face of the hinge 471, the stop block II 473 is fastened to the front end of the middle arm 41 by bolts, the front end face of the stop block II 473 is provided with a moving shaft 474, the outer wall surface of the moving shaft 474 is sleeved with a hinge spring 475, the front end of the moving shaft 474 passes through the rear end face of the hinge 471 and fastens the rear end face of the hinge 471 to the front end outer wall surface of the moving shaft 474 through a hinge limiting nut 476 threadedly connected to the front end of the moving shaft 474, the rear end faces of the moving shaft 474 and the hinge 471 are both located inside the front end of the middle arm 41, and the rear end of the hinge 4471 can be moved at the moving shaft The surface of 474 slides forward and backward relative to the stop block II 473. When the hydraulic pulling mechanism pulls the weeding device 5 to twist in the direction away from the arc-shaped touch rod 435, the weeding device 5 is also subjected to a component force in the direction of its rear end, so that the weeding device 5 pushes the hinge 471 through the stop block I 472, and then the rear end face of the hinge 471 moves on the surface of the moving shaft 474 in the direction of the stop block II 473. At this time, the hinge spring 475 is compressed, and the weeding device 5 retracts a distance in the direction of the middle arm 41 to drive the weeding device 5 away from the target plant; when the hydraulic pulling mechanism drives the weeding device 5 to twist in the direction close to the arc-shaped touch rod 435, the hinge spring 475 on the surface of the moving shaft 474 pushes the rear end face of the hinge 471 under the action of its rebound force, so that the rear end of the hinge 471 moves on the surface of the moving shaft 474 in the direction of the stop block I 472, and the weeding device 5 returns to its original position;

[0060] In the embodiment of the present invention, the rear ends of the left and right contour arms 51 are connected to the hinge telescopic mechanism, the front end bottom surfaces of the left and right contour arms 51 are fixedly connected to the connecting rod 463, the connecting rod 463 and the left and right contour arms 51 are arranged at a 90-degree angle, the front ends of the left and right contour arms 51 are connected to the transmission assembly, and the left and right contour arms 51 can provide support for the transmission assembly and the weeding and obstacle avoidance assembly;

[0061] In the embodiment of the present invention, the front ends of the left and right contour arms 51 are fixedly connected to a transmission support 521, and a hydraulic motor 522 is arranged above the transmission support 521. The output end of the hydraulic motor 522 is connected to a driving pulley 524 located below the transmission support 521 through a spherical bearing 523 arranged on the surface of the transmission support 521. The driving pulley 524 is connected to a driven pulley 525 located next to it through a V-belt 526. The output end of the hydraulic motor 522 drives the driving pulley 524 to rotate. The driving pulley 524 can drive the driven pulley 525 to rotate through the V-belt. The bottom end of the driven pulley 525 is provided with a driven shaft. The driven shaft is connected to the weeding blade disc 528 and the contour chassis 529 located below the obstacle avoidance disc 5212 in sequence through the weeding bearing 527 located on the surface of the obstacle avoidance disc 5212. The rotation of the driven pulley 525 can drive the driven shaft to rotate in the same direction as it, thereby driving the weeding blade disc 528 and the contour chassis 529 connected to the driven shaft to rotate in the same direction.

[0062] Specifically, the number of the driven pulleys 525 is three, and the three driven pulleys 525 are evenly distributed on the periphery of the driving pulley 524 in a three-point manner. The driving pulley 524 is respectively matched with each driven pulley 525 through a V-belt. The output end of the hydraulic motor 522 drives the driving pulley 524 to rotate so that the driving pulley 524 drives each driven pulley 525 to rotate through the V-belt 526. The shape structure of the obstacle avoidance plate 5212 is set to a regular triangle structure, each corner of the obstacle avoidance plate 5212 is set to a circular arc corner, and the edge between two adjacent circular arc corners is an arc edge concave toward the center of the obstacle avoidance plate 5212. The number of weeding bearings 527 is three, which are respectively arranged on the surface of each circular arc corner of the obstacle avoidance plate 5212.

