An under-actuated self-adjusting mountain orchard automatic weeding robot

Abstract

The application belongs to the field of robots, and particularly relates to an under-actuated self-adjusting mountain orchard automatic weeding robot, which comprises a rolling brush shell, a fixing block, a connecting block, a fixing block connecting piece, an antenna, a track, a power wheel, a tensioning wheel set, a walking wheel set, a control box, a spiral ascending mechanism, a telescopic arm, a rotating mechanism, a spring one, a spring two, a motor and a weeding brush. The tensioning wheel set is composed of eight symmetrically arranged tensioning wheels, is installed on the inner side of the track, and adjacent tensioning wheels are hinged through connecting rods. The walking wheel set is composed of two walking wheels, and is installed on the front side of the track. Two weeding brushes are installed on the front side of the rolling brush shell, and the weeding brushes are installed in the installation groove on the front side of the rolling brush shell through the fixing block. The application can realize stepless adjustment of the height of the weeding brush, improves the adaptability of the weeding brush, has good running stability during work, has strong adaptability to the ups and downs of the mountain road surface, and realizes under-actuated adjustment.

Description

Technical Field

[0001] This invention belongs to the field of robotics, and in particular relates to an underactuated, self-adjusting automatic weeding robot for mountain orchards. Background Technology

[0002] Orchard industry is an important industry in my country, but orchards are generally located in mountainous and hilly areas, which are unsuitable for traditional mechanized operations. The roads in mountainous and hilly orchards are mostly uneven, with gullies and slopes, making it difficult for machinery to move. Furthermore, many weeds grow between the fruit trees, competing with them for sunlight, water, and nutrients from the soil, affecting the growth of the fruit trees and leading to reduced fruit and vegetable yields and impaired fruit quality. Therefore, it is necessary to promptly remove weeds from mountainous orchards.

[0003] Most orchard weeders operate by using a fixed walking route between rows, which means that weeds between fruit trees cannot be effectively removed, especially the weeds around the fruit trees. The equipment that can remove weeds between fruit trees in orchards is mostly carried by people carrying the weeder on their backs. This type of weeding work is inefficient, labor-intensive, and has a low weeding rate. Weeds around the fruit trees still need to be pulled out manually.

[0004] CN116849017A discloses a contour-following obstacle-avoidance weeding device and method suitable for weeding in orchards in hilly and mountainous areas, including: a lifting drive mechanism, a contour-following mechanism, and a mowing device; the contour-following mechanism includes an adaptive spring, a contour-following mechanism base, an angle adjustment rod, and a lifting adjustment rod; the mowing device is connected to the bottom of the contour-following mechanism base via the adaptive spring; the angle adjustment rod and the lifting adjustment rod are connected to the top of the contour-following mechanism base; the lifting drive mechanism is connected to the lifting drive mechanism, and the angle adjustment rod is connected to the lifting adjustment rod; the lifting drive mechanism drives the lifting adjustment rod to move, causing the contour-following mechanism base to rise or fall; the tilt angle of the contour-following mechanism base is adjusted by adjusting the length of the angle adjustment rod; the height of the mowing device is adjusted by adjusting the adaptive spring through the tilt and rise of the contour-following mechanism base. However, this technical solution has problems such as discontinuous and highly discrete lifting height adjustment, and poor adaptability to different terrains.

[0005] Therefore, those skilled in the art have provided an underactuated, self-adjusting automatic weeding robot for mountain orchards to solve the problems mentioned in the background art. Summary of the Invention

