Weeding robot

Abstract

The invention discloses a weeding robot which mainly comprises a main body box, a rack rod, a clamping jaw, a lifting motor, a transmission device, an air pressure unit, a control center, a battery pack, an electromagnetic valve, a motor bin, an air cylinder and a grass beating plate, the interior of the main body box is of a double-layer box body structure, and the battery pack, the air pressure unit, the electromagnetic valve and the control center are arranged on the upper layer of the main body box; the left side and the right side of the main box are each provided with two supporting legs capable of moving independently, the two optical components are installed on the lower sides of the front end and the rear end of the main box respectively, the lifting motor drives the rack rod to move up and down through the transmission device, the lower end of the rack rod is fixedly connected with the motor bin, and the clamping jaw capable of being opened and closed is installed at the lower end of the motor bin. The clamping jaw can pull weeds and soil blocks at the roots away from the ground together, the possibility that the weeds regenerate depending on residual rhizomes is avoided, and the air cylinder is installed at the lower end in the rack rod and can drive the weed beating plate to crush the soil blocks wrapping the roots of the weeds; the weeding robot can achieve automatic weeding and intelligent weeding, and the cost of gardening weeding is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of gardening weeding robots, and in particular to a weeding robot. Background Art

[0002] The necessity of gardening weeding is mainly reflected in the following aspects: ① Promote the healthy growth of plants: Weeds will compete with gardening plants for nutrients, water, sunlight and growth space, thus affecting the normal growth and development of gardening plants; weeding can reduce the competitive pressure of weeds on gardening plants, so that gardening plants can obtain more sufficient resources and promote their healthy growth. ② Improve the ornamental value: The growth of weeds will destroy the neatness and beauty of the gardening landscape; regular weeding can keep the gardening area clean, enhance the overall ornamental value, and make the gardening works more beautiful and pleasant. ③ Reduce the spread of pests and diseases: Weeds are often the hiding place and transmission medium of pests and diseases. Weeding can reduce the breeding environment of pests and diseases, reduce the risk of pests and diseases, and thus protect the health of gardening plants. ④ Optimize the soil environment: Weeding helps to optimize the soil environment, making the soil more loose and breathable, which is conducive to the root growth and nutrient absorption of gardening plants. Therefore, weeding is an indispensable task in gardening management.

[0003] The most important requirement for horticultural weeding is environmental protection. Although chemical weeding has the advantages of being fast and efficient, it may have a negative impact on the soil and the surrounding environment. Therefore, chemical weeding is generally not chosen in the process of horticultural weeding; manual weeding usually does not cause chemical pollution to the soil and the environment. Therefore, manual weeding is often used in the process of horticultural weeding. However, manual weeding also has defects, such as low weeding efficiency, high labor costs, high labor intensity, etc. Therefore, it is of great significance to design a robot that can automatically weed. Summary of the invention