[0063] In the embodiment of the present invention, the one-way bearing 5211 has the function of limiting the rotation direction of the obstacle avoidance disk 5212. When the target plant is in a lodging or horizontal growth state so that the arc-shaped touch rod 435 cannot touch or detect it, the edge of the obstacle avoidance disk 5212 touches the target plant in the lodging or horizontal growth state, and the target plant applies a thrust to the obstacle avoidance disk 5212. Under the action of the one-way bearing 5211, the obstacle avoidance disk 5212 passively rotates in a direction away from the arc-shaped touch rod 435 with the one-way bearing 5211 as the center of the circle and removes the weeds around the target plant along the edge of the target plant. At this time, the positions of the driven pulley 525 above the obstacle avoidance disk 5212 and the weeding blade 528 and the contoured chassis 529 below the obstacle avoidance disk 5212 are all changed in the horizontal direction.

[0064] In the embodiment described in the present invention, the knife claw 5210 is provided with a vertical end and a bent end. The vertical end of the knife claw 5210 is fixedly connected to the bottom end surface of the weeding knife disc 528, and the bent end of the knife claw 5210 is bent toward the center position of the weeding knife disc 528 under the weeding knife disc 528. The knife claw 5210 is sharpened on both sides. The rotating knife claw 5210 extending into the soil can not only destroy the root structure of weeds and prevent the weeds from reviving, making weeding more thorough, but also can loosen the soil. The weeding of this kind of knife claw 5210 extending into the soil The contoured chassis 529 has a diameter smaller than that of the weeding blade 528, so that the contoured chassis 529 can be located inside the blade claw 5210. When the blade claw 5210 extends into the soil, the bottom surface of the contoured chassis 529 contacts the surface of the ground. When the contoured chassis 529 floats up and down in accordance with the undulating state of the ground, the slider 34 of the upper slider mechanism 33 can move obliquely upward and downward on the surface of the slide rail 32 of the lower slide rail mechanism 31 to achieve the purpose of terrain-mimicking action.

[0065] The present invention also provides a method for using an active and passive combined terrain-like obstacle avoidance weeding device, which can be applied to the above-mentioned active and passive combined terrain-like obstacle avoidance weeding device, and the specific steps include:

[0066] Step S1: firstly, the driving device is connected to the frame 1 of the terrain-like obstacle avoidance weeding device through a traction mechanism, the driving device is started to tow the terrain-like obstacle avoidance weeding device to the target plant planting area, the position of the terrain-like obstacle avoidance weeding device is adjusted, and the horizontal distances of the upper and lower profiling devices 3, the active obstacle avoidance device 4 and the weeding device 5 relative to the target are adjusted so that the weeding device 5 is as close to the ground as possible and is located directly in front of the target plant, and the driving device is driven to move forward in the direction of the target plant until the target plant contacts the terrain-like obstacle avoidance weeding device, that is, the weed removal work around the target plant begins;

[0067] Step S2: Start the hydraulic motor 522 to make it move. The output end of the hydraulic motor 522 drives the driving pulley 524 to rotate so that the driving pulley 524 can drive the driven pulley 525 to rotate through the V-belt 526. The driven pulley 525 drives the driven shaft at its bottom to rotate in the same direction, thereby driving the weeding disc 528 and the contoured chassis 529 connected to the driven shaft to rotate in the same direction. At this time, the blade claw 5210 at the bottom of the weeding disc 528 has been extended into the soil, and the blade claw 5210 at the bottom of the weeding disc 528 has been extended into the soil. The weeds in the area where the carving claw 5210 is located are removed and the soil is loosened, and the bottom surface of the contour chassis 529 is also in contact with the soil surface. With the action of the terrain-like obstacle avoidance weeding device, the contour chassis 529 can float up and down in accordance with the undulation of the ground, and the slider 34 of the upper slider mechanism 33 can move obliquely upward and downward on the surface of the slide rail 32 of the lower slide rail mechanism 31, so as to achieve the purpose of terrain-like action, ensuring that the relative posture of the weeding device 5 and the target is in the best position;