[0006] To address the problems of large-scale mechanical weeding being impossible and the low efficiency of existing mechanical weeding methods in orchards in mountainous and hilly areas, this application provides an underactuated self-adjusting automatic weeding robot for mountainous orchards. This robot can remove weeds between rows in mountainous orchards, has high weeding efficiency, a highly adaptable weeding roller brush, good operational stability, strong adaptability to uneven mountain terrain, and is flexible in use and easy to install and disassemble.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A subactuated, self-adjusting automatic weeding robot for mountain orchards includes: a roller brush housing, a fixing block, a connecting block, a fixing block connector, an antenna, a track, a drive wheel, a tension wheel assembly, a walking wheel assembly, a control box, a spiral lifting mechanism, a telescopic arm, a rotating mechanism, a spring (first spring), a spring (second spring), a motor, and weeding brushes. The drive wheel is connected to the drive motor via a rotating shaft. The tension wheel assembly consists of eight tension wheels arranged symmetrically and installed on the inner side of the track, with adjacent tension wheels hinged together by connecting rods. The walking wheel assembly consists of two walking wheels installed on the front side of the track. Two weeding brushes are installed on the front side of the roller brush housing, and the weeding brushes are installed in mounting slots on the front side of the roller brush housing via fixing blocks.

[0009] The spiral lifting mechanism includes a rotating shaft, a sliding bearing I, a sliding bearing II, a hydraulic mechanism, and a limiting mechanism; a spiral track is provided on the rotating shaft, and the spiral track is an "S"-shaped track, which is machined on the outer surface of the cylindrical rotating shaft.

[0010] The rotational power of the spiral lifting mechanism is provided by a hydraulic mechanism, which is a hydraulic push rod. The rotating shaft is covered by a fixed cover, and a conical arc-shaped lug is provided above the fixed cover. One end of the hydraulic push rod is connected to the conical arc-shaped lug above the rotating shaft, and the other end of the hydraulic push rod is fixed to the connecting block by bolts.

[0011] The limiting mechanism is a limiting plate with an included angle of 170°. The limiting plate is a protruding structure, which is formed by two fan-shaped structures of different sizes concentrically joined together. The central angle of the smaller fan-shaped structure has an anomalous angle of 170°.

[0012] The weeding brush is made of rubber.

[0013] The telescopic arms consist of two sets, one set fixed to the spiral lifting mechanism and the other set connected to the rotating mechanism; both sets of telescopic arms are connected through internal slide rails, and the power is provided by the hydraulic push rod two.

[0014] The rotating mechanism consists of a connecting lug, a rotating shaft, and a motor connector. The power of the rotating mechanism is provided by a hydraulic push rod. The rotating shaft is fixedly connected to the motor connector via a shaft side, and the motor connector is fixed to the telescopic arm by a nut.

[0015] One end of the hydraulic push rod three is hinged to one side of the fixed rod support tube outside the upper support rod of the telescopic arm, and the other end is hinged to one side of the motor connector.

[0016] The telescopic arm includes a lower telescopic rod, an upper support rod, a lower fixed rod, and an upper telescopic rod; wherein the lower fixed rod and the upper support rod are fixed ends, while the lower telescopic rod and the upper telescopic rod are telescopic ends.

[0017] The working process of the underactuated, self-adjusting automated weeding robot in a mountain orchard is as follows:

[0018] During preparation, the underactuated self-adjusting automatic weeding robot in the mountain orchard uses the navigation system to locate its initial position. The power wheel drives the walking wheel set through the track to move to the starting position, and the weeding brush unfolds.

[0019] When the weeding brush enters the working environment, the hydraulic push rod initially retracts, and sliding bearing one and sliding bearing two move downward along the spiral track of the rotating shaft, driving the conical arc connecting ear to move towards the roller brush housing along the track defined by the limiting plate. The motor works, and the weeding brush removes weeds.

[0020] When the outer side of the weeding brush encounters an obstacle, pressure is generated on the outer side, and the hydraulic push rod extends under the force, causing the weeding brush to tilt inward; when the inner side of the weeding brush encounters an obstacle, pressure is generated on the inner side, and the hydraulic push rod retracts under the force, causing the weeding brush to tilt outward.

[0021] When the work is completed, as the hydraulic push rod extends and pushes the rotating mechanism, the rolling bearing is forced to move upward along the spiral track, and the telescopic arm is forced to slowly lift upward. When the angle between the fan-shaped structure and the horizontal line is 175°, the telescopic arm lifts the weeding brush to its limit position, level with the surface of the weeding robot's shell, and the weeding brush is retracted.