[0004] In order to solve the shortcomings of the prior art, the purpose of the present invention is to provide a weeding robot, which mainly includes a main body box, a rack rod, a right front leg, a front optical component, a rear optical component, a left front leg, a right rear leg, a left rear leg, an air nozzle, a clamping claw, a lifting motor, a transmission device, a pneumatic unit, a control center, a battery pack, an electromagnetic valve, a motor compartment, a cylinder, a clamping claw motor, a rotating disk, a clamping rod, and a grass-beating board. It is characterized in that the interior of the main body box is a double-layer box structure, a through circular hole is vertically provided at the center position, a right front leg shaft is provided on the right side of the front end, and a leg shaft is provided on the left side of the front end and on both sides of the rear end, and a battery pack, an air pressure unit, and an electromagnetic valve are provided on the upper layer of the main body box. and control center, the front optical component and the rear optical component are respectively installed on the lower sides of the front and rear ends of the main box; the right front outrigger includes a right front motor, an active rod, an upper connecting rod, a tripod rod, a lower connecting rod, an upper parallel rod, a lower parallel rod, and an outrigger rod, wherein the right front motor is installed on the front right side of the lower layer of the main box, the rear end of the active rod is tightly connected to the output shaft of the right front motor, the front end of the active rod is rotatably connected to the lower end of the upper connecting rod, the rotating hole at the upper end of the tripod is rotatably connected to the upper end of the upper connecting rod, the rotating hole at the front end of the tripod is rotatably connected to the upper end of the upper parallel rod, the rotating hole at the lower end of the tripod is rotatably connected to the upper end of the lower parallel rod, the rear end of the lower connecting rod is rotatably connected to the lower end of the upper connecting rod, and the front end of the lower connecting rod is rotatably connected to the middle position of the lower parallel rod The high rotation hole on the leg rod is rotationally connected with the lower end of the upper parallel rod, the low rotation hole on the leg rod is rotationally connected with the lower end of the lower parallel rod, and the lower end of the leg rod is provided with a supporting foot; the right rear leg is installed at the right rear end of the main box, and the structure and movement principle of the right rear leg are the same as those of the right front leg, but the installation direction is opposite, the left front leg is installed at the left front end of the main box, and the structure and movement principle of the left front leg are the same as those of the right front leg, the left rear leg is installed at the left rear end of the main box, and the structure and movement principle of the left rear leg are the same as those of the right rear leg; the transmission device and the lifting motor are installed in the lower layer of the main box, the rack rod is a cylindrical rod-shaped structure, and the rack rod is vertically installed on the output of the transmission device In the shaft hole, the lifting motor drives the rack rod to move up and down through the transmission device; the lower end of the rack rod is tightly connected to the motor bin, and five connecting frames are evenly distributed tangentially at the lower end of the motor bin, the clamping motor is installed inside the motor bin, and the clamping motor is a hollow shaft structure, and its output shaft is coaxially and tightly connected to the rotating disk, and five arc-shaped grooves are evenly distributed circumferentially inside the rotating disk, the air nozzle at the upper end of the rack rod is connected to the solenoid valve through the air pipe, and a cylinder is installed at the lower end of the rack rod, and the cylinder is connected to the air nozzle, and the lower end of the cylinder rod of the cylinder passes through the center of the hollow output shaft and is coaxially and tightly connected to the grass-beating plate, and the five clamping rods are rotatably connected to the five connecting frames respectively, and the five clamping rods pass through five corresponding arc-shaped grooves.

[0005] As a further solution of the present invention: a circular light ring is arranged in the middle of the lower side of the main body box, and the light ring is used to fill light for the lower side of the weeding robot, so as to accurately locate the weeds.

[0006] As a further solution of the present invention: the air pressure unit is integrated with an air compressor, a high-pressure gas tank, a negative pressure generator, and a negative pressure gas tank, wherein the air compressor is connected to the high-pressure gas tank, so that the air compressor stores high-pressure air in the high-pressure gas tank, and the negative pressure generator is connected to the negative pressure gas tank, so that the negative pressure generator creates a vacuum state in the negative pressure gas tank.

[0007] As a further solution of the present invention: the solenoid valve is connected to the high-pressure gas tank and the negative-pressure gas tank in the air pressure unit through air pipes respectively.

[0008] As a further solution of the present invention: a camera and a laser distance measuring device are integrated inside the front optical component and the rear optical component, wherein the camera collects image information for identifying the weed type and the rough target position, and the laser distance measuring device is used to accurately locate the position of the target weed.

[0009] As a further solution of the present invention: the lower end of the supporting foot is a curved surface structure, and a plurality of spikes are arranged on the lower side of the curved surface structure, and the spikes increase the gripping force of the supporting foot.

[0010] As a further solution of the present invention: each arc-shaped shifting groove is arranged to be deflected, and the distance between the inner end of the arc-shaped shifting groove and the center of the rotating disk is smaller than the distance between the outer end of the arc-shaped shifting groove and the center of the rotating disk.

[0011] As a further solution of the present invention: five slots are arranged locally in the circumferential direction of the outer side of the grass-beating board, and the grass-beating board is arranged below the rotating disk.

[0012] As a further solution of the present invention: the lower end of each clamping rod is a pointed structure, which is convenient for reducing resistance when inserted into the soil.

[0013] As a further solution of the present invention: when the clamping jaw motor drives the rotating disk to rotate clockwise, the rotating disk drives the five clamping rods to rotate inward through the five arc-shaped slots to achieve the closing of the clamping jaws; when the clamping jaw motor drives the rotating disk to rotate counterclockwise, the rotating disk drives the five clamping rods to rotate outward through the five arc-shaped slots to achieve the opening of the clamping jaws.