[0068] Step S3: When the arc-shaped touch rod 435 of the terrain-like obstacle avoidance weeding device touches the trunk of the target plant, the arc-shaped touch rod 435 is pushed by the trunk of the target plant while the driving device drives the terrain-like obstacle avoidance weeding device to continue to move forward. The arc-shaped touch rod 435 drives the rotating rod 434 connected thereto to rotate relative to the rotating bearing 433. The squeezing paddle 436 located at the top of the rotating rod 434 rotates in the same direction as the rotating rod 434 and squeezes the travel spring 437 so that the squeezing paddle 436 presses the switch button to activate the travel switch 452. The travel switch 452 controls the external hydraulic system to pump hydraulic fluid to the cylinder end of the hydraulic cylinder 462 so that the piston end of the hydraulic cylinder 462 moves toward The cylinder end retracts, and the piston end of the hydraulic cylinder 462 drives the weeding device 5 connected thereto to twist in the direction away from the arc-shaped touch rod 435 through the connecting rod 463. The weeding device 5 surrounds the bottom of the trunk of the target plant to achieve the purpose of the weeding device 5 actively avoiding obstacles and turning to weed. At the same time, the weeding device 5 is also pulled by the hydraulic pulling mechanism. The component force generated in the direction of the rear end of the weeding device 5 makes the weeding device 5 push the hinge 471 through the stop block I 472, and then the rear end surface of the hinge 471 moves on the surface of the moving shaft 474 toward the direction of the stop block II 473, the hinge spring 475 is compressed, and the weeding device 5 retracts a distance in the direction of the middle arm 41 to drive the weeding device 5 away from the target plant; when the arc When the arc-shaped touch rod 435 passes the target plant and has not yet touched the next target plant, the travel spring 437 pushes the squeezing paddle 436 under the action of its rebound force, so that the rotating rod 434 connected to the squeezing paddle 436 rotates relative to the rotating bearing 433, thereby driving the arc-shaped touch rod 435 to return to its original position. At this time, the spring limit assembly can limit the position of the squeezing paddle 436 relative to the travel switch mechanism when the rebound force of the travel spring 437 pushes the squeezing paddle 436, thereby preventing the travel spring 437 from pushing the squeezing paddle 436 under the rebound action, and then when the arc-shaped touch rod 435 is driven to rotate through the rotating rod 434, the rotational inertia generated by the arc-shaped touch rod 435 drives the squeezing paddle 436 to pull the travel rod 435 The spring 437 causes the travel spring 437 to be stretched excessively, causing the distance between the arc-shaped touch rod 435 and the weeding device 5 to increase, and some target plants pass over the arc-shaped touch rod 435 and enter between the arc-shaped touch rod 435 and the weeding device 5. The travel switch mechanism returns to the inactive state, and the piston end of the hydraulic cylinder 462 returns to the extended state relative to the cylinder end of the hydraulic cylinder 462. At the same time, the hinge spring 475 on the surface of the moving shaft 474 in the hinge telescopic mechanism pushes the rear end surface of the hinge 471 under the action of its rebound force, so that the rear end of the hinge 471 moves on the surface of the moving shaft 474 toward the direction of the stop block I 472, and the weeding device 5 returns to its original position driven by the extended action of the piston end of the hydraulic cylinder 462.

[0069] Step S4: When the target plant in front is in a lodging or horizontal growth state so that the arc-shaped touch rod 435 cannot touch or detect it, the edge of the obstacle avoidance plate 5212 touches the target plant in the lodging or horizontal growth state, and the target plant applies a thrust to the obstacle avoidance plate 5212. Under the action of the one-way bearing 5211, the obstacle avoidance plate 5212 passively rotates in a direction away from the arc-shaped touch rod 435 with the one-way bearing 5211 as the center and removes the weeds around the target plant along the edge of the target plant. At this time, the positions of the driven pulley 525 above the obstacle avoidance plate 5212 and the weeding blade 528 and the contoured chassis 529 below it are all changed in the horizontal direction. Subsequently, driven by the driving device, the terrain-like obstacle avoidance and weeding device moves toward the next target plant.