[0022] The technical effects of this application are as follows:

[0023] 1. The spiral lifting mechanism of this application can achieve stepless adjustment of the height of the weeding brush through the cooperation of a rotating shaft, a spiral track, a sliding bearing 1, a sliding bearing 2, a hydraulic mechanism, and a limit mechanism, which improves the adaptability of the weeding brush, has good operational stability during operation, and is highly adaptable to the undulations of mountain roads.

[0024] 2. The spiral lifting mechanism of this application is provided with a limiting mechanism at the top. The limiting mechanism is a limiting plate with an active angle of 170°. The limiting plate is a protruding structure, which plays a limiting role. Through the above-mentioned limiting, the spiral lifting mechanism will not have a dead point during operation, which can ensure the smooth operation of the weeding brush rotation and lifting action.

[0025] 3. The spiral lifting mechanism of this application has a single power output element, which simultaneously controls the movement in two different directions: lifting and rotation. This improves the utilization efficiency of the hydraulic push rod and achieves underdrive adjustment.

[0026] 4. The hydraulic push rod three of this application is independently set. When subjected to external force during a collision, the weeding brush swings in the direction of the force to avoid collision with obstacles and ensure structural stability. The weeding brush's own structural characteristics prevent hard contact with obstacles. Due to the brush's inherent length, it can still clear weeds near obstacles while avoiding them. After passing the obstacle, the weeding brush automatically resets and continues working. The thrust of the hydraulic push rod three is set to a fixed value and is not actively adjusted, ensuring structural stability while allowing for variable force. The hydraulic push rod three can contract and extend according to external force, adjusting the angle of the weeding brush and preventing collisions with tree trunks, stones, and other foreign objects.

[0027] 5. This application, through the simultaneous action of spring one and spring two, can maintain structural stability during collision, and at the same time, play a role in shock absorption, ensuring the normal operation of underactuated adjustment.

[0028] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings to be used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is an isometric side view of the weeding robot in its working state according to this application.

[0031] Figure 2 This is a schematic diagram of the assembly of the spiral ascending track and the sliding bearing of this application.

[0032] Figure 3 This is a cross-sectional view of the spiral ascent trajectory of this application.

[0033] Figure 4This is a schematic diagram of the limiting and fixing plate of the spiral lifting mechanism of this application.

[0034] Figure 5 This is a schematic diagram of the spiral lifting mechanism of this application.

[0035] Figure 6 This is a cross-sectional view of the spiral lifting mechanism connection of this application.

[0036] Figure 7 This is a schematic diagram of the conical arc-shaped ear piece of this application.

[0037] Figure 8 This is an assembly diagram of the rotating mechanism and weeding brush of this application.

[0038] Figure 9 This is a schematic diagram of the telescopic arm of this application.

[0039] Figure 10 This is a schematic diagram of the transmission structure of this application.

[0040] Figure 11 This is a schematic diagram of the telescopic pole of this application.

[0041] Figure 12 This is an axonometric view of the damping structure of this application.

[0042] Figure 13 This is a top view of the vibration damping structure of this application.

[0043] Figure 14 This is a schematic diagram of the self-adjusting hydraulic structure of this application. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0045] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0046] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0047] It should be noted that the term "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0048] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the various embodiments and features described below can be combined with each other.

[0049] Example 1:

[0050] See attached document Figure 1 A sub-actuated self-adjusting automatic weeding robot for mountain orchards includes: a roller brush housing 1, a fixing block 2, a fixing block connector 3, a connecting block 8, an antenna 36, ​​a track 34, a power wheel 33, a tension wheel set 32, a walking wheel set 31, a control box 35, a spiral lifting mechanism, a telescopic arm, a rotating mechanism, a spring 14, a spring 2 15, a motor 17, and a weeding brush 18.

[0051] The power wheel 33 is connected to the drive motor via a rotating shaft; the tension wheel assembly 32 consists of eight tension wheels arranged symmetrically and installed inside the track 34. Adjacent tension wheels are hinged together by connecting rods, which can adjust the tension force on the tension wheels.

[0052] The walking wheel set 31 consists of two walking wheels, which are installed on the front side of the track 34. They do not provide power and are only responsible for walking and turning.