[0014] Beneficial effects of the present invention:

[0015] (1) The bionic walking device in the form of outriggers can minimize the pressure damage to horticultural plants caused by the weeding robot during walking. Compared with traditional wheeled walking and tracked walking, it has obvious advantages. In addition, the weeding robot has a symmetrical structure at the front and back, and there is no strict distinction between the front and back, which makes the movement of the weeding robot more flexible.

[0016] (2) Both the front optical component and the rear optical component are integrated with a camera and a laser ranging device. The camera can collect image information for identifying the weed type and the rough target position, and the laser ranging device is used to accurately locate the position of the target weeds, so that the weeding robot can achieve targeted removal of weeds, avoid accidental damage to horticultural plants, and reduce damage to the ground soil.

[0017] (3) The weeding robot can pull the roots of weeds out of the ground, preventing the weeds from reviving by relying on the remaining rhizomes. The weeds lose their source of water and nutrients and gradually wither. The weeds are then transformed into fertilizer and return to the soil, improving soil fertility, achieving the effect of killing two birds with one stone.

[0018] (4) Weeding robots can replace manual labor to complete gardening weeding work, reducing the labor intensity of workers while improving weeding efficiency, realizing automatic and intelligent weeding, and reducing the cost of gardening weeding. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0020] Figure 2 It is a schematic diagram of the cross-sectional structure of the lower layer of the main body box in the present invention.

[0021] Figure 3 It is a schematic diagram of the side partial cross-sectional structure of the present invention.

[0022] Figure 4 It is the right side view of the present invention.

[0023] Figure 5 It is a schematic diagram of the enlarged structure of a local section at the lower end of the rack rod in the present invention.

[0024] Figure 6 It is a partial enlarged structural schematic diagram of the clamping jaws when they are opened in the present invention.

[0025] Figure 7 It is a partial enlarged structural schematic diagram of the clamping jaws when they are closed in the present invention.

[0026] Figure numbers: 1 main box, 1.1 cover, 1.2 right front leg shaft, 1.3 light ring, 2 rack rod, 2.1 rack, 3 right front leg, 4 front optical component, 5 left front leg, 6 right rear leg, 7 left rear leg, 8 air nozzle, 9 clamping claw, 10 rear optical component, 11 right front motor, 12 left front motor, 13 left rear motor, 14 right rear motor, 15 lifting motor, 16 transmission device, 17 air pressure unit, 18 control center core, 19 battery pack, 20 solenoid valve, 21 motor compartment, 21.1 connecting frame, 22 active rod, 23 upper connecting rod, 24 tripod rod, 25 lower connecting rod, 26 upper parallel rod, 27 lower parallel rod, 28 leg rod, 28.1 supporting foot, 29 cylinder, 29.1 cylinder rod, 30 clamping claw motor, 30.1 hollow output shaft, 31 rotating disk, 31.1 arc-shaped shifting groove, 32 clamping rod, 33 grass striking board, 33.1 slot. DETAILED DESCRIPTION

[0027] The present invention will be further described below in conjunction with specific embodiments. The illustrative embodiments and descriptions of the present invention are used to explain the present invention but are not intended to limit the present invention.