[0070] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A terrain-like obstacle avoidance weeding device combining active and passive features, characterized in that: The vehicle comprises a frame and upper and lower contour-profiling devices, an active obstacle-avoiding device and a weeding device which are sequentially connected to the front end of the vehicle frame through a stretching arm. The upper and lower profiling device comprises a profiling sliding mechanism obliquely arranged at the front end of the extension arm and an upper and lower profiling arm fixedly connected to the top end thereof, the profiling sliding mechanism comprises a lower slide rail mechanism and an upper slider mechanism slidably connected thereto, the lower slide rail mechanism comprises a slide rail bracket and slide rails arranged at its left and right ends, the upper slider mechanism comprises a slider bracket and sliders arranged at its left and right ends and respectively slidably matched with the slide rails, the slide rail bracket and the slider bracket are connected together by a slide rail pin, the upper and lower profiling device can adjust the height of the upper slider mechanism in the oblique direction of the lower slide rail mechanism relative to the ground according to the weeding device catering to the undulating action of the ground, so as to ensure that the relative posture of the weeding device and the target of action is in the best position, and the sliding cooperation between the lower slide rail mechanism and the upper slider mechanism in the oblique direction can achieve the purpose of reducing rigid impact, and the front end of the upper and lower profiling arm is connected to the active obstacle avoidance device; The active obstacle avoidance device comprises a middle arm and an obstacle avoidance control mechanism arranged beside the middle arm, and a hydraulic pulling mechanism at the bottom end thereof; the top end of the middle arm is fixedly connected to the front ends of the upper and lower contour-matching arms; the obstacle avoidance control mechanism comprises an arc-shaped touch rod and an axis rotation mechanism and a travel switch mechanism connected thereto in sequence; the hydraulic pulling mechanism is connected to the weeding device through a connecting rod; the active obstacle avoidance device can cause the axis rotation mechanism connected to the arc-shaped touch rod to actuate and activate the travel switch mechanism after the arc-shaped touch rod touches the target plant, thereby causing the travel switch mechanism to control the hydraulic pulling mechanism to pull the weeding device to achieve the purpose of the weeding device actively avoiding obstacles and turning to weed. The middle arm is connected to the weeding device through a hinge telescopic mechanism; The weeding device includes left and right contour arms and a weeding mechanism located at the front end thereof, the weeding mechanism includes a transmission assembly and a weeding and obstacle avoidance assembly arranged at the lower end thereof, the transmission assembly includes a hydraulic motor and a driving pulley connected thereto through a spherical bearing, and a driven pulley transmission-connected to the driving pulley, the weeding and obstacle avoidance assembly includes an obstacle avoidance disk and a weeding blade disc and a contour chassis located below the weeding blade disc and connected in sequence to the driven pulley, the bottom end of the weeding blade disc is provided with a knife claw, the center position of the obstacle avoidance disk is provided with a one-way bearing, the output end of the hydraulic motor extends below the driving pulley until it is connected to the one-way bearing, the weeding mechanism can achieve the purpose of driving the weeding blade disc to rotate and weed under the power provided by the transmission assembly, and can also achieve the purpose of passively surrounding the edge of the target plant for weeding under the reverse thrust of the target plant and the action of the one-way bearing only when the weeding and obstacle avoidance assembly touches the target plant.

2. The active and passive terrain-mimicking obstacle-avoiding weeding device according to claim 1 is characterized in that: The slide rail bracket is fixedly connected to the front end surface of the extension arm at a certain inclination angle, and includes a U-shaped slide rail base plate fixedly connected to the front end upper surface of the extension arm, and the left and right ends of the U-shaped slide rail base plate respectively extend obliquely upward to form mutually symmetrical slide rail wing plates, and the top surface of the slide rail wing plate is provided with a slide rail, and the front and rear ends of the slide rail respectively extend a distance relative to the front and rear ends of the slide rail wing plate, and the front and rear ends of the slide rail are both provided with limit blocks, and the tops of the front and rear ends of the U-shaped slide rail base plate are penetrated and connected by the slide rail pin shaft.

3. The active and passive terrain-mimicking obstacle-avoiding weeding device according to claim 1 is characterized in that: The slider bracket includes a slider base plate arranged relative to the slide rail bracket, and symmetrical slider wing plates are respectively extended obliquely downward from the left and right ends of the slider base plate, and a plurality of sliders that are slidably matched with the slide rails of the lower slide rail mechanism are evenly distributed on the bottom end surfaces of the slider wing plates, and a sliding connecting piece penetrated by the slide rail pin shaft is arranged in the middle position of the bottom end surface of the slider base plate toward the direction of the slide rail bracket, and the sliding connecting piece can slide relative to the slide rail pin shaft in its extension direction.