[0053] Two weeding brushes 18 are installed on the front side of the roller brush housing 1, and the weeding brushes 18 are installed in the mounting groove on the front side of the roller brush housing 1 by means of fixing blocks 2.

[0054] like Figure 2 , 3 As shown in Figures 5 and 6, the spiral lifting mechanism consists of a rotating shaft 5, a sliding bearing 27, a sliding bearing 28, a hydraulic mechanism, and a limiting mechanism.

[0055] like Figure 2 As shown, a spiral track is provided on the rotating shaft 5. The spiral track is an "S"-shaped track. The "S"-shaped track is machined on the outer surface of the cylindrical rotating shaft 5. A set of circular holes are symmetrically provided on the upper and lower parts of the rotating shaft 5. The circular holes are located on the axis of the rotating shaft 5. The rotating shaft 5 is fixed by bolts.

[0056] The spiral rising mechanism is connected to the roller brush housing 1 through the fixed block connector 3, and is connected to the fixed block 2 through the connecting block 8.

[0057] The rotational power of the spiral lifting mechanism is provided by a hydraulic mechanism, which is a hydraulic push rod 6. The rotating shaft 5 is wrapped by a fixed cover 25. A conical arc-shaped lug 26 is provided above the fixed cover 25. One end of the hydraulic push rod 6 is connected to the conical arc-shaped lug 26 above the fixed cover 25, and the other end of the hydraulic push rod 6 is fixed to the connecting block 8 by bolts.

[0058] like Figure 2 , 3 As shown in Figures 4 and 5, the spiral lifting mechanism is fixed axially. Two pins are provided on the fixing cover 25, and sliding bearing 27 and sliding bearing 28 are mounted on the pins. Sliding bearings 27 and 28 are simultaneously installed within the spiral track of the rotating shaft 5. The conical arc-shaped lug 26 is connected to the hydraulic push rod 6 via a hinge joint. The axial fixing piece 7 on the spiral track also serves as a limiting track for the conical arc-shaped lug 26.

[0059] like Figure 4 , 9 As shown, the top of the spiral lifting mechanism is equipped with a limiting mechanism, which is a limiting plate 4. The included angle of the limiting plate 4 is 170°. The limiting plate 4 is a protruding structure, formed by two concentrically joined fan-shaped structures of different diameters. The central angle of the smaller fan-shaped structure is 170°, which constitutes an unrestricted range of motion. When the smaller fan-shaped structure is placed horizontally, the radius of the larger fan-shaped structure forms an angle of 5° with the horizontal line. From this radius to the angle of 175°, this is the unrestricted range of motion. The protruding structure of the limiting plate 4 acts as a limiting element. Through the above limitation, the spiral lifting mechanism will not have a dead point during operation, ensuring the smooth operation of the weeding brush's rotation and lifting motion.

[0060] like Figure 5 , 6 As shown in Figure 7, one end of the hydraulic push rod 6 is hinged to the connecting block 8, and the other end is hinged to the conical arc-shaped ear plate 26. The conical arc-shaped ear plate 26 is welded to the fixing cover 25 to provide power for the extension of the weeding brush 18.

[0061] In addition, the connecting mechanism between the conical arc-shaped ear piece 26 and the fixing block 2 is hinged, which can ensure a certain angle adjustment under the premise that the hydraulic push rod 6 works in the same straight line, so as to realize the overall lifting of the weeding brush.

[0062] like Figure 8As shown, the two connecting parts of the weeding brush 18 are fixed together by reinforcing ribs 16 to ensure the strength of the structure. The motor 17 is hinged to the motor base and fixed below the connecting parts, and is connected to the weeding brush 18 through a rotating shaft. The weeding brush 18 is connected below the motor 17.

[0063] The weeding brush 18 is a flexible contact material, made of rubber. When the motor 17 rotates, the rotating shaft drives the weeding brush 18 to rotate, unrestricted by road conditions, using the generated circumferential force to remove weeds within its working range. The motor connector 13 is bolted together to ensure the stability of the weeding brush during operation.