[0028] like Figure 1-7As shown, a weeding robot mainly includes a main body box 1, a rack rod 2, a right front leg 3, a front optical component 4, a left front leg 5, a right rear leg 6, a left rear leg 7, an air nozzle 8, a clamping claw 9, a rear optical component 10, a right front motor 11, a left front motor 12, a left rear motor 13, a right rear motor 14, a lifting motor 15, a transmission device 16, a pneumatic unit 17, a control center 18, a battery pack 19, a solenoid valve 20, a motor compartment 21, a cylinder 29, a clamping claw motor 30, a rotating disk 31, a clamping rod 32, and a grass-beating board 33, characterized in that: the interior of the main body box 1 is double The main body box 1 has a box structure with a cover 1.1 at its upper end for sealing. A through circular hole is vertically arranged at the center of the main body box 1. A right front leg shaft 1.2 is arranged on the right side of its front end. A leg shaft is arranged on both the left side of its front end and the two sides of its rear end. A circular light ring 1.3 is arranged in the middle of the lower side of the main body box 1. The light ring 1.3 can be used to fill light for the lower side of the weeding robot, so as to accurately locate the weeds. A battery pack 19 is arranged at the front end of the upper layer inside the main body box 1. The battery pack can provide power for all electrical equipment of the weeding robot. A pneumatic unit 17 is arranged at the rear end of the layer, and an air compressor, a high-pressure gas tank, a negative pressure generator, and a negative pressure gas tank are integrated in the pneumatic unit 17, wherein the air compressor is connected with the high-pressure gas tank, so that the air compressor can store high-pressure air in the high-pressure gas tank, and the negative pressure generator is connected with the negative pressure gas tank, so that the negative pressure generator can generate a vacuum state in the negative pressure gas tank. A solenoid valve 20 is arranged on the right side of the upper layer inside the main box 1, and the solenoid valve 20 is connected with the high-pressure gas tank and the negative pressure gas tank in the pneumatic unit 17 through an air pipe; a control center 18 is arranged on the left side of the upper layer inside the main box 1, An integrated circuit board and a central processing unit are arranged inside the control center 18, and the control center 18 is electrically connected to all electrical components in the weeding robot, so as to intelligently control the weeding robot; the front optical component 4 and the rear optical component 10 are both integrated with a camera and a laser ranging device, wherein the camera can collect image information for identifying the type of weeds and the rough target position, and the laser ranging device is used to accurately locate the position of the target weeds, the front optical component 4 is fixedly installed on the lower side of the front end of the main box 1, and the rear optical component 10 is fixedly installed on the lower side of the rear end of the main box 1.

[0029] like Figure 2 , Figure 4As shown, the right front outrigger 3 comprises a right front motor 11, an active rod 22, an upper connecting rod 23, a tripod rod 24, a lower connecting rod 25, an upper parallel rod 26, a lower parallel rod 27, and an outrigger rod 28, wherein the right front motor 11 is fixedly mounted on the front right side of the lower layer of the main body box 1, the rear end of the active rod 22 is fastened to the output shaft of the right front motor 11, and the front end of the active rod 22 is rotatably connected to the lower end of the upper connecting rod 23; three rotating holes are arranged at equal intervals on the outer side of the tripod rod 24, the rotating hole at the upper end of the tripod rod 24 is rotatably connected to the upper end of the upper connecting rod 23, the rotating hole at the front end of the tripod rod 24 is rotatably connected to the upper end of the upper parallel rod 26, and the rotating hole at the lower end of the tripod rod 24 is rotatably connected to the lower The upper end of the parallel rod 27 is rotatably connected; the rear end of the lower connecting rod 25 is rotatably connected to the lower end of the upper connecting rod 23, and the front end of the lower connecting rod 25 is rotatably connected to the middle position of the lower parallel rod 27; the upper end of the leg rod 28 is provided with two high and low rotation holes, wherein the high rotation hole is rotatably connected to the lower end of the upper parallel rod 26, and the low rotation hole is rotatably connected to the lower end of the lower parallel rod 27, and the lower end of the leg rod 28 is provided with a supporting foot 28.1, and the lower end of the supporting foot 28.1 is an arc surface structure, and a plurality of spike teeth are provided on the lower side of the arc surface structure, and the spike teeth can increase the grip of the supporting foot 28.1; when the right front motor 11 drives the active rod 22 to rotate clockwise, the supporting foot 28.1 can rotate according to the Figure 4 When the right front motor 11 drives the active rod 22 to rotate counterclockwise, the support foot 28.1 can move clockwise according to the dotted line in the figure. Figure 4 The corresponding dotted line moves counterclockwise.