4. The active and passive terrain-mimicking obstacle-avoiding weeding device according to claim 1, characterized in that: The rear end of the middle arm is connected to the shaft rotation mechanism through an L-shaped connecting rod, and the shaft rotation mechanism includes a sleeve that is sleeved and fastened to one end of the L-shaped connecting rod through a fastening bolt I, and the side end of the sleeve is connected to a rotating bearing through a semicircular plate, and a rotating rod is arranged inside the rotating bearing, and the rotating rod can rotate relative to the rotating bearing, and the bottom of the rotating rod is connected to an arc-shaped touch rod through a fastening bolt II, and the arc-shaped touch rod can surround the side of the weeding device and extend to the front end of the weeding device from the connection between it and the bottom of the rotating rod, and the top of the rotating rod is fixedly connected to an extrusion paddle, and the extrusion paddle is connected to the travel switch mechanism through a travel spring; the travel switch mechanism includes a travel support plate arranged on the upper surface of the rear end of the sleeve, the upper end surface of the travel support plate is provided with a travel switch, and the front end surface of the travel switch is provided with a switch button, and the travel spring is sleeved on the outside of the switch button and fixedly connected to the front end surface of the travel switch.

5. The active and passive combined terrain-mimicking obstacle-avoiding weeding device according to claim 4 is characterized in that: A spring limit assembly is also provided on the top of the rotating rod, and the spring limit assembly includes a limit paddle fixedly connected to the outer surface of the top of the rotating rod. The limit paddle is connected to one end of the limit spring through a limit rod penetrating its surface, and the other end of the limit spring is connected to the semicircular plate of the shaft rotation mechanism.

6. The active and passive terrain-mimicking obstacle-avoiding weeding device according to claim 1, characterized in that: The hydraulic pulling mechanism includes a connecting pipe and a hydraulic cylinder arranged at its bottom end. The hydraulic cylinder is provided with a cylinder end and a piston end. The top end of the connecting pipe passes through the surface of the middle arm and is threadedly connected thereto. The bottom end of the connecting pipe is connected to the cylinder end of the hydraulic cylinder. The piston end of the hydraulic cylinder is movably connected to the connecting rod.

7. The active and passive terrain-mimicking obstacle-avoiding weeding device according to claim 1, characterized in that: The hinge telescopic mechanism includes a hinge and a stop block I and a stop block II respectively arranged at the front and rear ends thereof, the stop block I is fastened to the rear end of the weeding device by bolts, the rear end face of the stop block I is fixedly connected to the front end face of the hinge, the stop block II is fastened to the front end of the middle arm by bolts, the front end face of the stop block II is provided with a moving shaft, the outer wall surface of the moving shaft is sleeved with a hinge spring, the front end of the moving shaft passes through the rear end face of the hinge and the rear end face of the hinge is fastened to the front end outer wall surface of the moving shaft by a hinge limiting nut threadedly connected to the front end of the moving shaft, the moving shaft and the rear end face of the hinge are both inside the front end of the middle arm, and the rear end of the hinge can slide forward and backward on the surface of the moving shaft relative to the stop block II.

8. The active and passive terrain-mimicking obstacle-avoiding weeding device according to claim 1, characterized in that: The rear ends of the left and right contour arms are connected to the hinge telescopic mechanism, the front end bottom surfaces of the left and right contour arms are fixedly connected to the connecting rod, the connecting rod and the left and right contour arms are arranged at an angle of 90 degrees, and the front ends of the left and right contour arms are connected to the transmission assembly.

9. The active and passive terrain-mimicking obstacle-avoiding weeding device according to claim 1, characterized in that: The front ends of the left and right contouring arms are fixedly connected with a transmission support, a hydraulic motor is arranged above the transmission support, and the output end of the hydraulic motor is connected with a driving pulley located below the transmission support through a spherical bearing arranged on the surface of the transmission support, and the driving pulley is matched with a driven pulley located beside it through a V-belt. A driven shaft is arranged at the bottom end of the driven pulley, and the driven shaft is connected with a weeding knife disc and a contouring chassis located below the obstacle avoidance disc in sequence through a weeding bearing located on the surface of the obstacle avoidance disc.

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