[0064] like Figure 9 As shown, the telescopic arms of the automatic weeding robot are divided into two groups: one group is fixed to the spiral lifting mechanism, and the other group is connected to the rotating mechanism. The two groups of telescopic arms are connected by internal slide rails, and the power is provided by hydraulic push rod 210.

[0065] The rotating mechanism consists of a connecting lug, a rotating shaft 12, and a motor connector 13. The power of the rotating mechanism is provided by a hydraulic push rod 11. The rotating shaft 12 is fixedly connected to the motor connector 13 via a shaft side, and the motor connector 13 is fixed to the telescopic arm by a nut.

[0066] One end of the hydraulic push rod 11 is hinged to one side of the fixed rod support tube 22 outside the support rod 21 on the telescopic arm, and the other end is hinged to one side of the motor connector 13 for active adjustment. The rotating shaft 12 is axially fixed and hinged to the telescopic arm on both sides. Depending on the specific working environment, the direction of the telescopic arm can be adjusted by the hydraulic push rod 10, and its length can also be adjusted by the hydraulic push rod 10.

[0067] like Figure 10 , 11 As shown, the telescopic arm includes: a lower telescopic rod 19, an upper support rod 24, a lower fixed rod 23, and an upper telescopic rod 21. The lower fixed rod 23 and upper support rod 24 serve as fixed ends and remain stationary, while the lower telescopic rod 19 and upper telescopic rod 21 serve as telescopic ends, moving in conjunction with the hydraulic push rod 10 to adjust the weeding radius according to the row spacing. During operation, the thrust of the hydraulic push rod 11 is set to a fixed value and is not actively adjusted, ensuring structural stability and variable force. The hydraulic push rod 11 can contract and extend under external force to adjust the angle of the weeding brush, avoiding collisions with tree trunks, stones, and other foreign objects.

[0068] The self-adjusting function of the weeding brush mentioned in this invention is reflected in:

[0069] When the outer side of the weeding brush 18 encounters an obstacle, pressure is generated on the outer side, causing the hydraulic push rod 11 to extend under pressure, and the position of the weeding brush 18 tilts inward. When the inner side of the weeding brush encounters an obstacle, pressure is generated on the inner side, causing the hydraulic push rod 11 to retract under pressure, and the position of the weeding brush 18 tilts outward. That is, when a collision occurs, the hydraulic push rod 11 swings in the direction of the force applied, avoiding collision with the obstacle and ensuring structural stability. The weeding brush avoids hard contact with obstacles through its own structural characteristics. Because the brush itself has a certain length, it can still clear weeds near obstacles while avoiding them. After passing the obstacle, the weeding brush automatically resets and continues working.

[0070] like Figure 11 As shown, the hydraulic push rod 10 has an oil inlet and an oil outlet, and is connected to an independent pump station on the roller brush housing 1 via an oil pipe. One end of the hydraulic push rod 10 is fixed to the upper support rod 24, and the other end is connected to the upper telescopic rod 21. The fixed rod support pipe 22 at the fixed end is welded to the lower fixed rod 23 and the upper support rod 24. The lower telescopic rod 19 is connected to the upper telescopic rod 21 at the front end of the telescopic arm using a telescopic rod support pipe 20. The telescopic rod support pipe 20 and the fixed rod support pipe 22 can ensure the structural stability of the entire telescopic arm.

[0071] like Figure 12 , 13 As shown, two connecting lugs are welded to both sides of the motor connector 13. Spring 14 and Spring 25 are installed on both sides of the telescopic rod support tube 20 and the telescopic arm connector 13. Spring 14 and Spring 25 are connected to the telescopic rod support tube 20 and the motor connector 13 through the connecting lugs. The simultaneous action of Spring 14 and Spring 25 can maintain the structural stability during collision and at the same time play a role in shock absorption, ensuring the normal operation of underdrive adjustment.

[0072] Example 2:

[0073] The working process of the underactuated self-adjusting automatic weeding robot in mountain orchards described in this application is as follows:

[0074] During operation, the underactuated self-adjusting automatic weeding robot in the mountain orchard uses the navigation system to locate its initial position. The power wheel 33 drives the walking wheel set 31 through the track 34 to move to the starting position, and the weeding brush 18 unfolds.