[0030] The right rear motor 14 is fixedly installed on the right side of the rear end of the lower layer of the main box 1, and the right rear leg 6 is installed on the right rear end of the main box 1. The structure and movement principle of the right rear leg 6 are the same as those of the right front leg 3, but the installation direction is opposite. The output shaft of the right rear motor 14 is tightly connected to the front end of the active rod in the right rear leg 6, so that when the right rear motor 14 drives the corresponding active rod to rotate clockwise, the support foot in the right rear leg 6 can rotate according to Figure 4 The corresponding dotted line in the middle moves clockwise, and when the right rear motor 14 drives the corresponding active rod to rotate counterclockwise, the support foot in the right rear leg 6 can move according to Figure 4 The left front motor 12 is fixedly installed on the left side of the front end of the lower layer of the main box 1, and the left front leg 5 is installed on the left side of the front end of the main box 1. The structure and movement principle of the left front leg 5 are the same as those of the right front leg 3. The output shaft of the left front motor 12 is tightly connected to the rear end of the active rod in the left front leg 5, so that when the left front motor 12 drives the corresponding active rod to rotate clockwise, the support foot in the left front leg 5 can rotate according to Figure 4 The corresponding dotted line in the figure moves clockwise. When the left front motor 12 drives the corresponding active rod to rotate counterclockwise, the support foot in the left front leg 5 can move according to Figure 4The left rear motor 13 is fixedly installed on the left side of the rear end of the lower layer of the main box 1, and the left rear leg 7 is installed on the left rear end of the main box 1. The structure and movement principle of the left rear leg 7 are the same as those of the right rear leg 6. The output shaft of the left rear motor 13 is tightly connected to the rear end of the active rod in the left rear leg 7, so that when the left rear motor 13 drives the corresponding active rod to rotate clockwise, the support foot in the left rear leg 7 can rotate according to Figure 4 The corresponding dotted line in the figure moves clockwise. When the left rear motor 13 drives the corresponding active rod to rotate counterclockwise, the support foot in the left rear leg 7 can move according to Figure 4 The corresponding dotted line in the middle moves counterclockwise; when the weeding robot moves, the four legs move alternately in sequence; when the supporting feet of the four legs move clockwise in sequence, the weeding robot can move straight forward; when the supporting feet of the four legs move counterclockwise in sequence, the weeding robot can move straight backward; when the supporting feet of the two left legs move counterclockwise and the supporting feet of the two right legs move clockwise, the weeding robot can turn left; when the supporting feet of the two left legs move clockwise and the supporting feet of the two right legs move counterclockwise, the weeding robot can turn right.

[0031] like Figure 2 As shown, the transmission device 16 is fixedly installed in the middle position of the lower layer of the main box 1, the lifting motor 15 is fixedly installed in the lower layer of the main box 1, and the output shaft of the lifting motor 15 is coaxially and tightly connected with the input shaft of the transmission device 16; the rack rod 2 is a cylindrical rod-shaped structure, and a row of racks 2.1 are vertically arranged on its side. The rack rod 2 is vertically installed in the output shaft hole of the transmission device 16 and can move up and down. A gear is arranged inside the transmission device 16 and meshes with the rack 2.1 to form a gear and rack transmission structure, so that the lifting motor 15 can drive the rack rod 2 to move up and down.

[0032] like Figure 5 , Figure 6As shown, the lower end of the rack rod 2 is tightly connected to the upper end of the motor bin 21, and five connecting frames 21.1 are evenly arranged at the lower end of the motor bin 21 in a tangential direction. The clamping motor 30 is fixedly installed inside the motor bin 21. The hollow output shaft 30.1 is the output shaft of the clamping motor 30. A circular hole is arranged inside the hollow output shaft 30.1, and the lower end of the hollow output shaft 30.1 is coaxially tightly connected to the rotating disk 31. Five arc-shaped dials are evenly arranged circumferentially inside the rotating disk 31. The rack rod 2 is provided with an air nozzle 8 at the upper end thereof, and the air nozzle 8 is connected to the electromagnetic valve 20 through an air pipe. The lower end of the rack rod 2 is provided with an air cylinder 29, and the upper end of the rack rod 2 is provided with an air passage to connect the air cylinder 29 with the air nozzle 8. The cylinder 29 is provided with an air cylinder rod 29.1, and the cylinder rod 2 is provided with an air cylinder rod 29.2. 9.1 can move up and down, the lower end of the cylinder rod 29.1 passes through the center of the hollow output shaft 30.1 and is coaxially and tightly connected with the grass-beating plate 33, and five slots 33.1 are arranged locally on the outer circumference of the grass-beating plate 33, and the grass-beating plate 33 is arranged below the rotating disk 31; the number of the clamping rods 32 is five, and the lower end of each clamping rod 32 is a sharp-angle structure, which is convenient for reducing resistance when inserted into the soil, and the five clamping rods 32 are rotatably connected with the five connecting frames 21.1 respectively, And the five clamping rods 32 all pass through the five arc-shaped slots 31.1 and the five slots 33.1 respectively; therefore, when the clamping jaw motor 30 drives the rotating disk 31 to rotate clockwise, the rotating disk 31 can drive the five clamping rods 32 to rotate inward through the five arc-shaped slots 31.1 to achieve the closing of the clamping jaws 9; when the clamping jaw motor 30 drives the rotating disk 31 to rotate counterclockwise, the rotating disk 31 can drive the five clamping rods 32 to rotate outward through the five arc-shaped slots 31.1 to achieve the opening of the clamping jaws 9.

[0033] Weeding robot weeding process:

[0034] (1) The solenoid valve 20 is connected to the negative pressure gas tank in the air pressure unit 17, so that the cylinder rod 29.1 drives the weed striking plate 33 to move to the upper position, and the front optical component 4 or the rear optical component 10 collects ground image information and identifies the type and precise position of the weeds;

[0035] (2) The four legs move accordingly, so that the clamping jaw 9 moves to the position just above the target weed root;

[0036] (3) The lifting motor 15 drives the rack rod 2 to move downward, and the five clamping rods 32 of the clamping jaw 9 are inserted into the soil around the weed rhizomes;

[0037] (4) The clamping motor 30 drives the rotating disk 31 to rotate clockwise, so that the five clamping rods 32 swing inward at the same time and clamp the weed roots and the soil tissue at the roots;

[0038] (5) The lifting motor 15 drives the rack rod 2 to move upward, so that the clamping claw 9 pulls the weed roots and the soil around the roots off the ground;

[0039] (6) The clamping motor 30 drives the rotating disk 31 to rotate counterclockwise, so that the five clamping rods 32 swing outward at the same time and release the grip on the weed roots and the soil tissue at the roots;

[0040] (7) The solenoid valve 20 is connected to the high-pressure gas tank in the air pressure unit 17. Driven by the high-pressure air, the cylinder rod 29.1 drives the weed striking plate 33 to move downward rapidly, so that the weed striking plate 33 quickly hits the weeds and pushes the weeds away from the clamping jaws 9. At the same time, the soil blocks around the roots of the weeds are also broken and fall to the ground, so that the roots of the weeds are exposed to the air and cannot get water and nutrients and gradually wither. After a certain period of wind and sun, the weeds will gradually rot and turn into nutrients to return to the land, thereby improving soil fertility;

[0041] (8) Repeat the above steps several times to completely remove the weeds in the gardening area.