[0075] When the front weeding brush 18 is located directly in front of the roller brush housing 1 and enters the working environment, the hydraulic push rod 6 begins to retract, driving the conical arc-shaped connecting ear 26 to move towards the roller brush housing 1 along the track defined by the limiting plate 4.

[0076] At the same time, such as Figure 2As shown, sliding bearing 27 and sliding bearing 28 move downward along the spiral track of rotating shaft 5, the fixed cover 25 moves downward accordingly, and the telescopic arm (which includes: lower telescopic rod 19, upper support rod 24, lower fixed rod 23, and upper telescopic rod 21) moves forward accordingly. The hydraulic push rod 6 retracts, and the weeding brush 18 enters the working state.

[0077] When the work is completed, the hydraulic push rod 6 extends and pushes the rotating mechanism. The rolling bearing is forced to move upward along the spiral track, and the telescopic arm is forced to slowly lift upward. When the angle between the fan-shaped structure and the horizontal line is 175°, the telescopic arm lifts the weeding brush to the limit position, which is the same height as the surface of the weeding robot shell, and the weeding brush is retracted.

[0078] like Figure 14 As shown, the initial state of hydraulic push rod 311 is the normal state, and the extended push rod is the working state. The initial state of hydraulic push rod 311 is the original length of the push rod, and the maximum stroke of 100mm is when the weeding brush is fully retracted; the initial state of the hydraulic push rod controlling the telescopic rod is the normal state, and the extended push rod is the working state, with a maximum stroke of 300mm; the push rod controlling the fine adjustment of the weeding brush head is in the normal state when the push rod is halfway through its stroke, and slightly upward when it is contracted under force, and slightly downward when the furrow weeding brush is extended.

[0079] This application achieves underactuated adjustment by extending and retracting a hydraulic push rod 6 of a power structure to adjust in two directions.

[0080] The automatic weeding robot actively adjusts the position and posture of the entire weeding arm by extending and retracting the hydraulic push rod 6. When the weeding brush 18 extends with the extension of the hydraulic push rod 6, the entire weeding structure is connected to the fixed cover 25, which is in turn connected to the rotating shaft 5. Therefore, the fixed cover 25 rotates downward as the hydraulic push rod 6 extends, so that the distance between the weeding brush 18 and the ground reaches the required working height. When the work is completed, as the weeding structure retracts due to the retraction of the hydraulic push rod 6, the fixed cover 25 rotates upward with the retraction of the hydraulic push rod 6, so that the distance between the weeding brush 18 and the ground reaches a safe distance, preventing collision with foreign objects on the ground.

[0081] The underactuated self-adjusting automatic weeding robot for mountain orchards described in the above embodiments can remove weeds in mountain orchards with good weeding effect and wide range, which can reduce labor costs. The system has a single power output element that simultaneously controls the movement in both upward and rotational directions. It is equipped with shock absorption to improve the stability of the side brush in working condition. It can prevent the weeding brush from hard contact with the road surface to a certain extent, thus preventing wear. Through the hydraulic push rod, the structure is kept stable and set to be subjected to external force, automatically adjusting the angle of the weeding brush to avoid collision with obstacles and trees. It has the advantages of high weeding efficiency and reliability.

[0082] The technical solution of the underactuated self-adjusting automatic weeding robot for mountain orchards described in the above embodiments includes any combination of the above-mentioned parts, and simple variations or combinations of the above-mentioned components are still within the scope of protection of this invention.