Claims

1. A weeding robot, mainly comprising a main body box, a rack rod, a right front leg, a front optical component, a rear optical component, a left front leg, a right rear leg, a left rear leg, an air nozzle, a gripper, a lifting motor, a transmission device, a pneumatic unit, a control center, a battery pack, a solenoid valve, a motor compartment, a cylinder, a gripper motor, a rotating disk, a gripper rod, and a grass-beating plate, characterized in that: The main box has a double-layer box structure, with a through circular hole vertically arranged in the center, a right front leg shaft arranged on the right side of the front end, and a leg shaft arranged on the left side of the front end and both sides of the rear end. The upper layer of the main box is provided with a battery pack, an air pressure unit, a solenoid valve and a control center, and the front optical component and the rear optical component are respectively installed on the lower side of the front and rear ends of the main box; The right front outrigger comprises a right front motor, an active rod, an upper connecting rod, a tripod rod, a lower connecting rod, an upper parallel rod, a lower parallel rod and an outrigger rod, wherein the right front motor is installed on the front right side of the lower layer of the main body box, the rear end of the active rod is tightly connected to the output shaft of the right front motor, the front end of the active rod is rotatably connected to the lower end of the upper connecting rod, the rotating hole at the upper end of the tripod rod is rotatably connected to the upper end of the upper connecting rod, the rotating hole at the front end of the tripod rod is rotatably connected to the upper end of the upper parallel rod, the rotating hole at the lower end of the tripod rod is rotatably connected to the upper end of the lower parallel rod, the rear end of the lower connecting rod is rotatably connected to the lower end of the upper connecting rod, and the front end of the lower connecting rod is rotatably connected to the lower parallel rod. The middle position of the travel rod is rotatably connected, the high rotation hole on the leg rod is rotatably connected to the lower end of the upper parallel rod, the low rotation hole on the leg rod is rotatably connected to the lower end of the lower parallel rod, and a supporting foot is provided at the lower end of the leg rod; the right rear leg is installed at the rear end of the right side of the main box, and the structure and movement principle of the right rear leg are the same as those of the right front leg, but the installation direction is opposite, the left front leg is installed at the left side of the front end of the main box, and the structure and movement principle of the left front leg are the same as those of the right front leg, and the left rear leg is installed at the rear end of the left side of the main box, and the structure and movement principle of the left rear leg are the same as those of the right rear leg; The transmission device and the lifting motor are installed on the lower layer of the main box. The rack rod is a cylindrical rod-shaped structure. The rack rod is vertically installed in the output shaft hole of the transmission device. The lifting motor drives the rack rod to move up and down through the transmission device; the lower end of the rack rod is tightly connected to the motor bin, and five connecting frames are evenly distributed tangentially at the lower end of the motor bin. The clamping motor is installed inside the motor bin. The clamping motor is a hollow shaft structure, and its output shaft is coaxially and tightly connected to the rotating disk. Five arc-shaped grooves are evenly distributed circumferentially inside the rotating disk. The air nozzle at the upper end of the rack rod is connected to the solenoid valve through an air pipe, and a cylinder is installed at the lower end of the rack rod, and the cylinder is connected to the air nozzle. The lower end of the cylinder rod of the cylinder passes through the center of the hollow output shaft and is coaxially and tightly connected to the grass-beating board. The five clamping rods are rotatably connected to the five connecting frames respectively, and the five clamping rods pass through five arc-shaped grooves accordingly.

2. A weeding robot according to claim 1, characterized in that: A circular light ring is arranged at the middle position of the lower side of the main body box, and the light ring is used to fill light for the lower side of the weeding robot, so as to accurately locate the weeds.

3. A weeding robot according to claim 1, characterized in that: The air pressure unit integrates an air compressor, a high-pressure gas tank, a negative pressure generator, and a negative pressure gas tank, wherein the air compressor is connected to the high-pressure gas tank, so that the air compressor stores high-pressure air in the high-pressure gas tank, and the negative pressure generator is connected to the negative pressure gas tank, so that the negative pressure generator creates a vacuum state in the negative pressure gas tank.

4. The weeding robot according to claim 1, characterized in that: The solenoid valve is connected to the high-pressure gas tank and the negative-pressure gas tank in the air pressure unit through air pipes.

5. The weeding robot according to claim 1, characterized in that: The front optical component and the rear optical component are both integrated with a camera and a laser distance measuring device, wherein the camera collects image information for identifying the type of weeds and the rough target position, and the laser distance measuring device is used to accurately locate the position of the target weeds.

6. The weeding robot according to claim 1, characterized in that: The lower end of the support foot is a curved surface structure, and a plurality of spikes are arranged on the lower side of the curved surface structure, and the spikes increase the gripping force of the support foot.

7. The weeding robot according to claim 1, characterized in that: Each arc-shaped shifting groove is arranged in a deflected manner, and the distance between the inner end of the arc-shaped shifting groove and the center of the rotating disk is smaller than the distance between the outer end of the arc-shaped shifting groove and the center of the rotating disk.

8. The weeding robot according to claim 1, characterized in that: The outer circumferential part of the grass striking plate is provided with five slots, and the grass striking plate is arranged below the rotating disk.

9. The weeding robot according to claim 1, characterized in that: The lower end of each clamping rod is a pointed structure, which is convenient for reducing resistance when inserted into the soil.

10. The weeding robot according to claim 1, characterized in that: When the clamping jaw motor drives the rotating disk to rotate clockwise, the rotating disk drives the five clamping rods to rotate inwards through the five arc-shaped slots to close the clamping jaws; when the clamping jaw motor drives the rotating disk to rotate counterclockwise, the rotating disk drives the five clamping rods to rotate outwards through the five arc-shaped slots to open the clamping jaws.

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