[0083] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0084] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this application. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An underactuated, self-adjusting automatic weeding robot for mountain orchards, characterized in that, include: The roller brush housing, fixing block, connecting block, fixing block connector, antenna, track, drive wheel, tension wheel assembly, walking wheel assembly, control box, spiral lifting mechanism, telescopic arm, rotating mechanism, spring one, spring two, motor, and weeding brush; the drive wheel is connected to the drive motor via a rotating shaft; the tension wheel assembly consists of eight tension wheels symmetrically arranged and installed on the inner side of the track, with adjacent tension wheels hinged by connecting rods; the walking wheel assembly consists of two walking wheels installed on the front side of the track; two weeding brushes are installed on the front side of the roller brush housing, and the weeding brushes are installed in the mounting groove on the front side of the roller brush housing via fixing blocks; the spiral lifting mechanism includes a rotating shaft, sliding bearing one, and sliding... Bearing 2, hydraulic mechanism and limiting mechanism; a spiral track is provided on the rotating shaft, the spiral track is an "S" shaped track, the "S" shaped track is machined on the outer surface of the cylindrical rotating shaft, the rotation power of the spiral lifting mechanism is provided by the hydraulic mechanism, the hydraulic mechanism is used to simultaneously control the movement in two different directions of lifting and rotation, the hydraulic mechanism is hydraulic push rod 1, the rotating shaft is wrapped by a fixed cover, a conical arc-shaped lug is provided above the fixed cover, the sliding bearing 1 and the sliding bearing 2 are installed in the spiral track, one end of the hydraulic push rod 1 is connected to the conical arc-shaped lug above the rotating shaft, and the other end of the hydraulic push rod 1 is fixed to the connecting block by bolts; The telescopic arms consist of two sets, one set fixed to the spiral lifting mechanism and the other set connected to the rotating mechanism. Both sets of telescopic arms are connected via internal slide rails. Power is provided by hydraulic push rod two. The rotating mechanism consists of connecting lugs, a rotating shaft, and a motor connector. Power for the rotating mechanism is provided by hydraulic push rod three. The rotating shaft is fixedly connected to the motor connector via a shaft side. The motor connector is fixed to the telescopic arm via a nut. One end of the hydraulic push rod three is hinged to one side of the fixed rod support tube outside the upper support rod of the telescopic arm, and the other end is hinged to one side of the motor connector.

2. The underactuated self-adjusting automatic weeding robot for mountain orchards according to claim 1, characterized in that, The limiting mechanism is a limiting plate with an included angle of 170°. The limiting plate is a protruding structure, which is formed by two fan-shaped structures of different sizes concentrically joined together. The central angle of the smaller fan-shaped structure has an anomalous angle of 170°.

3. The underactuated self-adjusting automatic weeding robot for mountain orchards according to claim 1, characterized in that, The weeding brush is made of rubber.

4. The underactuated self-adjusting automatic weeding robot for mountain orchards according to claim 1, characterized in that, The telescopic boom includes a lower telescopic rod, an upper support rod, a lower fixed rod, and an upper telescopic rod; wherein, the lower fixed rod and the upper support rod are fixed ends, while the lower telescopic rod and the upper telescopic rod are telescopic ends.

5. The working method of an underactuated self-adjusting automatic weeding robot for mountain orchards according to any one of claims 1-4, characterized in that, During preparation, the underactuated self-adjusting automatic weeding robot in the mountain orchard uses the navigation system to locate its initial position. The power wheel drives the walking wheel set through the track to move to the starting position, and the weeding brush unfolds. When the weeding brush enters the working environment, the hydraulic push rod initially retracts, and sliding bearing one and sliding bearing two move downward along the spiral track of the rotating shaft, driving the conical arc connecting ear to move towards the roller brush housing along the track defined by the limiting plate. The motor works, and the weeding brush removes weeds. When the outer side of the weeding brush encounters an obstacle, pressure is generated on the outer side, and the hydraulic push rod extends under the force, causing the weeding brush to tilt inward; when the inner side of the weeding brush encounters an obstacle, pressure is generated on the inner side, and the hydraulic push rod retracts under the force, causing the weeding brush to tilt outward. When the work is completed, as the hydraulic push rod extends and pushes the rotating mechanism, the rolling bearing is forced to move upward along the spiral track, and the telescopic arm is forced to slowly lift upward. When the angle between the fan-shaped structure and the horizontal line is 175°, the telescopic arm lifts the weeding brush to its limit position, level with the surface of the weeding robot's shell, and the weeding brush is retracted.

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